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DRV8880: Noise hearing on run and holding condition at DRV8880

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Part Number: DRV8880

I've heard a noisy sound with my motor which driven by DRV8880

it's a high frequency noise from the motor, no matter running or holding mode.

the DRV8880 setting parameters as below, please kindly help to provide some suggestions, thanks. 

VM=24V

Current setting = 2A

TRQ = 50%

toff = 10us

decay mode = autotune

pulse frequency  = 20kHz


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