I have been working on using a Propeller microcontroller to drive a sensored three-phase permanent magnet BLDC motor, like those used on hoverboard-style scooters. It uses three of the four half-H-bridges on a DHB-10, and three I/O inputs for the hall effect encoder sensors.
As demonstrated in the attached video, I currently I have it reading position and running the motor, in either direction, at a variable power level. I will be out of the office for a few weeks, but when I get back, I'll merge the driver into the DHB-10 firmware, to get full position control, using only the motor's built-in sensors. After proving out the software, I'll start working on a new motor driver, that will be able to simultaneously drive two of the motors. It should work as a drop-in replacement for the DHB-10.
I will release the source code, once I have everything working.