Motor Control Library is an open-sourced library written in C/C++ for accelerating developments of motor control applications. It now covers 4 algorithm-level L1 APIs including FOC, SVPWM_DUTY, PWM_GEN and QEI. Operator-level APIs, such as Clarke transform and its inverse transform, Park transform and its inverse transform and PID are also implemented. The use of ap_fixed data types makes the code easy to understand and further develop. A virtual motor model is provided for doing the verifications of FOC solely in the Vitis environment.