Adapting the DRV8305N BoosterPack Eval Module for low-speed and with Hall sensors

Folks,

I would like to implement a low-cost BLDC motor controller for mechatronics/robotics applications that combines the capabilities of the DRV8305N BoosterPack Eval Module with low-speed (down to zero) operation, single-step control (as with stepper motors) and force feedback.

I'm anticipating that I can start with the existing DRV8305N BoosterPack design and make the following mods:

1. The same or different FETs (for smaller motors).
2. Use of Hall effect sensors and the appropriate changes (simplification?) of the motor control firmware.
3. Use of stepper motor open-loop techniques, with MCU direct PWM control of the FETs for low-speed and single (micro?) stepping of the BLDC motor.

Please advise with regard to:

1. Any special cautions with regard to scaling the FETs, protection circuits, etc., for a range of smaller motors?
2. How to modify the firmware for direct Hall-effect sensor use? Differing Hall-effect sensor setups?
3. If I successfully accomplish #2, can I get down to single-step operation without transitioning to stepper-motor mode? If not, any advice on how to implement this mode and integrate it with high-speed operation?

The goal is to provide a scalable open-source design for a range of motor sizes for educational robotics applications.

Thanks,

Mike