Noise (click) problems while driving BLDC motor by using SPIN3202

[PaulQ]

Hi all, after many hours of tuning and trials I finally got my new BLDC motor running. It's a 36V, 180W rated power, Nominal current 6.8A.

I am using FOC with 3 Hall sensors and single shunt.

Problem I am facing is, quite often motor makes strange noises (click and whistles) at startup. I tried lots of parameters combination but this inconvenience still remains

I loaded a little video at https://youtu.be/fyeuIKXE5mc

Any suggestions / ideas ? Thank you