I would like to implement a feature，During motor operation，Increasing loads，By controlling the rotational speed，so that when the bus current reaches a given value, it does not increase any further，What should I do?

Hi, I would like to realize switching between speed mode and torque mode during motor operation, but I found that there is a stuttering sensation in the motor when switching, how can I avoid this phenomenon?

Hello, I am using a G030C8T6 MCU with mcsdk version 6.2.1 and the latest version of cubemx to create a motor program, but with the G0 chip library version 1.6.2 and 1.6.1, it creates the bus voltage sampling incorrectly, and it is only correct if I a...