DRV8312-C2-KIT: F28035 - How to configure ADC pin to give torque input for InstaSPIN_BLDC project.

Part Number:DRV8312-C2-KIT

Hello guys,

I am using InstaSPIN_BLDC lab project to run 48V BLDC motor in torque control mode with the help of DRV8312 C2-kit.

In InstaSPIN_BLDC lab project torque input is given by IRef variable and that is consant.

I want to use ADC peripheral to give torque input to IRef variable via ADC input.

Please help me 

1.In configuring ADC pin and embedding this with InstaSPIN_BLDC  project .

2.Since  data type of IRef is in  _iq format , how to convert normal floating numbers to _iq format.

Sample code would of great help.

Thanks in advance.