3-phase BLDC Control Software on developer board ST Nucleo

I develop these two type of firmware for ST X-NUCLEO-IHM07M1.
The software can control any BLDC motor with Hall sensor.
The first firmware control the speed with the dutycycle and the physical potentiometer.
The second firmware has a feedback control. You can set the direction (clockwise or anticlockwise) and the speed in rpm, first.
Automatically the firmware set the correct dutycycle for spinning at rpm fixed. When the motor is under load it increases dutycycle ... otherwise it decreases DC.
The firmware also has a protection for the motor if something block it.

more info of developer board
http://www.st.com/web/en/catalog/tool...

code here:
https://github.com/melpy90/BLDC-Hall-...