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TIDA-010056: Reference Design Details

Part Number: TIDA-010056
Other Parts Discussed in Thread: MSP430FR2355

Hi Team, 

Seeking clarification.

Q1: does the power stage solution allow for regen (i.e. energy flowing from motor to battery)?
Q2: does the microcontroller used in the reference design (MSP430FR2355) allow for CAN communication?
Q3: in the design, there's an input for the reference speed and I'm wondering if the motor could be controlled in torque mode rather than speed mode?
Thank you.
-Mark