Inrush current problem with our bldc driver board

hardware support
25

@runger
This is the code that’s currently running on the STM

#include <SimpleFOC.h>

#define LED PC13    // LED pin

// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(15);
BLDCDriver3PWM driver = BLDCDriver3PWM(PA10,PA9,PA8, PB1,PB14,PB13);

// hall sensor instance
HallSensor sensor = HallSensor(PA_6, PA_7, PB_0, 15);

void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doC(){sensor.handleC();}

void setup() { 

  Serial.begin(115200);

  pinMode(LED, OUTPUT);
  digitalWrite(LED, 1); //off

 // initialize encoder sensor hardware
  sensor.init();
  sensor.enableInterrupts(doA, doB, doC); 

  motor.linkSensor(&sensor); // link the motor to the sensor


  driver.voltage_power_supply = 24;
  driver.voltage_limit = 24;

  driver.pwm_frequency = 10000;

  // driver config
  digitalWrite(LED, 0); //on
  driver.init();
  motor.linkDriver(&driver); // link driver

  // set motion control loop to be used
  motor.controller = MotionControlType::velocity;
  motor.torque_controller = TorqueControlType::voltage;

  motor.PID_velocity.P = 0.2f;
  motor.PID_velocity.I = 5;
  motor.PID_velocity.D = 0;

  motor.init();
  // align sensor and start FOC
  motor.initFOC(0, Direction::CW);
  digitalWrite(LED, 1); //off
}

float speed;
unsigned long currMills;

void loop() {
  motor.loopFOC();// FOC algorithm function

  // Get a random value every 1 second
  if(millis() - currMills > 1000){
      currMills = millis();
      speed  = random(-10, 10);
  }

  motor.target =  speed; // Set target velocity
  motor.move();
}


And it happens only when the motor is changing the direction.
When using `speed = random(2, 10);` the motor doesn't stop. And I didn't notice any current spikes or increases in current consumption. I am also not using the current sense in the code currently.