I’m to the topic of FOC at all, so there arise some questions
One question is: what ist the best point in time to sampel the phase currents. I read about center aligned pwm and there - I think - all phase currents are measured when all HighSide Fets are on (in the center of the pwm pulses). But then there is no current through the coils, since all are on Vs level.
But sadly I did not find an answer to my question: I am low-side measuring as with the ESC-G431 board, and in the docs its says, that measuring must occur when all LS- Fets are on. But in this case the same assumption holds: there is no current, as all phases are low.
But maybe I am missing the inductance of the coil?
Maybe there is a poor wording or misunderstanding - the current sense in low side sensing doesn’t need to happen when all bridges are low, but rather the bridge you want to measure must have the low-side FET on, so that there is current going into th sense resistor (creating voltage drop across). The other bridges can have the high side turned on.