We are using the S12ZVM128 chip to control BLDC motors. At present we are using the conventional back-emf + calculated time approach to commutation and it is working fine except for low rpm. When we need very low mechanical RPM this technique fails.
We are looking to use the BACK-EMF Integration technique to improve the Low RPM performance but we cannot find any proper reference code or documentation which explains how this can be achieved in general or specifically for S12Z.
Essentially please bring out documents that explain in maximum detail how to achieve back-emf integration technique for commutation especially with S12Z MCU and if not then with any other MCU with code samples.