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Maybe there could be a separate microcontroller that does all the non time critical stuff that sends the info to the time critical micro? non super-time critical could compute A/D's of throttle, brake A/D pressure switch thing, temperature A/D, DC voltage monitor, UART communication with outside, etc... All stuff that doesn't HAVE to be right this 0.0001 sec. It could even drive an optional 4th half bridge for the boost option. Then the other micro could do current 1, current 2, encoder or resolver, and that's it. boom. FOC with the focus of a ninja. haha. It would have to receive messages but that could be done quickly and reliably.
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