The macros are used to define some functions that like inline function and are called by other codes. You might find related documents about how to use the driver, that can be as a reference for F2806x device also. C:\ti\ controlSUITE \libs\app_libs\motor_control\drivers\f2803x_v121\~Docs And you could find a document about the motor control modules, that should help you to understand the program. C:\ti\ controlSUITE \libs\app_libs\motor_control\math_blocks\v4.3\~Docs If you haven't had a chance to look at the workshop material, I think this will help demystify some of the terminology and architecture as well. https://training.ti.com/c2000-mcu-device-workshops
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