How to measure the current drawn by the motor ?

Hello motor driver specialists,

I hope this message finds you well.

Let me describe you what bothers me.... We have a DC brushed motor and we're intended to use DRV8871 IC to drive it.

We're using software PWM from a PSOC to drive the motor and we need to know the exact amount of the current passing through the motor (so we can adjust the amount of stall before the motor shuts off). Is there any way to measure the current through the motor?

Is it possible, for example, to connect one leg of the FET's current output (that connects to the motor) to the 0-1v ADC in some way, and get current read on our PSOC while spinning the motor in both directions?

Thank you very much for your time and effort.

Sincerely,

Bojan.