FOC BLDC Driver for Robotics(asap)

I am developing a compact rotary actuator for a robot joint and need a full Field-Oriented Control (FOC) driver that I can integrate straight into the mechanical assembly.

Core requirements
• Closed-loop control modes: speed, torque and position must all be selectable in real time.
• Feedback: magnetic encoder with at least 18-bit resolution; 21-bit support is highly desirable.
• Interfaces: native RS485 and CAN, both able to stream status data and accept commands.
• Safety: built-in over-current, over-temperature and short-circuit protection.

What I expect to receive
1. Hardware: schematic, BOM and PCB layout ready for manufacture.
2. Firmware: well-commented source code (C / C++ preferred) implementing the FOC algorithm, encoder handling and both communication stacks.
3. PC or microcontroller demo project showing command, tuning and diagnostics over RS485 and CAN.
4. Documentation: setup guide, register map and parameter list so I can retune the driver for other motors later.

Experience with STM32, TI C2000 or comparable MCUs, plus hands-on work with high-resolution magnetic encoders, will be a strong plus. All deliverables should build cleanly with mainstream toolchains (e.g., STM32CubeIDE, Code Composer Studio, Keil or equivalent) and be ready for bench testing on a 24–60 V BLDC stage.

Once the prototypes pass basic functional tests—FOC lock, smooth commutation and fault handling—we can move on to vibration optimisation and EMC compliance as a follow-on phase.