CCS/LAUNCHXL-F28069M: Problem integrating an absolute encoder with InstaSpin Motion

Tool/software: Code Composer Studio

Hi, I'm having trouble to integrate an absolute encoder with my InstaSpin development board.

I have done all motorware labs and sucessfuly had a ABI encoder to run my motor. I'm running lab 12b (sensored speed control).

My problem is very simmilar to this thread: https://e2e.ti.com/support/microcontrollers/c2000/f/171/t/663317

I mannaged to receive the encoder signal via SPI (20 bits) and already done the "interpolation" to 24bits (_iq24). Now I have a position variable that tells me exactly what is my mechanical angle.

I'm trying to replace the QEP module with my own.

This is the code to get the electrical angle:

void incoderGetElecAngle(){
     uint32_t temp = incAbsPos; //mech angle
     temp += incMechOffset;
     temp *= USER_MOTOR_NUM_POLE_PAIRS;
     elecAngle = (_iq24)(temp & 0x00ffffff);
}

incAbsPos is a global variable that is updated by the SPI readings, incMechOffset is a variable that is, for now, zero. My encoder has a option to set the zero. I power the motor to align it and reset the zero in the encoder.
elecAngle is the output, saved in a global.

I can turn the motor and feel the 21 pole pairs swithcing and the electrical angle correctly apearing in the debug (I did a graphing for absolute and electrical angle and they are perfectly in sync, I can see 21 cycles for electrical for 1 cycle of mechanical).

In mainISR, this is my code:

interrupt void mainISR(void)
{
  static uint16_t stCnt = 0;
  CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;

  //Do SPI reading of encoder and refresh the global variable(incoder is a brand)
  SPI_ReadIncoder();

  // convert the ADC data
  HAL_readAdcData(halHandle,&gAdcData);


  // Run the SpinTAC Components
  if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
	  ST_runPosConv(stHandle, encHandle, ctrlHandle);
	  ST_runVelCtl(stHandle, ctrlHandle);
	  stCnt = 1;
  }

   CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData, elecAngle);
  // write the PWM compare values
  HAL_writePwmData(halHandle,&gPwmData);


  // setup the controller
  CTRL_setup(ctrlHandle);

  // if we are forcing alignment, using the Rs Recalculation, align the eQEP angle with the rotor angle

    if((EST_getState(obj->estHandle) == EST_State_Rs) && (USER_MOTOR_TYPE == MOTOR_Type_Pm))
    {
        incMechOffset = incMaxPos - incAbsPos; // same as the QEP, bur here "incAbsPos" is already a mechanical angle,so no need to gain
    }
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
  return;
} // end of mainISR() function

and here is my ST_runPosConv code:7

void ST_runPosConv(ST_Handle handle, ENC_Handle encHandle, CTRL_Handle ctrlHandle)
{
	ST_Obj *stObj = (ST_Obj *)handle;

#ifdef INCODERELECANGLE  //if defined, gets encoder elec angle
	STPOSCONV_setElecAngle_erev(stObj->posConvHandle, elecAngle);
#else
	// get the electrical angle from the ENC module
	STPOSCONV_setElecAngle_erev(stObj->posConvHandle, ENC_getElecAngle(encHandle));
#endif

	/*
    if(USER_MOTOR_TYPE ==  MOTOR_Type_Induction) {
      // The CurrentVector feedback is only needed for ACIM
      // get the vector of the direct/quadrature current input vector values from CTRL
      STPOSCONV_setCurrentVector(stObj->posConvHandle, CTRL_getIdq_in_addr(ctrlHandle));
    }
    */

	// run the SpinTAC Position Converter
	STPOSCONV_run(stObj->posConvHandle);
	/*
	if(USER_MOTOR_TYPE ==  MOTOR_Type_Induction) {
	  // The Slip Velocity is only needed for ACIM
	  // update the slip velocity in electrical angle per second, Q24
	  SLIP_setSlipVelocity(slipHandle, STPOSCONV_getSlipVelocity(stObj->posConvHandle));
	}
	*/
}

I tested both with or without the "force alignment" routine, no matter what I do, change polarities, realign the encoder, I cannot put the motor to spin.

I'm I missing something?

Sory for my poor english.

Much thanks in advance.