Design of a motion-control ASIC/FPGA

Assuming all the compulations are done by a PC or an external processor,  I designed a motion-control FPGA  as follows: 



If a soft processor such as MIcroBlaze or  Nios II  is placed on the FPGA,   construction of a standalone motion controller (without a PC or an external processor)  is possible.

Because both MicroBlaze and NIOS II are Linux/Xenomai-ready, porting Linux/Xenomai software to MicroBlazer or NIOS II is trivial.