Control System of VESC

So I'm new to the VESC world. But maybe some of you guys could help me out with a little information.

I have seen the VESC Git repo: https://github.com/vedderb/bldc

But can someone tell me were are the functions defined for the control system?

When I use the VESC in FOC mode, I need to calculate the parameters like I_d and I_q but in which folder or part of Benjamins Code are those calculations.

And afterwards I need to calculate my PWM duty cycles for the MOSFETS of the VESC. So again in which code lines is this happening.

Would be great if someone of you could help me here.