Based on 2812 BLDC source program of the motors, to have a friend wants to study this aspect can download learning reference.

BLDCtidcs\DMC\c28\v32x\lib\dmclib\cfloat\build\cc_build_Debug.log
.........\...\...\....\...\......\......\.....\Debug.lkf
.........\...\...\....\...\......\......\.....\Debug.lkv
.........\...\...\....\...\......\......\.....\fDMC_ml.CS_\FILE.CDX
.........\...\...\....\...\......\......\.....\...........\FILE.DBF
.........\...\...\....\...\......\......\.....\...........\FILE.FPT
.........\...\...\....\...\......\......\.....\...........\SYMBOL.CDX
.........\...\...\....\...\......\......\.....\...........\SYMBOL.DBF
.........\...\...\....\...\......\......\.....\...........\SYMBOL.FPT
.........\...\...\....\...\......\......\.....\fDMC_ml.paf
.........\...\...\....\...\......\......\.....\fDMC_ml.paf2
.........\...\...\....\...\......\......\.....\fDMC_ml.pjt
.........\...\...\....\...\......\......\.....\fDMC_ml.sbl
.........\...\...\....\...\......\......\include\atan2_tab.h
.........\...\...\....\...\......\......\.......\clarke.h
.........\...\...\....\...\......\......\.......\dmctype.h
.........\...\...\....\...\......\......\.......\ipark.h
.........\...\...\....\...\......\......\.......\park.h
.........\...\...\....\...\......\......\.......\pid_reg3.h
.........\...\...\....\...\......\......\.......\rampgen.h
.........\...\...\....\...\......\......\.......\rmp_cntl.h
.........\...\...\....\...\......\......\lib\fDMC_ml.L28
.........\...\...\....\...\......\......\obj\atan2_tab.obj
.........\...\...\....\...\......\......\...\atan_tab.obj
.........\...\...\....\...\......\......\...\clarke.obj
.........\...\...\....\...\......\......\...\data_log.obj
.........\...\...\....\...\......\......\...\fix_float.obj
.........\...\...\....\...\......\......\...\ipark.obj
.........\...\...\....\...\......\......\...\park.obj
.........\...\...\....\...\......\......\...\pid_reg3.obj
.........\...\...\....\...\......\......\...\rampgen.obj
.........\...\...\....\...\......\......\...\rmp_cntl.obj
.........\...\...\....\...\......\......\...\sin_tab.obj
.........\...\...\....\...\......\......\src\atan2_tab.c
.........\...\...\....\...\......\......\...\atan_tab.c
.........\...\...\....\...\......\......\...\clarke.c
.........\...\...\....\...\......\......\...\fix_float.c
.........\...\...\....\...\......\......\...\ipark.c
.........\...\...\....\...\......\......\...\park.c
.........\...\...\....\...\......\......\...\pid_reg3.c
.........\...\...\....\...\......\......\...\rampgen.c
.........\...\...\....\...\......\......\...\rmp_cntl.c
.........\...\...\....\...\......\......\...\sin_tab.c
.........\...\...\....\...\......\.IQmath\build\cc_build_Debug.log
.........\...\...\....\...\......\.......\.....\Debug.lkf
.........\...\...\....\...\......\.......\.....\Debug.lkv
.........\...\...\....\...\......\.......\.....\iqDMC_ml.CS_\FILE.CDX
.........\...\...\....\...\......\.......\.....\............\FILE.DBF
.........\...\...\....\...\......\.......\.....\............\FILE.FPT
.........\...\...\....\...\......\.......\.....\............\SYMBOL.CDX
.........\...\...\....\...\......\.......\.....\............\SYMBOL.DBF
.........\...\...\....\...\......\.......\.....\............\SYMBOL.FPT
.........\...\...\....\...\......\.......\.....\iqDMC_ml.paf
.........\...\...\....\...\......\.......\.....\iqDMC_ml.paf2
.........\...\...\....\...\......\.......\.....\iqDMC_ml.pjt
.........\...\...\....\...\......\.......\.....\iqDMC_ml.sbl
.........\...\...\....\...\......\.......\include\clarke.h
.........\...\...\....\...\......\.......\.......\dmctype.h
.........\...\...\....\...\......\.......\.......\impulse.h
.........\...\...\....\...\......\.......\.......\ipark.h
.........\...\...\....\...\......\.......\.......\IQmathLib.h
.........\...\...\....\...\......\.......\.......\mod6_cnt.h
.........\...\...\....\...\......\.......\.......\park.h
.........\...\...\....\...\......\.......\.......\pid_reg3.h
.........\...\...\....\...\......\.......\.......\rampgen.h
.........\...\...\....\...\......\.......\.......\rmp2cntl.h
.........\...\...\....\...\......\.......\.......\rmp3cntl.h
.........\...\...\....\...\......\......

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