Add Phoque and Phoque2a current sense

[Moddingear]

Yes, the boards aren't available yet, and Phoque2a is an alpha version.

Yet, I believe that this implementation of current sense is good, and could be applied to BG431-ESC1 with only a few modifications (it could even reuse the common Phoque_CurrentSense class).

Most notable, is that the ADC channels are resolved at runtime, so this leaves less room for error, the calibration doesn't wait 1ms every round, making it run ~20 times faster (if at 20kHz), and driver align is removed so around 3.8K of code is freed from the flash.

Furthermore, the ADC can be configured to read from more channels by making a class inherit from Phoque2a_CurrentSense and adding some more ADC channels to the planned channels.

Using the same framework, Phoque1 and Phoque2 will be supported. (Technically, Phoque2 doesn't have any analog pin change, so it will probably be the same class)

[github-actions]

Memory usage change @ 1d7c972

Board	flash	%	RAM for global variables	%
adafruit:samd:adafruit_metro_m4	0 - 0	0.0 - 0.0	N/A	N/A
rp2040:rp2040:rpipico	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
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/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
rp2040:rp2040:rpipico	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
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/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
rp2040:rp2040:rpipico,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
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