According to the manual you are referring to, the motor has output from hall sensors.
This is a kind og BL known as sensored BL, as opposed to sensorless BL.
In a sensorless BL you are using the current pulses that the motor is producing while running to control the ESC , while in a sensored BL you are using hall elements to do the job, it's much like a rotary encoder.
So buttomline you cannot use it to tell the absolute position, but maybe to tell the RPM.
I would guees you could read the pulses like any other hall effect sensor.