Written specifically for these motor controllers https://github.com/bgkatz/3phase_integrated but intended to be easy to port.
Written/compiled with ST's Cube IDE: https://www.st.com/en/development-tools/stm32cubeide.html
Most hardware configuration can be done through hw_config.h
I think it's now fully compatible with the old mbed-based firmware, but let me know if you find bugs.