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DRV8343H-Q1EVM: Sinusoidal Commutation

Part Number: DRV8343H-Q1EVM
Other Parts Discussed in Thread: MSP430F5529, DRV8343-Q1, DRV8305-Q1

Hello,

I am trying to understand from the datasheet and the user guides, is it possible for me to spin a three phase sensored motor with sinusoidal commutation instead of trapezoidal commutation?

Additionally, I would like to understand how the trapezoidal commutation is created and what creates it (firmware on the MSP430F5529 or the DRV8343-Q1). I see the trapezoidal commutation first when I connect with a scope to one of the GHx outputs but I did not understand how it is created and why I see a different wave on GLx outputs. 

Please feel free to elaborate.

Thank you!

Eli