The phyCORE-AM64x-FPGA
The phyCORE-AM64x-FPGA is a robust and reliable headless embedded solution especially for time-critical industrial systems. The 70 mm x 39 mm SOM has an extensive 400-pin interconnect that supports common communication protocols such as CAN, EtherCAT®,UART,I2C, but also automation-specific interfaces such as ePWM, eCAP and eQEP, as well as 92 universal FPGA I/Os. Due to the heterogeneous architecture of the TI AM64x processor and the Lattice ECP5 FPGA, you can run the majority of your application on Linux and offload critical components to the specialized low-latency real-time cores or process them in the FPGA.
For more details
https://www.hitex.co.uk/products/boards-and-modules/embedded-modules/arm-architecture/phycorer-am64x-fpga