How to modify phobia to support hw_100_250

[willt20]

I would like to ask the experts, how to modify the hw_100_250.h file for sampling at the lower end of the resistor so that it can run the phobia firmware, because there is one difference, the positive and negative poles of the op amp are connected in reverse, the code in vesc is #define INVERTED_SHUNT_POLARITY, how should phobia modify it in the configuration file.

[rombrew]

You can specify negative amplifier gain in hw configuration file.

#define HW_HAVE_LOW_SIDE_SHUNT
#define HW_ADC_AMPLIFIER_GAIN		-20.f

[willt20]

好的，非常感谢您，我来试一下。

[artayasa]

I would like to ask the experts, how to modify the hw_100_250.h file for sampling at the lower end of the resistor so that it can run the phobia firmware, because there is one difference, the positive and negative poles of the op amp are connected in reverse, the code in vesc is #define INVERTED_SHUNT_POLARITY, how should phobia modify it in the configuration file.

I think if it bidirectional lik ina181 it no problem, like i usued onmy coustem vesc, its no defive inverted polarity, its working, sorry if i mistake, just share, i used mks 75100 schematic