ADD: SimpleFOC native library and port arduino core to project #15 #7

STAGING

REBORN NEW ARDUINO CORE

ADD: simple FOC, AS5040 driver, commands, work with gui

firmware/lib/AS5040/AS5040.cpp

@@ -0,0 +1,36 @@
+#include "AS5040.h"
+
+AS5040Sensor::AS5040Sensor(uint16_t cs, uint16_t mosi, uint16_t miso, uint16_t sck) {
+    cs_ = cs;
+    mosi_ = mosi;
+    miso_ = miso;
+    sck_ = sck;
+}
+void AS5040Sensor::init(SPIClass *_spi) {
+    spi = _spi;
+    // 1MHz clock (AMS should be able to accept up to 10MHz)
+    settings = SPISettings(1000000, MSBFIRST, SPI_MODE0);
+    //setup pins
+    pinMode(cs_, OUTPUT);
+    pinMode(miso_, INPUT);
+    pinMode(mosi_, OUTPUT);
+    pinMode(sck_, OUTPUT);
+    spi->setMISO(miso_);
+    spi->setMOSI(mosi_);
+    spi->setSCLK(sck_);
+    spi->begin();
+    this->Sensor::init(); // call base class init
+}
+
+float AS5040Sensor::getSensorAngle() {
+    //SPI - begin transaction
+    spi->beginTransaction(settings);
+    //Send the command
+    digitalWrite(cs_, LOW);
+    uint16_t data = spi->transfer16(0x3FFF);
+    digitalWrite(cs_,HIGH);
+//SPI - end transaction
+    spi->endTransaction();
+    data = (data) >> 5;
+    return (float)data * _2PI / cpr;
+}

firmware/lib/AS5040/AS5040.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include "SimpleFOC.h"
+
+
+class AS5040Sensor : public Sensor {
+public:
+
+    AS5040Sensor(uint16_t cs, uint16_t mosi, uint16_t miso, uint16_t sck);
+
+    /** sensor initialise pins */
+    void init(SPIClass *_spi = &SPI);
+
+    // implementation of abstract functions of the Sensor class
+    /** get current angle (rad) */
+    float getSensorAngle() override;
+
+private:
+    uint16_t cs_ = 0;
+    uint16_t mosi_ = 0;
+    uint16_t miso_ = 0;
+    uint16_t sck_ = 0;
+    float cpr = 1024;
+    SPISettings settings;
+    SPIClass *spi;
+};