I'm using an STM32G431 and MCSDK 6.4.1. It's a 340 VDC BLDC motor with two pairs of magnets, running in FOC mode with HAL sensors. The motor works well most of the time, but it often starts in the wrong direction and then returns to the correct direction after a few revolutions. This happens when trying to move forward or backward. Sometimes the motor goes into "hard commutation"—the current is higher at about half the normal current, and a sound indicates that the rotation isn't as smooth as usual. I tried adjusting the HALL_PHASE_SHIFT setting in 15-degree increments and settled on the smoothest rotation in both directions. Debugging the HAL sensors showed stable sector readings in both directions and no interference in these signals.
What else can I try to make rotations reliable? Would an oscilloscope help?
