Gimbal 3-axis with STM32 and MPU6050

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Hi I have been thinking about making a 3 axis gimbal with Arduino and an MPU6050 for some time now. I went around the internet for a while and saw that there is a project that manages to control three brushless motors only with arduino as if they were servos, making them a modification on the windings. In this project, however, many PWM signals, I believe 3, are required for each axis and therefore an arduino MEGA was used for the project. At home for another project I find myself an SMT32 that seeing from the pin-out has many PWM pins. Would anyone know if it is possible and how I should modify the code.

Here is the link: https://www.instructables.com/DIY-Brushless-Gimbal-with-Arduino/ 1

[TDK]

This is certainly doable on an STM32 as it's significantly more capable than an ATMega. Just look at the max clock speed difference for one.

However, the code is not compatible between these platforms and it would take a decent amount of skill and time to port from one to the other.

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Is there any project that already does this? That is to make a brushless gimbal with STM32 and MPU6050 that is not a purchased card.