Features:

SAME51 MCU 120 mhz M4 architecture with CAN FD (https://www.microchip.com/wwwproducts/en/ATSAME51J20A)

TMC2209 stepper driver (https://www.trinamic.com/products/integrated-circuits/details/tmc2209-la/)

MOSFETS BSC0925ND Dual channal 40amp 17nC gate charge (https://www.infineon.com/cms/en/product/power/mosfet/12v-300v-n-channel-power-mosfet/bsc0925nd/)

Gate drivers MIC4605-2 PWM indput (https://www.microchip.com/wwwproducts/en/MIC4605)

Current sensors MAX40056 (https://datasheets.maximintegrated.com/en/ds/MAX40056F-MAX40056U.pdf)

Step-Down converter 4v/36v to 10v rail 1amp (https://www.ti.com/product/LMR50410)

3.6v LDO 500mA (https://ww1.microchip.com/downloads/en/DeviceDoc/MIC5219-500mA-Peak-Output-LDO-Regulator-DS20006021A.pdf)

3 x ANALOG HALL sensors (https://www.ti.com/product/DRV5053?qgpn=drv5053)

Analog hall sensors will potentially give a precision of the ADC resolution over one polepair. Thats 12bit (4096:1) (3mm/4096=0,0007mm)

CAN FD physical layer IC MCP2562FD-E_SN 8Mbps (https://www.microchip.com/wwwproducts/en/MCP2562FD)

4 layer PCB w. 105µm outer copper. (Min 0.25 mm. trace width and clearence)

Communication ports:

SERCOM port can be configuered to I2C, SPI and serial.

CAN FD is integrated into the SAME51 MCU.

USB 2.0 full speed. (USB port data-pins is broken out)