Dynamic Reconfiguration of Mechatronic Real-Time Systems Based on Configuration State Machines

Data flow and FSMs are used to specify real-time sys-tems in the field of mechatronics. Their implementation in FPGAs is discussed against the background of dy-namic reconfiguration which can be used to reduce the amount of logic resources. Bit serial algorithms come into operation for data flow implementation. Particular attention has been paid for synchronization in dynamic reconfigurable systems. Typically a control system uses different functions depending on its operating state; dynamic reconfiguration is used to switch between them. Reconfiguration is triggered in a distributed way by the active states of all FSMs and executed in a central way by a general control module. Synchronization and mes-sage passing is guaranteed by a distributed communication system.