Your schematic in reply #7 can't be right, because it has the gates of the upper mosfets in the H-bridge connected to ground. Like lefty, I suggest you use a ready-built H-bridge, or at least an H-bridge chip - preferably a mosfet-based on such as MC33926 or BD6222.
But they're working fine. The only problem is the sensing
the voltage is around 5.01 V but when I start to drive the h-bridge circuit, the voltage goes to 5.3 V.
All the diagrams you posted come up as "image not available"
So first off lots of decoupling around the H-bridge, and use a star wiring for the ground. That is all the grounds meet at a common point not chained.
That's weird, i'm not sure, why is it that for you, I think others can see it. If
It is a bit overly complex. Why do you go through two FETs before turning on the top FET ?
If you are going to use four pins to control the bridge then you can compensate for one FET's inversion in your code.
Most H-bridges have only two pins controlling them and also use a p-channel FET for the top ones.