Using linuxCNC and stm32 to control servo motors

Since I am in China, I do not have a way to purchase a Mesa control board. Our mainstream control method is to use a system board with a core of stm32, as shown in the figure. At present, there is no suitable universal firmware available, but Bigtreetech has a motherboard with Stm32 as the core, which has a suitable firmware called remora. However, this firmware can only achieve control of stepper motors by LinuxCNC and Stm32. I would like to ask if there are any good suggestions. This is my first time using LinuxCNC to control servo motors, and the main control method is position control. Currently, I am not sure how to choose hardware or process encoder signals.
I hope all professionals can provide guidance. Thank you

I've been working on a project that merges Mesa firmware with generic FPGA boards sourced from Aliexpress. The link I'm going to give shows a half completed prototype, I'm currently waiting on the PCB to replace the proto board on the left. The major mod to the FPGA board is to replace the flash EEPROM with a larger capacity model. So far the interface is to a RPi via SPI.

forum.linuxcnc.org/show-your-stuff/50461-diy-7i90-ish

I also have a SODIMM fpga module that can be had for about $20 AUD + postage form Aliexpress that I have just finished working out edge connector to FPGA pin locations.

I'm hoping to be use this with 7i90 firmware via SPI and with 7i90 ssremote firmware.

Ethernet would require a bit of time to work on as I'm trying to stay within the bounds of the hostmot2 infrastructure.

That being said Mesa product are the most cost effective solution. This is just a project to keep my mind going until I can find employment.