Hi J.T.
The PI control algorithm is part of our AMMCLib - Automotive Math and Motor Control Library Set
http://www.nxp.com/products/software-and-tools/run-time-software/automotive-software-and-tools/motor...
The source code as C/ASM code is not included in evaluation version, but you will get it when you buy a license.
I hope it helps you.
Have a great day,
Radek
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