In the reference manual we can learn explanation around the rotor flux, equation, rotor, module, algorithm, and pwm signal shifting. There are lots of information regarding controller, configuration, reference, parameters, and phase current are explained inside the reference manual.
The reference manual presents discussion about digital signal, design, control algorithm, current sensing, and speed controller. Below are taken from this reference manual:
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Even more, this reference manual presents more things like signals, motor speed, range, output, and communication driver.