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DRV10866: FG output and Lock detection

Part Number: DRV10866

Hi,

I'd like to know the FG output and Lock detection feature of DRV10866.

1. Depend on customer application and environments, the DRV10866 cannot detect the point BEMF cross zero due to noise. 
In this case, how will FG output be? I guess FG out may not output in this case. Is it correct?

2. Could you please let me confirm about the www.ti.com/.../slva612a.pdf document
My understanding for the explanation is if internal sampling clock of external system such as MCU is 101.6Hz, the system may detect as rotor is locked even if FG is working. Then, the sampling clock of external system should be 2X from 101.6Hz. Is my understanding correct?

Nagata.