Add SimpleFOCNano driver

Author: Richard Unger

src/drivers/simplefocnano/README.md

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+
+# SimpleFOCNano Driver Class
+
+The `SimpleFOCNanoDriver` is a wrapper class around BLDCDriver3PWM to make using the [SimpleFOCNano shield](link) super-simple.
+
+If you use this driver you don't need to bother with any pin-numbers, they are all set correctly for you based on the SimpleFOCNano's pinout. Of course, this only works if you actually plug the shield into the Nano. If you use jumper wires, either make exactly the same connections as plugging in the shield would, or don't use this driver.
+
+## Usage
+
+Basic usage is very simple:
+
+```c++
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include <drivers/simplefocnano/SimpleFOCNanoDriver.h>
+
+SimpleFOCNanoDriver driver = SimpleFOCNanoDriver();
+BLDCMotor motor = BLDCMotor(7);
+
+void setup() {
+    driver.voltage_power_supply = driver.getBusVoltage();
+    driver.init();
+    motor.linkDriver(driver);
+    motor.voltage_limit = driver.voltage_limit / 2.0f;
+    motor.controller = MotionControlMode::velocity_openloop;
+    motor.init();
+}
+
+void loop(){
+    motor.move(2.0f); // 2 rads per second, open-loop
+}
+```
+
+There are some extra features, you can check for faults, and clear the fault state:
+
+```c++
+if (driver.isFault()) {
+    motor.disable();
+    driver.clearFault();
+}
+```
+
+Or you can activate sleep mode to save power:
+
+```c++
+driver.sleep();
+
+// sometime later
+if (driver.isSleeping())
+    driver.wake();
+```
+
+As shown in the example you can read the bus voltage:
+
+:warning: *this is a slow function. Do not call it while motor is running!*
+
+```c++
+float val = driver.getBusVoltage(); // get the bus voltage, in Volts
+```
+
+The driver's nCS pin is 10, and the constant PIN_nCS can be used:
+
+```c++
+MagneticSensorAS5048A sensor = MagneticSensorAS5048A(PIN_nCS);
+```

src/drivers/simplefocnano/SimpleFOCNanoDriver.cpp

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+
+#include "./SimpleFOCNanoDriver.h"
+
+SimpleFOCNanoDriver::SimpleFOCNanoDriver() : BLDCDriver3PWM(PIN_INU, PIN_INV, PIN_INW, PIN_ENU, PIN_ENV, PIN_ENW) {
+    // nothing to do here
+};
+
+
+SimpleFOCNanoDriver::~SimpleFOCNanoDriver() {
+    // nothing to do here
+};
+
+int SimpleFOCNanoDriver::init() {
+    pinMode(PIN_nSLEEP, OUTPUT);
+    pinMode(PIN_nRST, OUTPUT);
+    pinMode(PIN_nFAULT, INPUT_PULLUP);
+    pinMode(PIN_VBUS, INPUT);
+    this->sleep(false);
+    digitalWrite(PIN_nRST, HIGH);
+    return BLDCDriver3PWM::init();
+};
+
+void SimpleFOCNanoDriver::sleep(bool sleep) {
+    digitalWrite(PIN_nSLEEP, !sleep);
+};
+
+
+void SimpleFOCNanoDriver::wake() {
+    this->sleep(false);
+};
+
+
+bool SimpleFOCNanoDriver::isSleeping() {
+    return digitalRead(PIN_nSLEEP)==LOW;
+};
+
+
+
+bool SimpleFOCNanoDriver::isFault() {
+    return !digitalRead(PIN_nFAULT);
+};
+
+
+void SimpleFOCNanoDriver::clearFault() {
+    if (!this->isFault()) return;
+    disable();
+    digitalWrite(PIN_nRST, LOW);
+    delayMicroseconds(100);
+    digitalWrite(PIN_nRST, HIGH);
+    enable();
+};
+
+
+void SimpleFOCNanoDriver::attachFaultInterrupt(void (*callback)()) {
+    attachInterrupt(digitalPinToInterrupt(PIN_nFAULT), callback, FALLING);
+};
+
+
+
+float SimpleFOCNanoDriver::getBusVoltage(float vdd_voltage, int adc_resolution) {
+    float sum = 0.0;
+    for(int i = 0; i < 500; i++) {
+        sum += analogRead(PIN_VBUS);
+    }
+
+    return sum / 500.0 * VBUS_CONV_FACTOR * (vdd_voltage / adc_resolution);
+};
+

src/drivers/simplefocnano/SimpleFOCNanoDriver.h

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+
+#pragma once
+
+#include <drivers/BLDCDriver3PWM.h>
+
+/*
+ * Default pins for the SimpleFOC Nano board
+ *
+ * These are the correct pins if you plug the Nano board into the SimpleFOC shield.
+ * If you use jumper wires to connect, you can make your own pin choices. In this case, don't use this driver,
+ * and rather use the BLDCDriver3PWM class directly.
+ * 
+ */
+
+
+#define PIN_INU     3
+#define PIN_INV     6
+#define PIN_INW     9
+#define PIN_ENU     4
+#define PIN_ENV     7
+#define PIN_ENW     8
+#ifdef ARDUINO_NANO_RP2040_CONNECT
+#define PIN_nSLEEP  17
+#define PIN_nFAULT  20
+#define PIN_nRST    21
+#else
+#define PIN_nSLEEP  A3
+#define PIN_nFAULT  A6
+#define PIN_nRST    A7
+#endif
+#define PIN_VBUS    A0
+#define PIN_nCS     10
+
+#define VBUS_CONV_FACTOR (22.0f/2.2f)
+
+
+
+
+class SimpleFOCNanoDriver : public BLDCDriver3PWM {
+public:
+    SimpleFOCNanoDriver();
+    ~SimpleFOCNanoDriver();
+
+    int init() override;
+
+    void sleep(bool sleep=true);
+    void wake();
+    bool isSleeping();
+    
+    bool isFault();
+    void clearFault();
+    void attachFaultInterrupt(void (*callback)());
+
+    float getBusVoltage(float vdd_voltage, int adc_resolution);
+};
+