https://www.ti.com.cn/product/cn/INA240

https://www.elecfans.com/analog/202007151246626.html

https://zhuanlan.zhihu.com/p/401573207

https://www.sohu.com/a/439655421_468638

https://baijiahao.baidu.com/s?id=1753450617334241521&wfr=spider&for=pc

https://m.elecfans.com/article/1107269.html

https://www.elecfans.com/d/1412716.html

// IN1     pwm1    9  27// IN2     pwm2    6  26// IN3     pwm3    5  25// INH1   enable1  8  12// INH2   enable2  7  13// INH3   enable3  4  14// in-line current sense - phase 1/A 35// in-line current sense - phase 1/C 34
#include 
class LowPassFilte{public:    LowPassFilte(float Tf); // 低通滤波器时间常量    ~LowPassFilte() = default;    float operator()(float x);    float Tf; //!< 低通滤波器时间常量protected:    unsigned long timestamp_prev; //!< 上次执行时间戳    float y_prev;                 //!< 经过上次执行后过滤到的值};
LowPassFilte::LowPassFilte(float time_constant)    : Tf(time_constant), y_prev(0.0f){    timestamp_prev = micros();}
float LowPassFilte::operator()(float x){    unsigned long timestamp = micros();    float dt = (timestamp - timestamp_prev) * 1e-6f;
    if (dt < 0.0f || dt > 0.5f)        dt = 1e-3f;
    float alpha = Tf / (Tf + dt);    float y = alpha * y_prev + (1.0f - alpha) * x;
    y_prev = y;    timestamp_prev = timestamp;    return y;}
LowPassFilte LF_a(0.01); // 原始数据滤波器LowPassFilte LF_b(0.01); // A相电流滤波器LowPassFilte LF_c(0.01); // C相电流滤波器
// AS5600编码器支持spi，iic和模拟量三种数据传输方式，这里用iic（同时也是最常用的方式）//  magnetic sensor instance - I2CMagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);TwoWire I2Cone = TwoWire(0);
// BLDC motor & driver instanceBLDCMotor motor = BLDCMotor(11);BLDCDriver3PWM driver = BLDCDriver3PWM(27, 26, 25, 12, 13, 14);
InlineCurrentSense Cs_motor(0.001, 50.0, 35, 36, 34);
// voltage set point variablefloat target_voltage = 5.0;// instantiate the commanderCommander command = Commander(Serial);void doTarget(char *cmd){    command.scalar(&target_voltage, cmd);}
void setup(){    // initialise magnetic sensor hardware    I2Cone.begin(18, 5, 400000);    sensor.init(&I2Cone);    // link the motor to the sensor    motor.linkSensor(&sensor);
    // power supply voltage    driver.voltage_power_supply = 12;    driver.init();    motor.linkDriver(&driver);
    // aligning voltage    motor.voltage_sensor_align = 5;    // choose FOC modulation (optional)    motor.foc_modulation = FOCModulationType::SpaceVectorPWM;    // set motion control loop to be used    motor.controller = MotionControlType::torque;
    // use monitoring with serial    Serial.begin(115200);    // comment out if not needed    motor.useMonitoring(Serial);
    // initialize motor    motor.init();    // align sensor and start FOC    motor.initFOC();
    // add target command T    command.add('T', doTarget, "target voltage");
    Serial.println(F("Motor ready."));    Serial.println(F("Set the target voltage using serial terminal:"));    _delay(1000);
    Cs_motor.init();}
void loop(){
    // main FOC algorithm function    // the faster you run this function the better    // Arduino UNO loop  ~1kHz    // Bluepill loop ~10kHz    motor.loopFOC();    // Motion control function    // velocity, position or voltage (defined in motor.controller)    // this function can be run at much lower frequency than loopFOC() function    // You can also use motor.move() and set the motor.target in the code    motor.move(target_voltage);
    // Cs_motor.getPhaseCurrents();    Serial.print(LF_b((Cs_motor.getPhaseCurrents()).a));    Serial.print(",");    Serial.println(LF_c((Cs_motor.getPhaseCurrents()).c));
    //  Serial.print(LF_a(analogRead(35)));    //  Serial.print(",");    //  Serial.print(LF_b((3.3 * ((float)analogRead(35) - 1930) / 4096.0) * 20.0));    //  Serial.print(",");    //  Serial.println(LF_c((-3.3 * ((float)analogRead(34) - 1930) / 4096.0) * 20.0));
    // user communication    command.run();}