something wrong with current sense align

[blacknull]

my hardware is a simple foc shield and a 3208 bldc. after test with voltage torque control, everything seem fine. so i moved to foc current mode. unfortunately, when i switched to foc current mode, the bldc totally lost control, it shaked like crazy and no effect with PID adjustment. so i looked into source code and added some debug msg in int InlineCurrentSense::driverAlign(float voltage) and found:

MOT: Align current sense. current sense gain_a: 2.000000, gian_b: -2.000000, gain_c: 2.000000 A phase current a:0.506888, b:-0.000000, c:0.000000 B phase current a:-0.000000, b:-2.774509, c:0.000000 current sense gain_a: 0.000000, gian_b: -0.000000, gain_c: 2.000000 current sense pinA: 34, pinB: 36, pinC: -12345 MOT: Success: 2

obviosly there were something wrong with phase current datas, the sum of 3 phase current should be zero. after recheck the connection, i replaced all of the ina240 on simple foc shield. but saddly nothing changed. :-(

now i have no idea about this problem, does anybody know anything? thx!

[askuric]

Hey @blacknull, Did you manage to figure out what was causing the error? I am not sure where do your prints come from so I am not sure what might be causing it. You could potentially paste your code here so I could try to reproduce it.