Q2. I use DC motor. So, i want to use two ADC channels(+,- direction).
Is it posible to measure bidirection current(+,-)?
Did you check the S12ZVM ref. manual? Please, see section 1.8 Internal Signal Mapping and 18.104.22.168 Motor Control Loop Overview.
Is the DC motor brushless or not?
ADC measures the voltage actually. The current can be measured by Current Sense Amplifiers and routed to ADC.
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