Sinusoidal driving of 3-phase BLDC sensored use PWM

Hi to All forum!

I want sinusoidal driving a BLDC motor and i find this application (AVR449 ) wich suit me, but with a small change, speed reference not be analog (0-2.56V ) for speed control, but PWM (0%-100% ) 5V.
Can any help me how to do this change? or have any person here a code for arduino to do this job?

information about application its here:
http://www.microchip.com//wwwAppNotes/AppNotes.aspx?appnote=en591744.

Thanks to All!