I observed relative high current and therefore relative high temperature on my driver board when the motor was not spinning (Target : 0.00). The reason for that was - so far i investigated - that there was still some pwm signal on the driver. I fixed that temporarily by adding following code to the setPhaseVoltage method:
After that the signal in idle state disappeared and current/heat went down. This is for sure not the solution but maybe a starting point for further investigations. @Antun_Skuric maybe you can have a look at it?