The heart of the unit is an FPGA-based controller board. Three
FPGAs provide the control logic as well as perform functions such
as servo control, process input commands and generation of Pulse
Width Modulated outputs.
The unit is capable of interfacing with a resolver for position
feedback and motor commutation.
The ECU contains two electrically isolated sections. The motor
drive circuitry is connected directly to the 28 VDC power bus,
which is isolated from chassis ground. The low-level logic
circuits, including the FPGA's and telemetry, are tied to chassis
ground, and are connected to the motor drivers by high-speed