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DRV8830: Measure ISense with an MCU

Part Number: DRV8830

Hi.

ISENSE is to limit the current and detect overcurrent event. If an overcurrent event is detected, a fault signaled to the host by driving the FAULTn signal low.

I want to know, can I connect the ISENSE pin to an analog pin of the host (MCU)  to monitor the voltage of the current resistor?

If I do that, motor driver current / voltage reading may be affected? 

Thanks and regards.