I was just looking for an ESC circuit diagram the other day, considering using an external microcontroller to drive the FETs. Re-inventing the wheel? Couldn't find that page again,no matter, but very common with the multicopter crowd I realise after searching a few minutes ago. Googled:
esc firmware hack copter. For my purposes I would need an ESC with a flashable Atmel AVR in it, and write the code to use serial control rather than PWM, plus optimise to suit my ROV motor/prop setup, leaving out all the bells and whistles that aren't needed.
Funny, the first result I clicked on had a copter reversing...
http://www.rcgroups.com/forums/showthread.php?t=1849952