high level closed-loop PMSM control with microcontroller

Hi,
I have a PMSM that i can drive it by an existing motor driver with pulse-direction method, so i can drive the driver by pulse and then the driver runs motor. I have a closed-loop system with motor encoder and mentioned driver and thus my current/torque loop is closed in the driver/motor level. My requirement is using a secondary higher level encoder for closing loop with my controller that generates required pulses for the driver. Is Delfino ecosystem a proper selection for this implementation? Is there any suitable library for fast and secure implementation of this closed-loop? On the other hand, i need a MCU for controlling a drive/motor subsystem by an external encoder feedback and generating required pulse/direction signals that causes a smooth run/stop motion profile.

BR
mhmontazeri