System on programmable chip for real-time control implementations

This paper presents the architecture of a System on Programmable Chip (SOPC) solution for embedded real-time control applications. It integrates a general-purpose processor, an application specific processor (CSP II), an AMBA compliant bus and a standard communication interface (Ethernet) on a single FPGA. The design supports high-speed, adaptive real-time control and integrates in a single device all the digital electronics, reducing the required external logic. The programming of the system is supported by software libraries that automatically transform the control law´s equations into the processor´s native Instruction Set.