Abstract
Control algorithms implemented directly in hardware take advantage of parallel signal processing. Furthermore, implementing controller functionality in reconfigurable hardware facilitates modification of controller structure and parameters during run-time. In this paper, we introduce an implemented and tested reconfigurable hard real-time control system based on an FPGA device. It supports dynamic partial reconfiguration of controller functionality by self-reconfiguration mechanisms. Self-reconfiguration is performed using an internal configuration interface. We also present sophisticated on-chip and off-chip communication solutions. Specification of controller functionality involves finite state machines (FSMs) and comprises parts of the distributed communication and reconfiguration solution.