IGLOO的FPGA構成的馬達控制方案本文介紹了IGLOO系列主要特性和優勢，IGLOO系列架構框圖以及采用AGL125的馬達控制子板主要特性，步進馬達控制邏輯方框圖，BLDC馬達控制邏輯方框圖以及馬達控制子板電路圖和材料清單。

Actel公司的IGLOO系列FPGA是采用FlashFreeze技術的低功耗閃存FPGA，它基于130nm閃存工藝，具有最低功耗，單片解決方案和小占位面積的封裝，可重新編程以及豐富的其它特性，核電壓1.2V-1.5V，支持低功耗和單電壓系統工作，FlashFreeze模式的功耗為5uW，系統門從15K到100萬，多達144kb的雙端口SRAM和多達300個用戶I/O，可滿足消費品，工業，醫療，汽車電子，計算，通信和軍用航天領域的便攜產品對低功耗的需要。IGLOO系列主要特性和優勢：

LowPower

?1.2Vto1.5VCoreVoltageSupportforLowPower

?SupportsSingle-VoltageSystemOperation

?5μWPowerConsumptioninFlash*FreezeMode

?LowPowerActiveFPGAOperation

?Flash*FreezeTechnologyEnablesUltra-LowPowerConsumptionwhileMaintainingFPGAContent

?EasyEntryto/ExitfromUltra-LowPowerFlash*FreezeMode

HighCapacity

?15kto1MillionSystemGates

?Upto144kbitsofTrueDual-PortSRAM

?Upto300UserI/Os

ReprogrammableFlashTechnology

?130-nm,7-LayerMetal,Flash-BasedCMOSProcess

?Live-at-Power-Up(LAPU)Level0Support

?Single-ChipSolution

?RetainsProgrammedDesignWhenPoweredOff

?250MHz(1.5Vsystems)and160MHz(1.2Vsystems)SystemPerformance

In-SystemProgramming(ISP)andSecurity

?SecureISPUsingOn-Chip128-BitAdvancedEncryptionStandard(AES)Decryption(exceptARM?-enabledIGLOO?devices)viaJTAG(IEEE1532–compliant)?

?FlashLock?toSecureFPGAContents

High-PerformanceRoutingHierarchy

?Segmented,HierarchicalRoutingandClockStructure

AdvancedI/O

?700MbpsDDR,LVDS-CapableI/Os(AGL250andabove)

?1.2V,1.5V,1.8V,2.5V,and3.3VMixed-VoltageOperation

?Bank-SelectableI/OVoltages—upto4BanksperChip

?Single-EndedI/OStandards:LVTTL,LVCMOS3.3V/2.5V/1.8V/1.5V/1.2V,3.3VPCI/3.3VPCI-X,andLVCMOS2.5V/5.0VInput?

?DifferentialI/OStandards:LVPECL,LVDS,B-LVDS,andMLVDS(AGL250andabove)

?WideRangePowerSupplyVoltageSupportperJESD8-B,AllowingI/OstoOperatefrom2.7Vto3.6V

?WideRangePowerSupplyVoltageSupportperJESD8-12,AllowingI/OstoOperatefrom1.14Vto1.575V

?I/ORegistersonInput,Output,andEnablePaths

?Hot-SwappableandCold-SparingI/Os?

?ProgrammableOutputSlewRate?andDriveStrength

?WeakPull-Up/-Down

?IEEE1149.1(JTAG)BoundaryScanTest

?Pin-CompatiblePackagesacrosstheIGLOOFamily

ClockConditioningCircuit(CCC)andPLL?

?SixCCCBlocks,OnewithanIntegratedPLL

?ConfigurablePhaseShift,Multiply/Divide,DelayCapabilities,andExternalFeedback

?WideInputFrequencyRange(1.5MHzupto250MHz)

EmbeddedMemory

?1kbitofFlashROMUserNonvolatileMemory

?SRAMsandFIFOswithVariable-Aspect-Ratio4,608-Bit?RAMBlocks(×1,×2,×4,×9,and×18organizations)

?TrueDual-PortSRAM(except×18)?

ARMProcessorSupportinIGLOOFPGAs

?M1IGLOODevices—Cortex?-M1SoftProcessorAvailablewithorwithoutDebug

圖1。IGLOO系列架構框圖（AGL015,AGL030,AGL060和AGL125)

馬達控制子板

TheMotorControldaughtercardprovidesadesignreferenceandevaluationkitformotorcontrolusingActel’sultra-lowpowerIGLOO?FPGAs.Thisdaughtercard,co-developedwithActelandIshnatek,isavailableexclusivelyfromAvnetMemec.TheboardisdesignedtoworkwithActel’sIGLOOIcicle?Kit(orderedseparately)andattachestotheIciclekit’saccessoryboardedgeconnector.

馬達控制子板主要特性：

?Supports

StepperMotor(4-WireConfiguration)

FullStep/HalfStepMode

MicroStepMode(TrapezoidalOption)

8/16Microsteps

BrushlessDC(BLDC)Motor(ThreePhaseBLDCMotor)

SensoredDrive

?UsingHallEffectSensorsprovidedonMotors

?DirectionControl–ClockwiseorCounterclockwiseRotation

?BasicFunctions

Start

Stop

Step(FullorHalfSteppingincaseofStepperMotor)

RPM+/RPM-(Increase/DecreaseRPM)

DigitalControlFeatures

?SupportTwoPWMModes

PWMonhighsideofMosfetBridge

PWMonlowsideofMosfetBridge(Availablebutnotsupported)

?Hardware/SoftwareControl

Accesstoallabovefeaturesthroughkeys/switchesonboard

Equivalentcontrolsareprovidedalsothroughsoftware

So