Does the inverted phase B current sense only affect FOCShield v2.0 or also v2.0.x?

In the Inline Current Sense section of the Wiki it says:

For example, Arduino SimpleFOCShield v2 has the phase B of the current sensing inverted

Was this addressed in v2.0.1 onward? The release notes don’t mention it a fix to the current sense direction. Additionally, the schematic for v2.0 does not show any current sensing hardware between the L6234 and TB_M1 and the schematics for v2.0.1 and v2.0.2 show the same connection.

Do we still need to add

current_sense.gain_b *= -1;

in code written for a v2.0.4 board?

Many thanks!

Yep, the SimpleFOCShield versions v2.0. and 2.0.x all have the inverted current sense on the second phase. That is the design limit and one that would be a bit annoying to overcome. :smile:

This is true, I must have forgotten to update the schematics for the release v2.0. But 2.0 and v2.0.1 are very similar. The only difference is the v2.0.1 allows to choosing if the ina240 will be run at 3.3V or 5V.
Here is the schematic of v2.0.1

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