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DRV8243-Q1: How to do the analog signal samping and holding of IPROPI pin for PWM driven with DRV8243 HW version

Part Number: DRV8243-Q1

Tool/software:

We need DRV8243 HW version to driver an motor with PWM type(20KHz, 50%). And the EE arch is as below, as you see, it is an typical application for DRV8243 current sampling.

And from below waveform, as you finding, the MCU could not detect the continuous current ADC value. I need help and suggesting from TI expert. Are there any IC or curciuts for analog sampling and holding to add to the  IPROPI pin to let MCU could detect the continuous current ADC value even if the PWM (20KHz) driven.