Hall BLDC Variable Timing Advance Alghoritm?

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Hello friends,

I am still on journey of homemade PSOC based Hall BLDC motor driver here:

My Brushless Design for Hall Effect Type Motors, Looking for Suggestions

Hello friends, I'm very new to the forum, but I wanted to contribute a little and share the project's changelog and get your valuable friends' ideas. I design mostly brushed motor drivers, controllers for years and trying brushless motor designs, that design is my 4th attempt and at every...

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Now I am testing with many motors and faced that timing issue that some motors turn better to one direction and not good turning at other direction. As they don't have neutral timing I can understand this effect.

While searching I saw that some motor drivers can change timing at hardware/software side, seperately from motor side. My all motors are hall sensored motors and I need to use them at also lower speeds for mobile robots so BEMF methods not solving my issue, I need to find solution with hall sensors...

How Can I add some "degree delay" to neutralize hall signals? I guess I need to make some phase shift but I couldn't find/understand alghoritm... My plan is using motors at both directions at same speed and some power levels.

I read that some drivers making with sensing RPM or adding direct delays but how.. :/

Edit: for future readers, this page also has good info on problem: Timing advance. Sensor-less vs sensored