BOOSTXL-DRV8323RH: universal_motorcontrol_lab 4 : isSet_A out of control

Hi,

HALL + Current Control mode

don't know why once isSet_A reached 0.15, system out of control.

0:03 HALL estimator + Current Control mode start, isSet_A set to 0.09
0:05 motor start, speed_Hz = 6.8 still under speedStart_Hz (10), motorState = MOTOR_CL_RUNNING, both speedEST_Hz and speedHall_Hz were in-sync.
0.07 speed_Hz > speedStart_Hz, motorState = MOTOR_CTRL_RUN
0:22 increase isSet_A to 0.1, speed_Hz increase accordingly
0:33 increase isSet_A further to 0.12, speed_Hz increase
0:42 increase isSet_A to 0.15, speed_Hz increase all the way up to its limit ~260, idq_in_A > isRef_A (out of control ?)
1:04 reduce isSet_A to 0.12, speed_Hz didn't not decrease
1:11 reduce isSet_A further to 0.1, speed_Hz still not decrease
1:24 reduce to 0.09 ...
1:27 reduce to 0.07 ...
1:39 reduce to 0.06 ...
1:44 reduce to 0.05 ... now speed_Hz started decrease

thanks,

Tiger

e2e.ti.com/.../hall-current-isset-test.mp4