STM32 FOC: Low-Side Current Sensing Explained

How can an STM32 accurately measure motor current?
One of the most common techniques is low-side current sensing, where a shunt resistor is placed on the motor’s ground path. The small voltage across the resistor is amplified and then sampled by the STM32 ADC. From there, the current data can be transformed into d–q components for Field Oriented Control (FOC).
With this approach, we can implement real-time current control for BLDC motors directly on STM32, without relying on complex external hardware.

Hardware & Firmware:
https://github.com/sirojudinMunir/stm32-FOC



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Chapters:

00:00 - 00:39 - Intro
00:39 - 01:55 - The concept of low-side current sensing
01:55 - 04:20 - PWM and ADC synchronization
04:21 - 05:37 - ADC conversion to current units
05:38 - 09:20 - Current Control using PI with anti-windup
09:21 - 10:24 - Demo