This controller is based on my previous design, but this time I have an on-board ESP32, a buck regulator, a DRV8353 and a temperature sensor. I have tested wireless communication with the ESP32 through ESPNOW and it seems to work reliable and more-than-fast enough without affecting the control sample-time. With ESPNOW you could potentially create a full robot without any single cable aside from power. https://hackaday.io/project/173519-janus-brushless-controller-2001
The code will be completely open-source and Arduino based. The bulk of the code will be based on the SimpleFOC arduino library, since it has worked perfectly in the past and is constantly being upgraded and updated. I will order the first revision soon from PCBWay and post all updates.