Has anyone worked with STM32 FOC + encoder?

Question

Electronics

Does anyone have infa on the topic of low-speed control of a PMSM motor with encoder feedback? There is a P-NUCLEO-IHM001 kit, a GM60-80T motor and an encoder of 500 pulses per revolution, with the modification of the standard firmware, it was possible to achieve the retention of the initial position of the motor (when you turn it by hand, it returns to its original position), while the STM Motor control displays the speed (when engine off) => encoder is running, STM Motor profiler cannot test this motor.
In general, the task is stable rotation of the engine at a given speed, smooth start / stop.