Kururugi-ESC, as open-hardware and open-source ESC for BLDC drone motors, which can be used with 6 step control or FOC. I have finished the PCB design which rely on 6 layers and should be able to burn some Watts! I am currently working on the custom C++ bare-metal software, I am considering writing my own LL and HAL implementation, relying only on CMSIS-Core of ARM and CMSIS-Device-G4 of STM. Go take a look, it cool: https://github.com/Bare-Metal-Foundry/Kururugi-ESC-Foundry
With a friend, we created the Bare-Metal Foundry, and our goal is to develop, from scratch, a autonomous racing drone. You can check it here: https://github.com/orgs/Bare-Metal-Foundry/repositories. For now, only one other project is being tacle -> a open-hadware FCU!