BLDC driver based on GD32

A brushless motor may seem like a simple thing, but it can be very complex to drive. As an electronics enthusiast, I just tried it with the spirit of a newborn calf who is not afraid of tigers. It doesn't take long either. So the things I make only have one look, and I hope you won’t criticize them.

LEDs, buttons, timers, PWM, and ADC. Everything else went smoothly except for the PA6 ADC which was very strange. The op amp output cannot be brought up. Connect to power and ground. The ADC value has changed again. Don’t manage it yet. Let the thing run before talking. Add a piece of code. Use simple AC,,,,CA. Try it first. It runs normally like a short video. However, the noise and jitter are relatively large. The speed cannot be adjusted at will.
As can be seen from the figure below, the H-bridge output is basically adjusted through PWM, and then the voltage and current are continuously sampled to determine the output status, thus forming a feedback loop to allow the motor to run stably. It seems as simple as that, just do it.