MCT8316Z: FW selectable BLDC commutation, FOC vs Hall

We intend to use the 8316Z BLDC driver in conjunction with a microprocessor for our application. Our objective is to utilize Hall sensors for initial commutation and then implement Field-Oriented Control (FOC) to manage motor torque in a position control servo system. How can we configure the 8316Z or similar devices to achieve this control architecture?