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DRV8823: Speed control via commands

Part Number: DRV8823
Other Parts Discussed in Thread: DRV8904-Q1

Hi,

in my application my pwm frequencies can't driver at higher frequencies than 500HZ and so the usual H-bridges make a high-pitched sound. Therefore I'm looking for a solution not to control the motor driver with pwm by the µC but via commands.

Can I use the DRV8823 to control a DC motor in speed 0-100% via commands instead of pwm?