The TM4C1237E6PZI7R is a Texas Instruments Tiva™ C series 32-bit ARM Cortex-M4F microcontroller clocked at 80 MHz. The single-precision floating-point unit on the M4F core handles PID coefficients and sensor fusion math without software emulation, which keeps the loop jitter lower than a fixed-point core running the same algorithm. The 2 KB on-chip EEPROM stores calibration constants and node ID without an external serial EEPROM, saving a BOM line and a PCB via.
Connectivity and I/O — CAN, USB OTG, and the serial suite
The 69 I/O lines in the 100-LQFP package give enough headroom.
22-channel 12-bit ADC — analog front-end without external mux
The 22-channel 12-bit ADC covers a lot of analog inputs: thermocouple cold-junction compensation, potentiometer feedback, current-sense amplifier outputs, and battery voltage monitoring can all be wired directly to the MCU.