@Vfear, a happy compromise would be to use the original sideboard protocol, but also offer an (arduino) software library that could send messages using the same original protocol. So people with sideboards with naitive firmware will be able to use the FOC repo, people with custom sideboards will have an easy setup. Also the current sideboard STM code could be updated to use the original hoverboard comm’s protocol.
In that case, there’s 3 hardware options, that should serve everyone, regardless of their current firmware state of the sideboards/custom boards (native vs custom).