When assembling version 1, I realised that I had made a few mistakes in the layout of the chip. I used a wrong header for the encoders, and I cannot just use any 16MHz crystal. There are some requirements, which rules out Abracon crystals. Reading the datasheet closer, it appears that that TI prefers CVX's crystals, so I will use that, even though they are slightly more expensive. I have also reduced the size of the decoupling capacitors. I have also added USER leds and a 3.3V regulator so that the board can be powered straight off the 12V supply, minimising the amount of supplies I have to add.

Once I confirm the design the next batch will be sent off to be made.

Currently a simple version of the CAN bus is working.