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TMS320F280049C: How to control speed and position of BLDC motor using hall sensor?

Part Number: TMS320F280049C

Hi community,

So right now I'm driving a BLDC motor using DRV8320RS(Driver Board).

This Driver board produces 3 phases as output from it which will be input in BLDC motor for driving it.

So after driving it now I've to control its(motor) speed and position.

While researching about how to do it I did find is that we can do it with help of hall sensor.

But still I'm not clear how Hall sensor data can be used and how Hall sensor data can be used to control speed and position!!!!

It will be greatful if someone help me out.

Thanking in anticipation.