Hi guys,
I’ve done some more experiments (created a new simplefocshield version that uses ina240a2 + shunt resistor) and the noise difference is huge!
I’m gonna go back to the amp+shunt for all the next iterations of the simplefoc borads.
BTW. I’ve ordered 5 new shields for testing with the INA240A2 + 10mOhm shunts so if someone is interested in having them, let me know.
The easyeda repo (master) is updated with this setup too.
New shield (open-loop velocity with 0.05rad/s speed) showing the phase currents a and b
And here is the old one:
I’m not sure how I’ve not seen it before 
Or for a bit higher currents:
Old
New
I am not 100% sure why my currents have this a bit strange sine form though. But at least now, I can see that it’s happening 