try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/utilities/stm32pwm/STM32PWMInput.cpp

@@ -0,0 +1,108 @@
+
+#include "./STM32PWMInput.h"
+
+#if defined(_STM32_DEF_)
+
+
+
+STM32PWMInput::STM32PWMInput(int pin){
+    _pin = digitalPinToPinName(pin);
+};
+
+
+STM32PWMInput::~STM32PWMInput(){};
+
+
+
+
+
+int STM32PWMInput::initialize(){
+    pinmap_pinout(_pin, PinMap_TIM);
+    uint32_t channel = STM_PIN_CHANNEL(pinmap_function(_pin, PinMap_TIM));
+    timer.Instance = (TIM_TypeDef *)pinmap_peripheral(_pin, PinMap_TIM);
+    timer.Init.Prescaler = 0;
+    timer.Init.CounterMode = TIM_COUNTERMODE_UP;
+    timer.Init.Period = 4.294967295E9;    // TODO max period, depends on which timer is used - 32 bits or 16 bits
+    timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    timer.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+    if (channel!=1 && channel!=2) // only channels 1 & 2 supported
+        return -10;
+    useChannel2 = (channel==2);// remember the channel
+    if (HAL_TIM_Base_Init(&timer) != HAL_OK) {
+        return -1;
+    }
+    TIM_ClockConfigTypeDef clkCfg = { .ClockSource=TIM_CLOCKSOURCE_INTERNAL };
+    if (HAL_TIM_ConfigClockSource(&timer, &clkCfg) != HAL_OK) {
+        return -2;
+    }
+    if (HAL_TIM_IC_Init(&timer) != HAL_OK) {
+        return -3;
+    }
+
+    TIM_SlaveConfigTypeDef slCfg = {
+        .SlaveMode = TIM_SLAVEMODE_RESET,
+        .InputTrigger = (channel==1)?TIM_TS_TI1FP1:TIM_TS_TI2FP2,
+        .TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING,
+        .TriggerPrescaler = TIM_ICPSC_DIV1,
+        .TriggerFilter = 0
+    };
+    if (HAL_TIM_SlaveConfigSynchro(&timer, &slCfg) != HAL_OK) {
+        return -4;
+    }
+    TIM_IC_InitTypeDef icCfg = {
+        .ICPolarity = (channel==1)?TIM_INPUTCHANNELPOLARITY_RISING:TIM_INPUTCHANNELPOLARITY_FALLING,
+        .ICSelection = (channel==1)?TIM_ICSELECTION_DIRECTTI:TIM_ICSELECTION_INDIRECTTI,
+        .ICPrescaler = TIM_ICPSC_DIV1,
+        .ICFilter = 0
+    };
+    if (HAL_TIM_IC_ConfigChannel(&timer, &icCfg, TIM_CHANNEL_1) != HAL_OK) {
+        return -5;
+    }
+    icCfg.ICPolarity = (channel==1)?TIM_INPUTCHANNELPOLARITY_FALLING:TIM_INPUTCHANNELPOLARITY_RISING;
+    icCfg.ICSelection = (channel==1)?TIM_ICSELECTION_INDIRECTTI:TIM_ICSELECTION_DIRECTTI;
+    if (HAL_TIM_IC_ConfigChannel(&timer, &icCfg, TIM_CHANNEL_2) != HAL_OK) {
+        return -6;
+    }
+    TIM_MasterConfigTypeDef mCfg = {
+        .MasterOutputTrigger = TIM_TRGO_RESET,
+        .MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE
+    };
+    if (HAL_TIMEx_MasterConfigSynchronization(&timer, &mCfg) != HAL_OK) {
+        return -7;
+    }
+    if (HAL_TIM_IC_Start(&timer, TIM_CHANNEL_1)!=HAL_OK) {
+        return -8;
+    }
+    if (HAL_TIM_IC_Start(&timer, TIM_CHANNEL_2)!=HAL_OK) {
+        return -9;
+    }
+    timer.Instance->CR1 |= TIM_CR1_CEN;
+    return 0;
+};
+
+
+float STM32PWMInput::getDutyCyclePercent(){
+    uint32_t period = getPeriodTicks();
+    if (period<1) return 0.0f;
+    return getDutyCycleTicks() / (float)period * 100.0f;
+};
+
+
+uint32_t STM32PWMInput::getDutyCycleTicks(){
+    if (useChannel2)
+        return timer.Instance->CCR1;
+    else
+        return timer.Instance->CCR2;
+};
+
+
+uint32_t STM32PWMInput::getPeriodTicks(){
+    if (useChannel2)
+        return timer.Instance->CCR2;
+    else
+        return timer.Instance->CCR1;
+};
+
+
+
+#endif