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The Dagor Controller uses a low-side shunt resistor for current sensing, this posed a challenge to sync the ADC measurement with the on-time of the low-side FET of each phase. With the ESP32's MCPWM unit I managed to do this and get good current readings.
Good current readings:
Bad current readings:
This happens because there's no current flowing through the shunt resistor when the low-side FET of the phase is off.