Drv8305 will report nFault when current periodic change direction using micro driver

Electronics
1

I am testing motor control with current is constant in magnitude and opposite in direction per secs.
Testi is done fo micro driver and TI board separately,i got different result.

Test 1: using micro driver witch current direction reverse

  1. using current control
  2. current is 1.5A in magnitude
  3. current direction reverse every second

related code:

double iq = 1.5;
double switch_dt = 1.0;
std::chrono::time_point<std::chrono::system_clock> last_switch_time = std::chrono::system_clock::now();
while (!robot_if.IsTimeout())
{
	if (((std::chrono::duration<double>)(std::chrono::system_clock::now() - last)).count() > dt)
	{
		//closed loop, position
		for (int i = 0; i < N_SLAVES_CONTROLED * 2; i++)
		{

			if (robot_if.motors[i].IsEnabled() && 0 == i)
			{
				robot_if.motors[i].SetCurrentReference(iq);
			}
		}
		robot_if.SendCommand(); //This will send the command packet

		// switch iq direction per secs
		if (((std::chrono::duration<double>)(std::chrono::system_clock::now() - last_switch_time)).count() > switch_dt)
		{
			last_switch_time = std::chrono::system_clock::now();
			iq = -iq;
		}
	}
	else
	{
		std::this_thread::yield();
	}
}

result:the drv8305 will report nFault in 3 secs and red led is on,motor buzzes

here is the testing video:

https://drive.google.com/file/d/1eqOmKfc-2lyCA3dOnlg3KSkkqMJ5C2vW/view?usp=sharing

Test 2: using micro driver with current direction constant

  1. using current control
  2. current is changed in magnitude per secs ,from 1.5A to 4A,and then from 4A to 1.5A next sec
  3. current direction keep constant

result:everything is good,motor rotating also good.no error

Test 3: using TI board

  1. using current control
  2. current is 1.5A in magnitude
  3. current direction reverse every second

The code is almost same as using micro driver,so i do not paste again.

Result:everything is good,motor is rotating good,no error occur.

Does my micro driver have some problem?
Did anyone have similar issues and how could you solve them.
Thank you very much!