STM8S bldc motor control library supports no sense, voltage mode and current mode, the speed closed-loop, etc.

stm8s_bldc
..........\STM8-MC_KIT
..........\...........\MC_FWLIB_SCALAR
..........\...........\...............\inc
..........\...........\...............\...\MC_ACIM_Motor.h
..........\...........\...............\...\MC_ACIM_type.h
..........\...........\...............\...\MC_BLDC_Motor.h
..........\...........\...............\...\MC_BLDC_timers.h
..........\...........\...............\...\MC_BLDC_type.h
..........\...........\...............\...\MC_dev.h
..........\...........\...............\...\MC_display.h
..........\...........\...............\...\MC_Drive.h
..........\...........\...............\...\MC_Faults.h
..........\...........\...............\...\MC_Keys.h
..........\...........\...............\...\MC_pid_regulators.h
..........\...........\...............\...\MC_StateMachine.h
..........\...........\...............\...\MC_tacho.h
..........\...........\...............\...\MC_Type.h
..........\...........\...............\...\MC_User_Interface.h
..........\...........\...............\...\MC_vtimer.h
..........\...........\...............\param
..........\...........\...............\.....\MC_ACIM_conf.h
..........\...........\...............\.....\MC_ACIM_Drive_Param.h
..........\...........\...............\.....\MC_ACIM_Motor_Param.h
..........\...........\...............\.....\MC_ACIM_User_Interface_Param.h
..........\...........\...............\.....\MC_BLDC_conf.h
..........\...........\...............\.....\MC_BLDC_Drive_Param.h
..........\...........\...............\.....\MC_BLDC_Motor_Param.h
..........\...........\...............\.....\MC_BLDC_User_Interface_Param.h
..........\...........\...............\.....\MC_ControlStage_param.h
..........\...........\...............\.....\MC_hall_param.h
..........\...........\...............\.....\MC_PowerStage_Param.h
..........\...........\...............\.....\MC_tacho_param.h
..........\...........\...............\src
..........\...........\...............\...\main.c
..........\...........\...............\...\MC_ACIM_Drive.c
..........\...........\...............\...\MC_ACIM_Motor.c
..........\...........\...............\...\MC_ACIM_User_Interface.c
..........\...........\...............\...\MC_BLDC_Drive.c
..........\...........\...............\...\MC_BLDC_Motor.c
..........\...........\...............\...\MC_BLDC_User_Interface.c
..........\...........\...............\...\MC_dev.c
..........\...........\...............\...\MC_display.c
..........\...........\...............\...\MC_Keys.c
..........\...........\...............\...\MC_pid_regulators.c
..........\...........\...............\...\MC_StateMachine.c
..........\...........\...............\...\MC_tacho.c
..........\...........\...............\...\MC_User_Interface.c
..........\...........\...............\...\MC_vtimer.c
..........\...........\Release Note.pdf
..........\...........\STM8_FWLIB
..........\...........\..........\inc
..........\...........\..........\...\stm8s_adc1.h
..........\...........\..........\...\stm8s_adc2.h
..........\...........\..........\...\stm8s_awu.h
..........\...........\..........\...\stm8s_beep.h
..........\...........\..........\...\stm8s_clk.h
..........\...........\..........\...\stm8s_exti.h
..........\...........\..........\...\stm8s_flash.h
..........\...........\..........\...\stm8s_gpio.h
..........\...........\..........\...\stm8s_i2c.h
..........\...........\..........\...\stm8s_itc.h
..........\...........\..........\...\stm8s_iwdg.h
..........\...........\..........\...\stm8s_lib.h
..........\...........\..........\...\stm8s_macro.h
..........\...........\..........\...\stm8s_map.h
..........\...........\..........\...\stm8s_rst.h
..........\...........\..........\...\stm8s_spi.h
..........\...........\..........\...\stm8s_tim1.h
..........\...........\..........\...\stm8s_tim2.h
..........\...........\..........\...\stm8s_tim3.h
..........\...........\..........\...\stm8s_tim4.h
..........\...........\..........\...\stm8s_type.h
..........\...........\..........\...\stm8s_uart1.h
..........\...........\..........\...\stm8s_uart2.h
..........\.....

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