Hardware-Software Codesign of EKF-based Motor Control for Domain-Specific Reconfigurable Platform

This paper presents hardware-software codesign of Extended Kalman Filter (EKF) based motor control for a domain-specific reconfigurable platform, which consists of a processor for automotive applications and an FPGA for application-specific customization. Considering the existing MISRA C compliant software harnessing dedicated on-chip peripherals, we employ a codesign methodology aiming to enable product differentiation through modest hardware accelerator implementation in the reconfigurable logic thus meeting the application constraints under tight time-to-market pressure. A key step in the design methodology for reducing the effort of hardware customization lies in platform-aware hardware-software partitioning, which takes into accounts communication overhead between the various computing elements. We show that our approach can effectively identify a suitable candidate for hardware acceleration embracing domain-specific characteristics and existing standard-compliant software.