try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/sc60228/MagneticSensorSC60228.cpp

@@ -0,0 +1,24 @@
+
+#include "./MagneticSensorSC60228.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+MagneticSensorSC60228::MagneticSensorSC60228(int nCS, SPISettings settings) : SC60228(settings, nCS){
+    // nix
+};
+MagneticSensorSC60228::~MagneticSensorSC60228(){ };
+
+
+
+float MagneticSensorSC60228::getSensorAngle(){
+    SC60228Angle angle_data = readRawAngle();
+    float result = ( angle_data.angle / (float)SC60228_CPR ) * _2PI;
+    return result;
+};
+
+
+
+void MagneticSensorSC60228::init(SPIClass* _spi){
+    this->SC60228::init(_spi);
+    this->Sensor::init();
+};

firmware/lib/Arduino-FOC-drivers/src/encoders/sc60228/MagneticSensorSC60228.h

@@ -0,0 +1,20 @@
+#ifndef __MAGNETICSENSORSC60228_H__
+#define __MAGNETICSENSORSC60228_H__
+
+
+#include "common/base_classes/Sensor.h"
+#include "./SC60228.h"
+
+
+class MagneticSensorSC60228 : public Sensor, public SC60228 {
+public:
+	MagneticSensorSC60228(int nCS = -1, SPISettings settings = SC60228SPISettings);
+	virtual ~MagneticSensorSC60228();
+
+    virtual float getSensorAngle() override;
+
+	virtual void init(SPIClass* _spi = &SPI) override;
+};
+
+
+#endif

firmware/lib/Arduino-FOC-drivers/src/encoders/sc60228/README.md

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+# SC60228 SimpleFOC driver
+
+Driver for the Semiment 12bit magnetic encoder IC SC60288. According to specs it should support 12 bit accuracy, 10 bit effective accuracy and up to 20kRPM.
+
+Link to [Datasheet](https://semiment.com/wp-content/uploads/2021/04/SC60228_EN-VA1.0.pdf)
+
+The encoder and this driver were tested with a small gimbal motor and MKR1000 (SAMD21 MCU).
+
+## Hardware setup
+
+Connect as per normal for your SPI bus. No special hardware setup is needed to use this driver.
+
+## Software setup
+
+Its actually easier to use than the standard SPI sensor class, because it is less generic:
+
+```c++
+#include "Arduino.h"
+#include "Wire.h"
+#include "SPI.h"
+#include "SimpleFOC.h"
+#include "SimpleFOCDrivers.h"
+#include "encoders/sc60228/MagneticSensorSC60228.h"
+
+#define SENSOR1_CS 5 // some digital pin that you're using as the nCS pin
+MagneticSensorSC60228 sensor1(SENSOR1_CS);
+
+
+void setup() {
+    sensor1.init();
+}
+```
+
+Set some SPI options:
+
+```c++
+SPISettings mySPISettings(1000000, SC60228_BITORDER, SPI_MODE0); // lower speed to 1Mhz
+MagneticSensorSC60228 sensor1(SENSOR1_CS, mySPISettings);
+```
+
+Use another SPI bus:
+
+```c++
+void setup() {
+    sensor1.init(SPI2);
+}
+```

firmware/lib/Arduino-FOC-drivers/src/encoders/sc60228/SC60228.cpp

@@ -0,0 +1,57 @@
+
+#include "./SC60228.h"
+
+
+SC60228::SC60228(SPISettings settings, int nCS) : settings(settings), nCS(nCS) {
+    // nix
+};
+
+SC60228::~SC60228() { };
+
+void SC60228::init(SPIClass* _spi) {
+    spi = _spi;
+	if (nCS>=0)
+		pinMode(nCS, OUTPUT);
+	digitalWrite(nCS, HIGH);
+	spi->begin();
+	readRawAngle();
+};
+
+
+
+SC60228Angle SC60228::readRawAngle(){
+    SC60228Angle result;
+    result.reg = spi_transfer16(0x0000);
+    errorflag = (result.err==1);
+    // TODO check parity
+    // Serial.print("0x");
+    // Serial.print(result.angle, HEX);
+    // Serial.print(" - 0x");
+    // Serial.println(result.reg, HEX);
+    return result;
+};
+
+
+
+bool SC60228::isError() {
+    return errorflag;
+};
+
+
+
+uint16_t SC60228::spi_transfer16(uint16_t outdata){
+    uint16_t result;
+    if (nCS>=0)
+        digitalWrite(nCS, LOW);
+    // min delay here: 250ns
+    spi->beginTransaction(settings);
+    result = spi->transfer16(outdata);
+    // min delay here: clock period / 2
+    spi->endTransaction();
+    if (nCS>=0)
+        digitalWrite(nCS, HIGH);
+    // min delay until next read: 250ns
+    return result;
+};
+
+

firmware/lib/Arduino-FOC-drivers/src/encoders/sc60228/SC60228.h

@@ -0,0 +1,50 @@
+
+#ifndef __SC60228_H__
+#define __SC60228_H__
+
+#include "Arduino.h"
+#include "SPI.h"
+
+
+typedef union {
+    struct {
+        uint16_t parity:1;
+        uint16_t df2:1;
+        uint16_t df1:1;
+        uint16_t err:1;
+        uint16_t angle:12;
+    };
+    uint16_t reg;
+} SC60228Angle;
+
+
+#define SC60228_CPR 4096
+#define SC60228_BITORDER MSBFIRST
+
+static SPISettings SC60228SPISettings(8000000, SC60228_BITORDER, SPI_MODE0); // @suppress("Invalid arguments")
+
+
+
+class SC60228 {
+public:
+    SC60228(SPISettings settings = SC60228SPISettings, int nCS = -1);
+	virtual ~SC60228();
+
+	virtual void init(SPIClass* _spi = &SPI);
+
+    SC60228Angle readRawAngle(); // 12bit angle value + error flag
+    bool isError(); // true if the last call to readRawAngle() returned an error
+
+protected:
+	uint16_t spi_transfer16(uint16_t outdata);
+
+	SPIClass* spi;
+	SPISettings settings;
+	bool errorflag = false;
+	int nCS = -1;
+};
+
+
+
+
+#endif