espp/bldc_current_sense

# BLDC Current Sense [![Badge](https://components.espressif.com/components/espp/bldc_current_sense/badge.svg)](https://components.espressif.com/components/espp/bldc_current_sense) The `bldc_current_sense` component provides `espp::CurrentSense`, a field-oriented control (FOC) current sensor for BLDC motors. It implements the `CurrentSensorConcept` used by `espp::BldcMotor`, so it can be supplied as a motor's current sense to enable current-feedback torque control (`TorqueControlType::DC_CURRENT` and `TorqueControlType::FOC_CURRENT`). `espp::CurrentSense` is intentionally decoupled from any specific ADC. You provide a `read_phase_currents` callback that returns the most recently sampled phase currents (in amps). The class then: - subtracts the per-phase zero-current offset captured during `driver_align()`, - applies any per-phase gain-sign correction, - reconstructs an unmeasured phase (return `NAN` for it) assuming `Ia + Ib + Ic = 0`, - runs the Clarke + Park transforms to produce the d/q currents (`get_foc_currents()`) and the signed DC current magnitude (`get_dc_current()`). ## PWM-synchronized sampling Accurate low-side current sensing requires sampling while the low-side FETs are conducting (the PWM center). Use `espp::BldcDriver::register_pwm_sample_callback()` to trigger your ADC read at the timer "empty" (TEZ) event, and have your `read_phase_currents` callback return the latest sampled values. ## Status > **Experimental.** Zero-current offset calibration is implemented, but automatic > phase-ordering / gain-sign discovery is not — set `phase_gain_signs` in the > `Config` if a sense channel is inverted. Current-mode torque control depends on > accurate, PWM-synchronized sampling and per-board tuning and must be validated > on hardware. ## Example The example builds a software model of the analog front-end (no motor hardware required) to exercise the calibration + Clarke/Park pipeline, and statically verifies that `espp::CurrentSense` satisfies the `CurrentSensorConcept`.

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