Bldc motor control based on Arduino, using FOC and ABI encoder with CAN/RS485 communication

I need to precise control slow rotating BLDC motor. It will Work only as position controller. Allowed hardware: - any arduino board - any arduino bldc hat or separate PCB (i have infeon BLDC-SHIELD_IFX007T or TI BOOST-XL-DRV8305) - abi differential encoder - no hall sensor Software: - arduino ide - any libraries - FOC algorithm required (encoder based) - no back emf use - limiter switches based calibration for encoder - current limit Bldc controller should work as standalone device. User will connect to it using CAN interface and could use read/set commands: Read: - read current - read position - read calibration switches state - read current configuration (set registers) Set: - set current limit - set position - set direction - set speed - set ramp (acceleration profile) - set calibration Position controller will control robot arm with about 1:50 gear reducer. Output movement will be read via encoder - 0-300deg range (less than 360), but motor will rotate 50x more.