Peripheral set — CAN, USB, and motor-control PWM on one chip
The STM32F103VCT6TR: This MCU integrates a CAN 2.0B interface alongside USB 2.0 full-speed, three SPI ports, two I²C interfaces, five USARTs (all IrDA- and LIN-capable), and a 12-channel DMA controller. The motor-control PWM timer includes complementary outputs and dead-time insertion, which is what makes the STM32F103 a common choice for three-phase BLDC and PMSM drives. Two 12-bit DACs and sixteen 12-bit ADC channels handle analog feedback from current sensors and potentiometers.
Memory and boot — sizing the firmware staging area
256 KB of Flash and 48 KB of SRAM are typical for mid-complexity applications: a motor-control stack with CANopen, a USB CDC class driver, and a few hundred lines of application logic fit comfortably.