Have you ever considered making a lightweight portable version of the FOC code to speed up development and aid in adapting it to different projects? The VESC works great for a user friendly adaptable motor controller but the enormous scope of the firmware and features make heavy customization extremely difficult. Porting the entire firmware to any other MCU is also extreme in its current form, chibiOS rarely gets ported to much and even with full chibiOS ports the VESC firmware itself contains considerable STM32F4 specific code.
At the moment anyone researching motor control or trying to build an open FOC controller has very little to choose from. Reference software from hardware manufacturers is either closed source or if open purposely not updated to try and push people into using proprietary control software. Feature and performance wise the VESC FOC software is great but out of necessity to work with the existing code much of the FOC specific code is intertwined with BLDC parts and other sections not specific to motor control.
Interested to know if Benjamin thinks its worth while and feasible even if he doesn't work on it directly and if any other people would be interested in such a thing.