On the surface the current sensing is really simple however when you start taking into account the timings of the PWM signal to high/low driver delay and then mosfet/igbt delay, rise, fall, or op-amp slew/stabilization time if using op-amps, unless everything is lined up perfectly, at that point I believe only the person who wrote the inline current sensing could answer that. This becomes so hardware specific that even though I read the code, the implementation as a whole — combined with the fact people use whatever hardware they lay their hands on — is rather opaque, at least to me.
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