H-bridge ADC sense explanation required

[antriksh]

as per above attached circuit can any one explain what does than means to is it a filter or what?

this is a current sense of h-bridge sensed back to micro controller ADC.

please help me to understand.

 

[betwixt]

R9 is a load on the sensor output.
R8/C16 are a low pass filter to reduce fast variation in the measured voltage (= average it over a period) so it gives a more constant reading.
The pin on the IC will be an analog input to read the voltage.

Brian.