Add bootloader

controller/fw/bootloader/lib/AS5045/AS5045.cpp

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+#include "AS5045.h"
+
+
+MagneticSensorAS5045::MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso,
+                                           uint16_t as5040_sclk): AS5040_CS_(as5040_cs),
+                                                                  AS5040_MOSI_(as5040_mosi),
+                                                                  AS5040_MISO_(as5040_miso),
+                                                                  AS5040_SCLK_(as5040_sclk),
+                                                                  spi(nullptr),
+                                                                  settings(AS5145SSISettings) {
+}
+
+MagneticSensorAS5045::~MagneticSensorAS5045() = default;
+
+auto MagneticSensorAS5045::init(SPIClass *_spi) -> void {
+    this->spi = _spi;
+    settings = AS5145SSISettings;
+    pinMode(AS5040_CS_, OUTPUT);
+    pinMode(AS5040_MISO_, INPUT);
+    pinMode(AS5040_MOSI_, OUTPUT);
+    pinMode(AS5040_SCLK_, OUTPUT);
+
+    spi->setMISO(AS5040_MISO_);
+    spi->setMOSI(AS5040_MOSI_);
+    spi->setSCLK(AS5040_SCLK_);
+    spi->begin();
+    this->Sensor::init();
+}
+
+float MagneticSensorAS5045::getSensorAngle() {
+    float angle_data = readRawAngleSSI();
+    angle_data = (static_cast<float>(angle_data) / AS5045_CPR) * _2PI;
+    return angle_data;
+}
+
+uint16_t MagneticSensorAS5045::readRawAngleSSI() const {
+    spi->beginTransaction(settings);
+    digitalWrite(AS5040_CS_, LOW);
+    uint16_t value = spi->transfer16(0x0000);
+    digitalWrite(AS5040_CS_, HIGH);
+    spi->endTransaction();
+    delayMicroseconds(30);
+    return (value >> 3) & 0x1FFF;  // TODO(vanyabeat): Add error checking MAGNETIC OWERFLOW and etc.
+}

controller/fw/bootloader/lib/AS5045/AS5045.h

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+#pragma once
+
+#include "SimpleFOC.h"
+#include "SPI.h"
+
+#ifndef MSBFIRST
+#define MSBFIRST BitOrder::MSBFIRST
+#endif
+
+#define AS5045_BITORDER MSBFIRST
+#define AS5045_CPR 4096.0f
+#define _2PI 6.28318530718f
+
+static SPISettings AS5145SSISettings(1000000, AS5045_BITORDER, SPI_MODE0);
+
+class MagneticSensorAS5045 final: public Sensor {
+ public:
+    MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso, uint16_t as5040_sclk);
+
+    virtual ~MagneticSensorAS5045();
+
+    float getSensorAngle() override;
+
+    virtual void init(SPIClass *_spi = &SPI);
+
+    [[nodiscard]] uint16_t readRawAngleSSI() const;
+
+ private:
+    uint16_t AS5040_CS_, AS5040_MOSI_, AS5040_MISO_, AS5040_SCLK_;
+    SPIClass *spi;
+    SPISettings settings;
+};

controller/fw/bootloader/lib/AS5045/library.properties

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+name=AS5045
+version=1.0.1
+author=vanyabeat <vanyabeat@protonmail.com>
+maintainer=vanyabeat <vanyabeat@protonmail.com>
+sentence=Simple library to work with AS5040 and Simple FOC (for Robotroller in Robosemmbler) Fork from https://github.com/runger1101001 
+paragraph=Simple library to work with AS5040 and Simple FOC and simple library intended for hobby comunity to run the AS5040 magnetic sensor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards.
+category=Device Control
+url=https://docs.simplefoc.com
+architectures=*
+includes=SimpleFOC.h