ST Board with inline phase current (AN5423)

[PCota]

Hello. I am just starting in the world of motor control with ST parts and SW, so please be patient with me.

I have checked different motor control boards for BLDC, and some related documentation, and I found special interesting the AN5423.
https://www.st.com/content/ccc/resource/technical/document/application_note/group1/f4/ad/38/39/04/99/46/11/DM00666970/files/DM00666970.pdf/jcr:content/translations/en.DM00666970.pdf

In the application note, it is mentioned the benefits of using inline-phase current-sensing instead of low-side or high-side current-sensing.

I have checked some BLDC motor control boards that I have interested in using (X-NUCLEO-IHM16M1, X-NUCLEO-IHM07M1, STEVAL-LVLP01,  and several more...) and I noticed that they are designed to use low-side current sensing (1 or 3 shunt resistors).

I would like to know:

1) Why do most of the boards use low-side current sensing?
    What are the technical and cost related reasons for that?
    How that affects the possible ST algorithms to use?

2) Can FOC work with inline-phase current sensing?

3) If it is possible to use ST algorithms with inline-phase current, what would we have to change in HW and SW to use it?

4) Can inline-phase current sensing be used for the algorithms described here: https://www.st.com/content/st_com/en/ecosystems/stm32-motor-control-ecosystem/stm32-zest-solution.html 
(I also checked the STEVAL-LVLP01 board associated with this article, and also uses low-side current sensing).

[GMA]

Hello @PCota,

In workbench6.2.1, only one board ICS is available STEVAL-CTM009V1.

1) Please, refer to User Manual documentation available through "Workbench tool">About>Documentations>Documentation>"User manual" tab>"Current sampling"
Current sensing topology choice is a matter of cost/performance.

2-3) STEVAL-CTM009V1 is supported with FOC.

4) Not in current available workbench version