# 6. General Implementation Issues

- 6.1. Source Tree Structure
- 6.2. Code Generation
  - 6.2.1. Relationship with motorBench™ Development Suite and MCC
  - 6.2.2. Configurable parameters
  - 6.2.3. Source file organization
  - 6.2.4. Auxiliary reports
- 6.3. Integration with Custom Code
  - 6.3.1. Overview
  - 6.3.2. General Guidelines
  - 6.3.3. Modifying the Main Application
  - 6.3.4. Modifying the FOC module
  - 6.3.5. Modifying the External Interface
  - 6.3.6. Using Custom Boards
  - 6.3.7. Modifying the State Machine
  - 6.3.8. Modifying the Supervisory Algorithms
- 6.4. Resource Usage
  - 6.4.1. Test case
  - 6.4.2. Usage statistics