The embedded opamp in stm32 foc application working principal

[Ysiu]

To all expert,

I have some confusion about the working mechanism about the current sensing mechanism of the embedded pga. In my sense, foc required at least two sampling of three phase to reconstruct the Idq diagram. With two opamp, I guess it internally multiplex the three input according to the current condition of the h-bridge switch. However, I couldn't find more details in the user manual. Could anyone tell me if my assumption is corrcet?

Regards,

Harry