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DRV8718-Q1: forward to reverse

Part Number: DRV8718-Q1

Dear expert,

Customer use DRV8718 for H bridge motor drive.

Customer wants to change  from forward drive direction to reverse drive direction.

They want to implement like below:

1. For forward drive, GH1=PWM IN1, GL1=L, GH2=L, GL2=PWM IN1

2. Then GH1=L, GL1=H,  GH2=L, GL2=H 

3. For reverse drive, GH1=L, GL1=PWM IN1, GH2=PWM IN1, GL2=L

  • Does step 2 called "brake mode" or "free wheel mode"?
  • They want to monitor current flow through motor at step 2 is reduced to 0 and then go to step 3. Is it reasonable?
  • How to implement this mechanism with SPI register? Is below correct? 
    • Forward:
      1. HB1_CTRL, HB2_CTRL = 11b
      2. HB1_PWM, HB2_BWM=0
      3. HB1_HL=0, HB2_HL=1
      4. HB1_FW, HB2_FW =1
    • Brake:
      1. HB1_CTRL,HB2_CTRL=01b
    • Reverse
    • HB1_CTRL, HB2_CTRL = 11b
    • HB1_PWM, HB2_BWM=0
    • HB1_HL=1, HB2_HL=0
    • HB1_FW, HB2_FW =1

Thanks a lot