下一段通过STM32单片机AD查询获取电机UVW的三个电流的大小的程序，

这里提供一个简单的STM32单片机AD查询获取电机UVW的三个电流大小的程序，供参考：

#include "stm32f4xx.h"

// 定义ADC采样周期
#define ADC_SAMPLE_CYCLE 100

// 定义ADC采样通道
#define ADC_CHANNEL_U GPIO_Pin_0
#define ADC_CHANNEL_V GPIO_Pin_1
#define ADC_CHANNEL_W GPIO_Pin_2

// 定义ADC采样值
uint16_t ADC_Value_U;
uint16_t ADC_Value_V;
uint16_t ADC_Value_W;

// ADC采样完成标志
uint8_t ADC_Conv_Complete = 0;

// ADC初始化函数
void ADC_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;
    ADC_InitTypeDef ADC_InitStruct;
    NVIC_InitTypeDef NVIC_InitStruct;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);

    GPIO_InitStruct.GPIO_Pin = ADC_CHANNEL_U | ADC_CHANNEL_V | ADC_CHANNEL_W;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AN;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &GPIO_InitStruct);

    ADC_CommonInitTypeDef ADC_CommonInitStruct;
    ADC_CommonInitStruct.ADC_Mode = ADC_Mode_Independent;
    ADC_CommonInitStruct.ADC_Prescaler = ADC_Prescaler_Div2;
    ADC_CommonInitStruct.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
    ADC_CommonInitStruct.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
    ADC_CommonInit(&ADC_CommonInitStruct);

    ADC_DeInit(ADC1);
    ADC_InitStruct.ADC_Resolution = ADC_Resolution_12b;
    ADC_InitStruct.ADC_ScanConvMode = DISABLE;
    ADC_InitStruct.ADC_ContinuousConvMode = DISABLE;
    ADC_InitStruct.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
    ADC_InitStruct.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
    ADC_InitStruct.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStruct.ADC_NbrOfConversion = 1;
    ADC_Init(ADC1, &ADC_InitStruct);

    ADC_Cmd(ADC1, ENABLE);

    NVIC_InitStruct.NVIC_IRQChannel = ADC_IRQn;
    NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStruct);

    ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_3Cycles);
    ADC_ITConfig(ADC1, ADC_IT_EOC, ENABLE);
}

// ADC采样完成中断处理函数
void ADC_IRQHandler(void)
{
    if (ADC_GetITStatus(ADC1, ADC_IT_EOC) != RESET)
    {
        ADC_ClearITPendingBit(ADC1, ADC_IT_EOC);
        if (ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC) != RESET)
        {
            switch (ADC_GetRegularChannel(ADC1, ADC_REGULAR_RANK_1))
            {
            case ADC_CHANNEL_U:
                ADC_Value_U = ADC_GetConversionValue(ADC1);
                break;
            case ADC_CHANNEL_V:
                ADC_Value_V = ADC_GetConversionValue(ADC1);
                break;
            case ADC_CHANNEL_W:
                ADC_Value_W = ADC_GetConversionValue(ADC1);
                break;
            }
            ADC_Conv_Complete = 1;
        }
    }
}

int main(void)
{
    ADC_Init();
    while (1)
    {
        ADC_Conv_Complete = 0;
        ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_U, 1, ADC_SampleTime_3Cycles);
        ADC_SoftwareStartConv(ADC1);
        while (!ADC_Conv_Complete);

        ADC_Conv_Complete = 0;
        ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_V, 1, ADC_SampleTime_3Cycles);
        ADC_SoftwareStartConv(ADC1);
        while (!ADC_Conv_Complete);

        ADC_Conv_Complete = 0;
        ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_W, 1, ADC_SampleTime_3Cycles);
        ADC_SoftwareStartConv(ADC1);
        while (!ADC_Conv_Complete);

        // 获取电机UVW的三个电流的大小的值
        uint16_t Current_U = ADC_Value_U;
        uint16_t Current_V = ADC_Value_V;
        uint16_t Current_W = ADC_Value_W;

        // 进行电机控制等操作...

        // 延时等待下一次采样
        for (uint32_t i = 0; i < ADC_SAMPLE_CYCLE * 1000; i++);
    }
}

在上述代码中，我们使用了STM32的ADC模块来进行电流采样，通过设置不同的通道，分别获取了电机UVW的三个电流的大小的值。在主循环中，我们可以进行电机控制等操作，然后延时等待下一次采样。需要注意的是，上述代码只是一个简单的示例，实际应用中需要根据具体的需求进行修改和优化。