Lpc2000

Hello,
My name's Denny and I've just joined your little group here. I've been 
working with PICs for several years but I've recently been given a 
project that is going to need a more powerfull proccessor. Basicly the 
requirements look like this:

Monitor a remote sensor (probably a CAN node, but I'm bulding the 
sensor to, so it could be something else)
Monitor several local sensors (ADC, timers, but most notably- count 
quadrature from a linear encoder)
Control a ~200 watt brushless servo motor (PID loop with the linear 
encoder)
Perform unspecified (but complicated, floating point) math on the 
sensor data to position the servo. (may be possible to implement as a 
large lookup table but would require ~20Kb)
Datalogging of the sensor data (expect ~50Kb)
Allow non-electronics types in the field to update the positioning 
algorithim and retrieve the logged data (probably USB, though a flash 
memory card might be an option)
5 mS or faster update rate to the PID loop
Not a high volume project (less than five units per year)

Most of this I've done before with PICs, but never all on the same 
project. I think this is a good fit for an ARM7 (thus the reason I'm 
here) but I hadn't decided witch one.
I was looking at the Phillips LPC parts but it looks as though CAN and 
USB are incompatible options (no parts have both) so my current 
thinking is the LPC2129 and an external USB chip (probably FTDI)

Any better sugestions?

As to development hardware, What's everybody else using? I'm thinking 
the LPC-P2129 board and JTAG programmer from Olimex - is their a better 
option?

What is the current reccomendation for the software toolchain?

I've budgeted fairly heavily for development tools in this project, so 
cost isn't a significant concern.

Thank you,
-Denny