B-G431B-ESC1 as DC motor driver

Hi.

I have been exploring the options on how to use the B-G431B-ESC1 board to drive a DC motor and so far I have also succeeded in doing so manually by reflashing the firmware with a custom one.

Unfortunately I am struggling with getting the current measurements right, since the PWM output and the chosen idle state of the MOSFETs seems to greatly affect the readings.

1. All in all I would like some advice on when to sample the currents for DC motor driving?
2. Any suggestions on how to sync the sampling with the PWM? I have tried both syncing it with the PWM timer, offsetting it with a specific non-output CC channel and then storing it through DMA. But I don't seem to get consistent results no matter where on the PWM cycle that I tend to sample.
3. If there is any way to use the X-CUBE-MCSDK to drive a DC motor with the B-G431B-ESC1 board?

Looking forward to your advice.

Thank you in advance.

Best regards

Thomas Jespersen