voroskoi/RP2040-decoder - Change TKNYDMLX6VQSCEFDUY6VTMJPSOEOSWVC3YLDHHD7R4K4RVP3I7KAC

Use ADC fifo for collecting EMF data

Created by voroskoi on July 22, 2025

TKNYDMLX6VQSCEFDUY6VTMJPSOEOSWVC3YLDHHD7R4K4RVP3I7KAC

Dependencies

In channels

main

Change contents

Replacement in src/main.zig at line 29 [6.50]

B:BD[5.129] → [5.129:290]

    .GPIO14 = .{ .name = "led", .direction = .out },
    .GPIO16 = .{ .name = "mot2", .direction = .out },
    .GPIO17 = .{ .name = "mot1", .direction = .out },

[5.129]

[5.290]

    .GPIO16 = .{ .name = "mot1", .direction = .out },
    .GPIO17 = .{ .name = "mot2", .direction = .out },

Replacement in src/main.zig at line 70 [6.50]

B:BD[5.599] → [5.599:630]

        const PWM_WRAP = 1000;

[5.599]

[5.630]

        const PWM_WRAP = 125_000_000 / (150 * 100 + 10_000) - 1; // 125MHz -> 25kHz

Insertion in src/main.zig at line 74 [6.50]

[5.698]

        // TODO: max output is wrap+1 (5000)
        // minimum: core1.c: get_initial_level

Insertion in src/main.zig at line 78 [6.50]

[5.782]

        pins.speed.slice().set_phase_correct(false);
        // pins.speed.slice().set_clk_div(1, 0);

Insertion in src/main.zig at line 87 [6.50]

[5.946]

        pins.mot1.put(1);
        pins.mot2.put(0);

Replacement in src/main.zig at line 92 [6.50]

B:BD[5.1004] → [5.1004:1055]

        while (level < PWM_WRAP) : (level += 50) {

[5.1004]

[5.1055]

        while (level < PWM_WRAP) : (level += 100) {

Deletion in src/main.zig at line 94 [6.50]

B:BD[5.1107] → [5.1107:1167]

            pins.mot1.put(1);
            pins.mot2.put(0);

Deletion in src/main.zig at line 97 [6.50]

B:BD[5.1240] → [5.1240:1397]

                // Switch to free running mode
                pins.mot1.put(0);
                pins.mot2.put(0);
                pico.time.sleep_us(100);

Deletion in src/main.zig at line 98 [6.50]
B:BD[5.1428] → [5.1428:1479]
```
                pico.adc.select_input(pins.m1emf);
```

Replacement in src/main.zig at line 102 [6.50]

B:BD[5.1650] → [5.1650:1684]

                    .fifo = null,

[5.1650]

[5.1684]

                    .fifo = .{ .dreq_enabled = false, .irq_enabled = false, .shift = false },

Insertion in src/main.zig at line 104 [6.50]

[5.1726]

                pico.adc.select_input(pins.m1emf);
                // Switch to free running mode
                pins.speed.set_level(0);
                pico.time.sleep_us(100);

Replacement in src/main.zig at line 114 [6.50]

B:BD[5.1916] → [5.1916:1974]

                    emfs[i] = try pico.adc.read_result();

[5.1916]

[5.1974]

                    if (pico.adc.fifo.has_overflowed()) {
                        std.log.debug("ADC overflow, clearing...", .{});
                        pico.adc.fifo.clear_overflowed();
                    }
                    while (pico.adc.fifo.is_empty()) {
                        asm volatile ("" ::: "memory");
                    }
                    emfs[i] = try pico.adc.fifo.pop();
                    // TODO: check if we should sort right here

Replacement in src/main.zig at line 127 [6.50]

B:BD[5.2098] → [5.2098:2166]

                pins.mot1.put(1);
                pins.mot2.put(0);

[5.2098]

[5.2166]

                pins.speed.set_level(@truncate(level));
                // std.log.debug("Raw EMF values: {any}", .{emfs});

Replacement in src/main.zig at line 135 [6.50]

B:BD[5.2334] → [5.2334:2368]

                var sum: u16 = 0;

[5.2334]

[5.2368]

                var sum: u32 = 0;

Replacement in src/main.zig at line 141 [6.50]

B:BD[5.2562] → [5.2562:2655]

                std.log.debug("M1EMF: {d} -> {any}", .{ m1emf, emfs[15 .. emfs.len - 15] });

[5.2562]

[5.2655]

                std.log.info("Motor1 average EMF: {d}", .{m1emf});

Deletion in src/main.zig at line 143 [6.50]
B:BD[5.2669] → [5.2669:2707]
```
            pico.time.sleep_ms(1000);
```

Deletion in src/main.zig at line 144 [6.50]

B:BD[5.2717] → [5.2717:2813]


        // pins.mot1.put(1);
        // pins.mot2.put(0);
        // pico.time.sleep_ms(5000);

Deletion in src/main.zig at line 211 [6.50]
B:BD[2.2453] → [5.3926:3947]
∅:D[3.745] → [2.2496:2497]
∅:D[4.1174] → [2.2496:2497]
∅:D[5.3947] → [2.2496:2497]
B:BD[2.2496] → [2.2496:2497]
```
    pins.led.put(1);
```
Deletion in src/main.zig at line 223 [6.50]
B:BD[4.1321] → [5.4147:4168]
∅:D[5.4168] → [4.1337:1338]
B:BD[4.1337] → [4.1337:1338]
```
    pins.led.put(0);
```