BOOSTXL-DRV8323RH: universal_motorcontrol_lab 4 : HALL and FAST estimator mode output different Speed_Hz

Case 1 : FAST Mode + Current Control Mode 

(above) under Fast + Current Control Mode, set IsSet_A to 8, the battery Amp-meter shown current drawn ~0.54A, motor spin rather quiet even speed_Hz shown 600+ Hz 

Case 2 : HALL Mode + Current Control Mode 

(below) under Hall + Current Control Mode, when set IsSet_A to 2, idq_in_A out of control to 8, motor spin very fast (even shown only speed_Hz ~165) and noisy, battery Amp-meter shown drawn ~1.5A.

e2e.ti.com/.../FAST.mp4

e2e.ti.com/.../HALL.mp4

my question is : why under HALL Mode, the output is out of IsSet_A or IsRef_A value ? and why motor noise was so loud ?

Thanks,

Tiger