Suggestion on Prototyping Power Electronics
From years of developing hardware coupled to CPUs and FPGAs (for RF stuff) I would suggest utilizing available development boards to make a "brass-board" reference design. Suggest having lots of extra protection so that bugs in software do not blow up hardware. Not sure if you guys are aware, but reference boards even exist for prototyping the H-bridge switching section: https://www.digikey.com/en/product-highlight/r/recom-power/r-ref01-hb-universal-half-bridge-reference-design
Wish everyone the best of luck