STM32100B-eval or EVSPIN32F0601s1

Hello,

May I know how open the board STM32100B-eval or EVSPIN32F0601s1? I mean the FOC on either of these two boards is established. And the current loop, velocity and position loop are all controlled by PID. I wonder, is it possible that I use the firmware of FOC for either of these two boards, but replace the PID by my own control algorithm? Hope to get your suggestions. Thanks!