Hello, when I was using drv8316 to drive the motor, I found that in the 8.3.11.2 Current Sense Amplifier Offset Correctior section of the data manual, Current sensed in Phases A&B, Formula (8) and (9) both write ia, and ib is not described in these three formulas. I don't quite understand what this formula means, for example, how do I get the current value after I get the voltage on the SOA
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