Thanks @vmnnk for the post and the effort put into it!
@zhangzq71 that makes perfect sense.
This topology then removes the issue @vmnnk is solving here. As the phase currents have to pass through the shunt resistor. We were discussing in the discord forum if we need 4 shunts or not, but I guess that your topology proves that two are perfectly enough.
What are the timing considerations for this topology. Is the ADC conversion at the center of the activation time of the low-side mosfets enough, or is there something more to it.
What is your PWM modulation strategy?
In our case we are always keeping one side of the H-bridge connected to the ground and modulating the other one. I suppose you are not doing that?