The STM32F103RGT6: It is part of the STM32F1 series, the mainstream performance line that balances processing throughput with a broad peripheral set for industrial and embedded control. The 72 MHz core, combined with DMA and a motor-control PWM timer, handles sensorless field-oriented control loops for brushless DC motors without an external DSP. The 1 MB Flash accommodates a full application stack including a real-time OS, CANopen stack, and USB device firmware.
Memory and peripheral budget for the BOM
96 KB of SRAM and 1 MB of Flash are available. Connectivity includes CAN, USB, three SPI, two I²C, and five UART/USART interfaces, plus IrDA and LIN. The 51 GPIOs in the 64-LQFP package leave enough headroom for a keypad, an LCD segment driver, and a few external sensors without an I/O expander. The integrated 12-bit ADC samples 16 channels; the dual 12-bit DAC provides two analog outputs.