DRV8214: Inquiry on Real-time Parameter Readout via I2C and Internal ADC Specs

Tool/software:

Hello TI Support Team,

I’m working with the DRV8214 and have a few questions about motor performance parameters that I couldn’t find in the datasheet. Specifically:

1. Is it possible to read motor voltage, current, and speed in real time via I2C while the motor is running? If yes, what is the update rate for related registers like RC_CNT ?
2. The datasheet includes an internal ADC in the motor current and speed control loop diagram, but I haven’t found details like its Resolution, SPS, type, etc.

Thank you for your assistance in understanding these features.