Thank you!!
I was mostly referencing this old thread here, I’ve been sourcing as much info as I can! I know it must be possible, if only because ST’s code will do it. I actually stand a chance of understanding what’s going on with simplefoc though, modifying it to my needs over the obfuscated code manufacturers pump out…
I think there’s another problem with one of the ST STSPIN32G4 dev boards with differential current sensing, too. Differential PGA configuration must use VINM0 according to RM0440. One of the ref designs uses differential sensing and PC5 (VINM1), which won’t work. Is kelvin sensing even necessary? Probably not, if ESP32 works with it’s terrible ADC, but might as well use all the power of the chip if it has it, right?