DO NOT MERGE WIP. Add support for external SPI ADC on rp2040 and rp2350 #65

thomasfla · 2025-08-27T17:35:43Z

Current Sense for RP2350

warning Work in progress

Implementation of current sensing on RP2350 using the PIO to read SPI based ADCs.
Wiring:

SCK_PIN -> Clock pin shared with 3 ADCs
CSB_PIN -> Chip Select pin shared with 3 ADCs
D0, D1 D2 -> The 3 data output from the ADCs. Needs to be contigus (D1=D0+1 D2=D1+1)

Temporarly, for this to work, we need to add a PWM chanell in Arduino-FOC rp2040 hardware specific files. The duty cyctle needs to be computed to trigger the ADC at the right-time.

TODO:

Init a the DMA or IRQ to read samples from PIO.
Activate the push of adc data in PIO program (disabled for tests)
Find a way to setup the trigger PWM from the driver, or change the arduino-foc lib.

…itting 64bits per samples, in a ring buffer from witch the CPU can take the last samples.

…dc values from buffer)

runger1101001 · 2025-09-03T14:53:48Z

I changed it into draft mode - that way it can’t be merged by accident…

github-actions · 2025-09-03T14:58:12Z

Memory usage change @ 4aa83b6

Board	flash	%	RAM for global variables	%
`rp2040:rp2040:rpipico`	🔺 +20 - +20	0.0 - 0.0	🔺 +16 - +24	+0.01 - +0.01

Click for full report table

Board	`examples/drivers/drv8316/drv8316_3pwm` flash	%	`examples/drivers/drv8316/drv8316_3pwm` RAM for global variables	%	`examples/drivers/drv8316/drv8316_6pwm` flash	%	`examples/drivers/drv8316/drv8316_6pwm` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibration_save` flash	%	`examples/encoders/calibrated_sensor/calibration_save` RAM for global variables	%	`examples/encoders/linearhall` flash	%	`examples/encoders/linearhall` RAM for global variables	%	`examples/encoders/mt6816/mt6816_spi` flash	%	`examples/encoders/mt6816/mt6816_spi` RAM for global variables	%
`rp2040:rp2040:rpipico`	20	0.0	16	0.01	20	0.0	16	0.01	20	0.0	16	0.01	20	0.0	24	0.01	20	0.0	24	0.01

Click for full report CSV

Board,examples/drivers/drv8316/drv8316_3pwm<br>flash,%,examples/drivers/drv8316/drv8316_3pwm<br>RAM for global variables,%,examples/drivers/drv8316/drv8316_6pwm<br>flash,%,examples/drivers/drv8316/drv8316_6pwm<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibration_save<br>flash,%,examples/encoders/calibrated_sensor/calibration_save<br>RAM for global variables,%,examples/encoders/linearhall<br>flash,%,examples/encoders/linearhall<br>RAM for global variables,%,examples/encoders/mt6816/mt6816_spi<br>flash,%,examples/encoders/mt6816/mt6816_spi<br>RAM for global variables,%
rp2040:rp2040:rpipico,20,0.0,16,0.01,20,0.0,16,0.01,20,0.0,16,0.01,20,0.0,24,0.01,20,0.0,24,0.01

…n, validated on RP2350 with 3 ADCs

… the loop, only do abc, only 12bits

…sing the same PIO with different state machine, ans also be compatible with other library that uses other PIOs (encoder for example)

github-actions · 2025-09-11T14:29:58Z

Memory usage change @ ff1108c

Board	flash	%	RAM for global variables	%
`rp2040:rp2040:rpipico`	🔺 +20 - +20	0.0 - 0.0	🔺 +16 - +24	+0.01 - +0.01

Click for full report table

Board	`examples/drivers/drv8316/drv8316_3pwm` flash	%	`examples/drivers/drv8316/drv8316_3pwm` RAM for global variables	%	`examples/drivers/drv8316/drv8316_6pwm` flash	%	`examples/drivers/drv8316/drv8316_6pwm` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibration_save` flash	%	`examples/encoders/calibrated_sensor/calibration_save` RAM for global variables	%	`examples/encoders/linearhall` flash	%	`examples/encoders/linearhall` RAM for global variables	%	`examples/encoders/mt6816/mt6816_spi` flash	%	`examples/encoders/mt6816/mt6816_spi` RAM for global variables	%
`rp2040:rp2040:rpipico`	20	0.0	16	0.01	20	0.0	16	0.01	20	0.0	24	0.01	20	0.0	16	0.01	20	0.0	16	0.01

Click for full report CSV

Board,examples/drivers/drv8316/drv8316_3pwm<br>flash,%,examples/drivers/drv8316/drv8316_3pwm<br>RAM for global variables,%,examples/drivers/drv8316/drv8316_6pwm<br>flash,%,examples/drivers/drv8316/drv8316_6pwm<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibration_save<br>flash,%,examples/encoders/calibrated_sensor/calibration_save<br>RAM for global variables,%,examples/encoders/linearhall<br>flash,%,examples/encoders/linearhall<br>RAM for global variables,%,examples/encoders/mt6816/mt6816_spi<br>flash,%,examples/encoders/mt6816/mt6816_spi<br>RAM for global variables,%
rp2040:rp2040:rpipico,20,0.0,16,0.01,20,0.0,16,0.01,20,0.0,24,0.01,20,0.0,16,0.01,20,0.0,16,0.01

runger1101001 · 2025-09-11T14:36:01Z

I was just about to ask you for the #if conditional compilation :-) thanks so much!

Thanks for all your amazing effort on this!

github-actions · 2025-09-11T14:48:09Z

Memory usage change @ 488eff6

Board	flash	%	RAM for global variables	%
`adafruit:samd:adafruit_metro_m4`	0 - 0	0.0 - 0.0	N/A	N/A
`arduino:avr:nano`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`rp2040:rp2040:rpipico`	🔺 +20 - +20	0.0 - 0.0	🔺 +16 - +24	+0.01 - +0.01
`arduino:sam:arduino_due_x`	0 - 0	0.0 - 0.0	N/A	N/A
`arduino:samd:nano_33_iot`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`esp32:esp32:esp32`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`esp32:esp32:esp32s2`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	`examples/drivers/drv8316/drv8316_3pwm` flash	%	`examples/drivers/drv8316/drv8316_3pwm` RAM for global variables	%	`examples/drivers/drv8316/drv8316_6pwm` flash	%	`examples/drivers/drv8316/drv8316_6pwm` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibration_save` flash	%	`examples/encoders/calibrated_sensor/calibration_save` RAM for global variables	%	`examples/encoders/linearhall` flash	%	`examples/encoders/linearhall` RAM for global variables	%	`examples/encoders/mt6816/mt6816_spi` flash	%	`examples/encoders/mt6816/mt6816_spi` RAM for global variables	%	`examples/drivers/simplefocnano/simplefocnano_atmega` flash	%	`examples/drivers/simplefocnano/simplefocnano_atmega` RAM for global variables	%	`examples/encoders/calibrated_sensor/calibrated` flash	%	`examples/encoders/calibrated_sensor/calibrated` RAM for global variables	%
`adafruit:samd:adafruit_metro_m4`	0	0.0	N/A	N/A	0	0.0	N/A	N/A	0	0.0	N/A	N/A	0	0.0	N/A	N/A	0	0.0	N/A	N/A
`arduino:avr:nano`													0	0.0	0	0.0					0	0.0	0	0.0
`rp2040:rp2040:rpipico`	20	0.0	16	0.01	20	0.0	16	0.01	20	0.0	24	0.01	20	0.0	16	0.01	20	0.0	16	0.01
`arduino:sam:arduino_due_x`	0	0.0	N/A	N/A	0	0.0	N/A	N/A	0	0.0	N/A	N/A	0	0.0	N/A	N/A	0	0.0	N/A	N/A
`arduino:samd:nano_33_iot`	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
`esp32:esp32:esp32`	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0					0	0.0	0	0.0
`esp32:esp32:esp32s2`	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
`STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8`	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
`STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE`	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0					0	0.0	0	0.0

Click for full report CSV

Board,examples/drivers/drv8316/drv8316_3pwm<br>flash,%,examples/drivers/drv8316/drv8316_3pwm<br>RAM for global variables,%,examples/drivers/drv8316/drv8316_6pwm<br>flash,%,examples/drivers/drv8316/drv8316_6pwm<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibration_save<br>flash,%,examples/encoders/calibrated_sensor/calibration_save<br>RAM for global variables,%,examples/encoders/linearhall<br>flash,%,examples/encoders/linearhall<br>RAM for global variables,%,examples/encoders/mt6816/mt6816_spi<br>flash,%,examples/encoders/mt6816/mt6816_spi<br>RAM for global variables,%,examples/drivers/simplefocnano/simplefocnano_atmega<br>flash,%,examples/drivers/simplefocnano/simplefocnano_atmega<br>RAM for global variables,%,examples/encoders/calibrated_sensor/calibrated<br>flash,%,examples/encoders/calibrated_sensor/calibrated<br>RAM for global variables,%
adafruit:samd:adafruit_metro_m4,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A
arduino:avr:nano,,,,,,,,,,,,,0,0.0,0,0.0,,,,,0,0.0,0,0.0
rp2040:rp2040:rpipico,20,0.0,16,0.01,20,0.0,16,0.01,20,0.0,24,0.01,20,0.0,16,0.01,20,0.0,16,0.01,,,,
arduino:sam:arduino_due_x,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,0,0.0,N/A,N/A,,,,
arduino:samd:nano_33_iot,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,,,,
esp32:esp32:esp32,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,,,,,0,0.0,0,0.0,,,,
esp32:esp32:esp32s2,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,,,,
STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,,,,,,,,
STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,,,,,0,0.0,0,0.0

thomasfla added 6 commits August 27, 2025 18:28

Add a PIO program for ADC bu79100g, work in progress

39806d8

add the option to select any trigger pin.

9268cf3

add a bit more info and dev status in readme.

3f815f8

first working version of a PIO to DMA setup without CPU calls. Transm…

cc97db0

…itting 64bits per samples, in a ring buffer from witch the CPU can take the last samples.

add code to read the current from last measurement in buffer.

5e54639

make interleaving inline, todo optim (2.27us to read and decode the a…

4aa83b6

…dc values from buffer)

runger1101001 marked this pull request as draft September 3, 2025 14:52

thomasfla added 4 commits September 4, 2025 18:54

Fix bit order, edge sampling and deinterleaving, First working versio…

b373096

…n, validated on RP2350 with 3 ADCs

Optimize de-interleaving (getPhaseCurrents() < 1uS on Rp2350), Unroll…

2385915

… the loop, only do abc, only 12bits

Document the internal design in readme

2d8b529

Make pio number a settable parameter, so we can have multiple motor u…

ff1108c

…sing the same PIO with different state machine, ans also be compatible with other library that uses other PIOs (encoder for example)

#if defined(ARDUINO_ARCH_RP2040)

488eff6

runger1101001 self-assigned this Sep 24, 2025

runger1101001 added the enhancement New feature or request label Sep 24, 2025

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DO NOT MERGE WIP. Add support for external SPI ADC on rp2040 and rp2350 #65

DO NOT MERGE WIP. Add support for external SPI ADC on rp2040 and rp2350 #65

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thomasfla commented Aug 27, 2025

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DO NOT MERGE WIP. Add support for external SPI ADC on rp2040 and rp2350 #65

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thomasfla commented Aug 27, 2025

Current Sense for RP2350

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