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I
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Vo
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10
,
No
.
1
,
Feb
r
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ar
y
2020
,
p
p
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1
5
1
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9
I
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P
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[
4
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.
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P
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[
5
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FP
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I
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8
8
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8708
I
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t J
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&
C
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g
,
Vo
l.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
1
5
1
-
159
152
an
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lan
g
u
ag
e(
HDL
)
is
u
s
ed
in
FP
GA
to
co
m
m
u
n
icate
w
it
h
h
ar
d
w
ar
e
w
h
ich
is
v
er
y
ea
s
il
y
i
n
ter
f
ac
ed
w
it
h
t
h
e
m
,
L
o
g
i
c
g
ates
ar
e
u
s
ed
i
n
FP
GA
a
s
a
m
e
m
o
r
y
b
lo
ck
s
,
th
ese
lo
g
ic
g
a
tes
ar
e
in
ter
co
n
n
ec
ted
w
it
h
ea
c
h
o
t
h
er
d
u
e
to
th
e
s
e
f
ea
t
u
r
e
it
p
er
f
o
r
m
s
co
m
p
le
x
f
u
n
ctio
n
s
a
n
d
co
m
p
u
te
f
ast
r
esp
o
n
s
e
[
2
1
-
2
5
]
.
T
h
e
tr
ial
is
t
h
e
f
ir
s
t
s
te
p
in
t
h
e
p
r
o
ce
s
s
o
f
p
r
o
d
u
cin
g
t
h
e
r
ig
h
t
m
o
to
r
m
o
v
e
m
e
n
t
an
d
r
ea
l
ti
m
e.
T
h
er
ef
o
r
e,
th
e
r
esear
c
h
er
s
i
m
u
latio
n
an
d
tes
t
th
e
m
o
v
e
m
e
n
t o
f
s
tep
p
er
m
o
to
r
u
s
ed
s
i
m
u
li
n
k
I
s
i
m
FP
GA
a
n
d
ap
p
licatio
n
o
f
s
tep
p
er
m
o
to
r
cir
cu
it.
2.
RE
S
E
A
RCH
M
E
T
H
O
D
2
.
1
.
Ste
pp
er
m
o
t
o
r
des
ig
n
m
o
v
em
e
nt
T
h
e
b
asic
co
n
ce
p
t
b
ef
o
r
e
d
o
i
n
g
t
h
e
p
r
o
g
r
a
m
d
esig
n
(
co
d
in
g
)
a
n
d
te
s
ti
n
g
m
o
to
r
m
o
v
e
m
en
ts
f
ir
s
t
d
eter
m
in
e
th
e
p
at
h
s
y
s
te
m
ati
ca
ll
y
.
T
h
e
f
o
llo
w
in
g
ar
e
t
h
e
s
o
f
t
w
ar
e
s
i
m
u
la
tio
n
s
tag
e
s
.
F
ig
u
r
e
1
is
a
b
lo
c
k
d
iag
r
a
m
o
f
t
h
e
p
r
o
g
r
a
m
i
m
p
le
m
e
n
tat
io
n
p
r
o
ce
s
s
th
at
h
as
b
ee
n
d
eter
m
in
ed
,
t
h
e
p
r
o
ce
s
s
o
f
r
u
n
n
i
n
g
th
e
p
r
o
g
r
a
m
in
th
e
p
r
o
ce
s
s
o
f
s
y
n
th
e
s
izi
n
g
XST
to
ch
ec
k
p
r
o
g
r
a
m
er
r
o
r
s
,
th
e
n
lo
o
k
in
g
at
t
h
e
R
T
L
,
i
m
p
le
m
en
t
in
g
th
e
d
esi
g
n
,
p
r
o
d
u
cin
g
a
p
r
o
g
r
a
m
m
i
n
g
f
ile,
C
o
n
f
ig
u
r
in
g
t
h
e
T
ar
g
et
Dev
ice,
th
e
n
r
u
n
n
i
n
g
th
e
p
r
o
g
r
a
m
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
b
ef
o
r
e
s
i
m
u
latio
n
an
d
test
in
g
2
.
2
.
UCF
m
o
t
o
r
m
o
v
e
m
ent
des
ig
n ste
pp
er
T
h
e
d
esig
n
o
f
th
e
s
tep
p
er
m
o
t
o
r
UC
F
p
r
o
g
r
a
m
ai
m
s
to
d
ec
l
ar
e
in
p
u
t
v
ar
iab
le
s
a
n
d
o
u
tp
u
t
v
ar
iab
le
s
tailo
r
ed
to
th
e
L
O
C
o
f
th
e
b
u
t
to
n
s
a
n
d
p
in
s
u
s
ed
o
n
th
e
Sp
a
r
tan
3
E
FP
G
A
d
ev
ice.
Her
e's
a
p
ictu
r
e
F
i
g
u
r
e
2
p
r
o
g
r
am
lis
tin
g
.
Fig
u
r
e
2
i
s
a
co
n
f
i
g
u
r
atio
n
o
f
t
h
e
u
s
e
o
f
p
i
n
s
an
d
b
u
tto
n
s
b
et
w
ee
n
t
h
e
Sp
ar
tan
3
E
FP
G
A
w
i
t
h
s
tep
p
er
m
o
to
r
d
r
iv
er
.
C
o
d
e
n
et
is
u
s
ed
to
d
ef
in
e
v
ar
iab
les
i
n
th
e
VHDL
a
n
d
co
d
e
L
OC
p
r
o
g
r
a
m
s
to
d
escr
ib
e
th
e
in
p
u
t o
u
tp
u
t p
in
s
o
n
Sp
ar
tan
3
E
FP
GA
d
ev
ice.
Fig
u
r
e
2
.
UC
F
m
o
to
r
s
tep
p
er
p
r
o
g
r
am
d
esi
g
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
S
tep
p
er mo
to
r
mo
ve
men
t d
esi
g
n
b
a
s
ed
o
n
F
P
GA
(
F
r
ed
d
y
A
r
ta
d
ima
S
ila
b
a
n
)
153
2
.
3
.
M
e
t
ho
d
T
h
e
d
ev
ice
g
e
n
er
all
y
co
n
s
is
t
s
o
f
s
e
v
er
al
b
lo
ck
s
:
t
h
e
i
n
p
u
t
b
lo
ck
,
th
e
p
r
o
ce
s
s
b
lo
ck
,
a
n
d
th
e
o
u
tp
u
t
b
lo
ck
,
th
e
o
v
er
all
s
y
s
te
m
b
lo
ck
d
iag
r
a
m
ca
n
b
e
s
h
o
w
n
i
n
F
ig
u
r
e
3
.
Fig
u
r
e
3
co
n
s
is
t
s
o
f
s
ev
er
al
b
lo
ck
s
:
th
e
in
p
u
t
b
lo
ck
,
th
e
p
r
o
ce
s
s
b
lo
ck
,
an
d
th
e
o
u
tp
u
t
b
l
o
ck
.
T
h
e
in
p
u
t
b
lo
ck
co
n
s
i
s
ts
o
f
s
ev
er
al
v
ar
iab
les
:
FS
(
Fu
l
l
Step
)
,
HS
(
Half
Ste
p
)
,
C
W
(
C
lo
ck
W
is
e)
,
C
C
W
(
C
o
u
n
ter
C
lo
ck
W
is
e)
,
Step
_
E
n
(
Step
E
n
ab
le)
,
a
n
d
R
s
t
(
R
eset)
.
T
h
e
f
u
n
ctio
n
o
f
th
e
v
ar
iab
le
to
d
eter
m
i
n
e
th
e
i
n
p
u
t
v
al
u
e
t
o
b
e
s
en
t
o
n
th
e
p
r
o
ce
s
s
b
lo
ck
.
T
h
e
in
ter
f
ac
e
b
lo
ck
is
a
p
r
o
c
ess
b
lo
ck
co
n
s
i
s
ti
n
g
o
f
p
r
o
g
r
a
m
en
co
d
in
g
alg
o
r
it
h
m
a
n
d
f
o
r
s
im
u
lat
io
n
u
s
in
g
I
s
i
m
FP
G
A
to
g
e
n
er
ate
d
ig
i
t
b
it
v
alu
e
t
h
e
n
co
n
f
ig
u
r
e
tar
g
et
d
ev
ice
w
h
ic
h
f
u
n
ctio
n
to
f
las
h
p
r
o
g
r
a
m
i
n
to
FP
GA
.
T
o
b
lo
ck
th
e
o
u
tp
u
t
(
o
u
tp
u
t)
is
o
b
tain
e
d
f
r
o
m
th
e
s
tep
p
er
m
o
to
r
d
r
iv
er
w
h
er
e
th
e
in
p
u
t
v
a
lu
e
i
s
r
ec
eiv
ed
f
r
o
m
t
h
e
FP
G
A
o
u
tp
u
t.
T
h
e
o
u
tp
u
t v
ar
iab
le
s
in
s
te
p
p
er
m
o
to
r
s
ar
e
D,
C
,
B
,
an
d
A
.
Fig
u
r
e
3
.
B
lo
ck
m
o
v
e
m
en
t
s
i
m
u
latio
n
r
es
u
lt
s
s
tep
p
er
2
.
4
.
Sy
nthesize
–
XS
T
T
h
e
s
y
n
th
e
s
ize
p
r
o
ce
s
s
ai
m
s
to
tr
an
s
late
s
eq
u
e
n
ce
s
o
f
p
r
o
g
r
a
m
s
f
r
o
m
th
e
VHD
L
la
n
g
u
a
g
e
i
n
to
an
I
C
-
s
h
ap
ed
s
c
h
e
m
atic.
S
y
n
th
e
s
ize
p
r
o
ce
s
s
is
co
m
p
lete
th
e
n
V
ie
w
R
T
L
S
y
n
th
e
s
ize
ca
n
b
e
d
i
s
p
la
y
ed
,
as
s
h
o
w
n
b
elo
w
F
i
g
u
r
e
4
.
Fig
u
r
e
4
is
co
m
p
o
s
ed
o
f
s
ev
er
al
s
ch
e
m
a
ti
c
b
lo
ck
f
o
r
m
I
C
s
eq
u
i
p
p
ed
w
ith
t
h
e
n
a
m
e
o
f
ea
ch
p
in
.
T
h
e
b
lo
ck
s
ar
e
t
r
an
s
lated
f
r
o
m
b
eh
a
v
io
r
al
p
r
o
g
r
a
m
b
lo
ck
s
w
h
ic
h
co
n
s
is
t
o
f
C
l
k
,
C
W
_
C
C
W
,
FS
_
HS
(
Fu
l
l
Step
/
Half
Step
)
,
R
s
t
(
R
eset)
,
an
d
Step
_
E
n
(
Step
E
n
ab
le)
in
p
u
t
p
in
s
,
w
h
il
e
th
e
o
u
tp
u
t
p
in
s
ar
e
O1
,
O2
,
O3
,
an
d
O4
.
Step
E
n
ab
le
s
er
v
e
s
to
al
lo
w
t
h
e
d
r
iv
e
r
to
ac
ce
p
t
co
m
m
a
n
d
s
to
m
o
v
e
th
e
m
o
to
r
.
C
lo
ck
f
u
n
ctio
n
s
to
g
e
n
er
ate
a
p
u
ls
e
s
ig
n
a
l f
r
o
m
i
n
p
u
t a
n
d
o
u
tp
u
t.
Her
e
is
th
e
s
c
h
e
m
atic
b
lo
ck
s
tep
p
er
co
m
p
iler
.
Fig
u
r
e
4
.
R
esu
lts
p
r
o
ce
s
s
s
y
n
t
h
esize
p
r
o
g
r
a
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
1
5
1
-
159
154
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
3
.
1
.
I
m
ple
m
ent
a
t
io
n
ph
a
s
e
T
h
e
p
u
r
p
o
s
e
o
f
tr
an
s
latio
n
i
m
p
le
m
a
n
tat
io
n
i
s
to
c
h
ec
k
,
a
n
d
tr
an
s
late
t
h
e
p
r
o
g
r
a
m
i
n
t
o
s
er
ies
i
n
th
e
f
o
r
m
o
f
I
C
.
Fi
g
u
r
e
5
is
a
s
eq
u
en
ce
o
f
d
esi
g
n
co
m
p
o
s
er
s
s
i
m
u
lat
in
g
t
h
e
m
o
v
e
m
e
n
t
o
f
s
tep
p
er
m
o
to
r
s
w
it
h
th
e
d
ir
ec
tio
n
o
f
C
W
(
C
lo
ck
W
is
e)
an
d
C
C
W
(
C
o
u
n
ter
C
l
o
ck
W
is
e)
,
co
m
p
o
s
ed
o
f
s
ev
e
r
al
lo
g
ic
g
ates
a
n
d
f
lip
-
f
lo
p
cir
c
u
it.
T
h
e
d
i
g
ital
lo
g
ic
g
ates
t
h
at
m
a
k
e
u
p
t
h
e
d
i
g
ital
I
C
s
tep
p
er
ar
e
t
h
e
A
N
D
l
o
g
ic
g
ate,
t
h
e
lo
g
ic
g
ate
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f
O
R
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g
ic,
t
h
e
NOR
l
o
g
ic
g
ate,
a
n
d
th
e
D
Flip
-
f
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p
.
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p
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f
lo
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e
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s
to
r
e
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o
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atio
n
as
w
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as
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lcu
late
t
h
e
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ea
t
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d
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n
ch
r
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ize
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ar
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e
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ig
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n
p
u
t
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r
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d
ig
ital
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g
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cu
it
ie
2
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s
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t
f
lip
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lo
p
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e,
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u
m
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er
4
in
p
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t
L
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1
7
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ce
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7
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4
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p
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t
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u
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ted
3
3
,
n
u
m
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er
B
OB
s
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s
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u
c
h
as 9
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8708
I
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t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
1
5
1
-
159
158
4.
CO
NCLU
SI
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P
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id
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tate
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t
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at
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p
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ted
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as
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tated
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h
e
"
I
n
tr
o
d
u
ctio
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ch
ap
ter
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lti
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atel
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ased
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lts
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f
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tain
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as f
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llo
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a.
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s
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lip
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p
2
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g
ates,
n
u
m
b
er
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in
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s
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c
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,
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p
ied
Sli
ce
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s
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u
ch
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s
1
7
,
to
tal
4
in
p
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t
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s
as
m
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c
h
3
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,
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u
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ch
as 9
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d
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m
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s
1
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b.
Si
m
u
latio
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r
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lt
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ac
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d
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ce
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m
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.
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.
RE
F
E
R
E
NC
E
S
[1
]
L
.
P
rz
e
n
io
sl
o
a
n
d
M
.
Ho
l
u
b
,
"
De
v
e
lo
p
m
e
n
t
o
f
m
icro
p
ro
c
e
ss
o
r,
ti
m
e
o
p
ti
m
ize
d
ste
p
p
e
r
m
o
to
r
d
riv
in
g
a
lg
o
rit
h
m
,
"
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
M
e
t
h
o
d
s
a
n
d
M
o
d
e
ls
in
Au
t
o
ma
t
io
n
a
n
d
R
o
b
o
ti
c
s (
M
M
AR
)
,
p
p
.
1
7
4
-
1
7
9
,
2
0
1
7
.
[2
]
I.
V
irg
a
la,
M
.
Ke
l
e
m
e
n
,
A
.
Gm
it
e
rk
o
,
a
n
d
T
.
L
ip
tak
,
"
Co
n
tr
o
l
o
f
S
t
e
p
p
e
r
M
o
t
o
r
b
y
M
icro
c
o
n
tro
l
l
e
r,
"
J
o
u
rn
a
l
o
f
Au
to
m
a
ti
o
n
a
n
d
Co
n
tro
l
,
v
o
l.
3
,
n
o
.
3
,
p
p
1
3
1
-
1
3
4
,
2
0
1
5
.
[3
]
B.
L
iu
,
P
.
F
ra
n
ss
o
n
,
A
.
Ro
n
q
u
ist
,
a
n
d
B.
W
in
r
o
th
,
"
Co
m
p
e
n
sa
ti
o
n
o
f
L
o
a
d
-
De
p
e
n
d
e
n
t
P
o
siti
o
n
Er
r
o
r
f
o
r
A
H
y
b
rid
S
tep
p
e
r
M
o
t
o
r,
"
IEE
E
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
e
c
h
a
tro
n
ics
a
n
d
A
u
t
o
ma
ti
o
n
ICM
A
,
p
p
.
8
4
6
-
851
,
2
0
1
7
.
[4
]
M
o
h
a
n
,
A
ru
n
G
a
n
d
V
ij
i
n
a
K.,
"
De
si
g
n
a
n
d
Im
p
lem
e
n
tatio
n
Of
Ba
se
d
M
u
lt
i
p
u
r
p
o
se
Re
a
l
-
T
ime
Co
n
tr
o
ll
e
r
F
o
r
H
y
b
ri
d
S
tep
p
e
r
M
o
to
r
,
"
In
ter
n
a
si
o
n
a
l
J
o
u
rn
a
l
Of
M
o
d
e
rn
T
re
n
d
s I
n
En
g
i
n
e
e
rin
g
a
n
d
Res
e
a
rc
h
,
S
JIF:
3
5
1
8
,
2
0
1
6
.
[5
]
C
-
Ke
n
g
L
a
i,
J
-
S
h
a
n
Cio
u
,
a
n
d
Ch
ia
-
Ch
e
T
.
,
"
F
P
G
A
-
b
a
s
e
d
S
t
e
p
p
e
r
M
o
to
r
V
e
c
to
r
Co
n
tro
l
S
y
ste
m
De
sig
n
,
"
In
ter
n
a
t
io
n
a
l
Au
t
o
ma
ti
c
C
o
n
tr
o
l
Co
n
fer
e
n
c
e
(
CACS
)
,
p
p
.
1
-
5
,
2
0
1
7
.
[6
]
J.
W
a
d
g
a
o
n
k
a
r,
K.
Bh
o
le,
a
n
d
P
.
S
in
g
h
.
,
"
F
lo
a
ti
n
g
P
o
in
t
F
P
G
A
A
rc
h
it
e
c
tu
re
o
f
P
ID
Co
n
tr
o
ll
e
r,
"
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
d
u
stri
a
l
I
n
stru
m
e
n
ta
ti
o
n
a
n
d
C
o
n
tr
o
l
(
ICIC)
,
p
p
.
1
2
5
9
-
1
2
6
3
,
2
0
1
5
.
[7
]
R.
Ru
sta
m
a
n
d
M
.
Ib
ra
h
im
A
l
Kh
o
o
ry
,
"
F
P
GA
-
Ba
s
e
d
S
tep
p
e
r
M
o
t
o
r
Co
n
tro
ll
e
r:
A
n
F
P
G
A Ba
se
d
D
e
sig
n
P
ro
jec
t
to
Im
p
ro
v
e
Lev
e
l
o
f
th
e
Co
m
p
le
x
it
y
in
P
r
o
jec
t
–
Ba
se
d
L
e
a
rn
in
g
,
"
A
d
v
a
n
c
e
s
i
n
S
c
ien
c
e
a
n
d
En
g
in
e
e
r
in
g
T
e
c
h
n
o
lo
g
y
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
s(
AS
ET
)
,
p
p
.
1
-
5
,
2
0
1
8
.
[8
]
P
r
o
f
.
T
.
Zh
a
o
,
W
-
J
S
h
e
n
,
N
-
y
i
Ji,
a
n
d
H
-
h
o
n
g
L
iu
,
"
S
tu
d
y
a
n
d
im
p
le
m
e
n
tatio
n
o
f
S
P
W
M
M
icro
ste
p
p
in
g
Co
n
tro
ll
e
r
F
o
r
S
te
p
p
e
r
M
o
t
o
r,
"
IEE
E
C
o
n
fer
e
n
c
e
o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
a
n
d
Ap
p
li
c
a
ti
o
n
s (
ICIEA
)
,
p
p
.
2
2
9
8
-
2
3
0
2
,
2
0
1
8
.
[9
]
A
.
Ra
m
e
sh
,
e
t
a
l
.
,
"
A
No
v
e
l
T
h
re
e
P
h
a
se
M
u
lt
il
e
v
e
l
In
v
e
rter
w
it
h
S
in
g
le
DC
L
in
k
f
o
r
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
A
p
p
li
c
a
ti
o
n
s,"
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
(
IJ
ECE
)
,
v
o
l
.
8
,
n
o
.
2
,
pp.
7
6
3
-
7
7
0
,
2
0
1
8
.
[1
0
]
S
h
a
m
a
la
N
.
,
a
n
d
C.
L
a
k
sh
m
in
a
ra
y
a
n
a
,
"
P
e
rf
o
r
m
a
n
c
e
En
h
a
n
c
e
m
e
n
t
in
A
c
ti
v
e
P
o
w
e
r
F
il
ter
(
A
P
F
)
b
y
F
P
G
A
Im
p
le
m
e
n
tatio
n
,
"
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
mp
u
ter
E
n
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
8
,
n
o
.
2
,
p
p
.
6
8
9
~
6
9
8
,
A
p
r
2
0
1
8
.
[1
1
]
A
.
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n
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p
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3
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4
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p
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1
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5
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2
0
1
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5
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L
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p
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8
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9
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.
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4
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p
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1
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0
]
D.
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.
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a
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d
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S
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2
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p
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1
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1
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A
.
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r,
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n
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o
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e
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IJ
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),
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4
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o
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1
,
p
p
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2
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a
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Kh
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P
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p
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ter
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mm
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0
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6
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p
p
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4
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3
]
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ro
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,
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d
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M
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ter
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m
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m
s,"
Pro
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2
7
th
In
t.
S
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.
R
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RS
P)
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p
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1
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-
1
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3
,
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0
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6
.
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4
]
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m
,
D
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CC
Ch
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,
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J
]
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ics
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v
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3
5
,
p
p
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1
6
2
-
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.
[2
5
]
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.
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g
,
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L
iu
,
M
.
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a
n
g
,
G
.
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.
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sio
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s.
,
v
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8
9
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5
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p
p
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9
8
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0
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,
2
0
1
4
.
B
I
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RAP
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d
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ta
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m
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il
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b
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e
d
h
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M
a
ste
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o
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in
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n
f
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a
ti
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T
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ti
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n
,
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u
n
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rm
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p
o
k
,
2
0
1
6
.
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c
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tl
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c
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e
s at Un
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s M
e
rc
u
Bu
a
n
a
,
Ja
k
a
rta (
In
d
o
n
e
si
a
).
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e
tiy
o
B
u
d
iy
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n
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o
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d
h
is
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h
.
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in
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e
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tri
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a
l
En
g
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e
e
rin
g
,
Un
iv
e
rsity
o
f
In
d
o
n
e
sia
(2
0
1
6
)
.
Cu
rre
n
tl
y
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e
is
Re
se
a
rc
h
Re
v
iew
e
r
-
w
it
h
Ce
rti
f
ica
ti
o
n
Us
e
s
S
ta
n
d
a
rd
ize
d
M
e
th
o
d
s
o
f
M
in
istry
o
f
Re
se
a
r
c
h
,
T
e
c
h
n
o
lo
g
y
a
n
d
Hig
h
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c
a
ti
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n
(I
n
d
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)
Re
g
u
latio
n
No
.
6
9
-
2
0
1
6
;
He
is
A
s
so
c
iate
P
r
o
f
e
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r
in
De
p
a
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o
f
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tri
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l
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g
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M
e
rc
u
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a
n
a
,
Ja
k
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d
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)
.
Wa
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u
K
u
s
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m
a
Ra
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a
d
o
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