A scalable hybrid FPGA-MCU robotic controller board with real-time sensor fusion

This paper presents a compact and modular robotic controller board that integrates a low-power A3P060 FPGA with a Microchip PolarFire SoC to achieve real-time motor control and sensor fusion. The hybrid architecture capitalizes on the FPGA's deterministic, parallel processing capabilities for low-level sensor and actuator interfacing, while the SoC handles high-level control and signal generation. The system supports up to four motors (both BLDC and brushed DC) and interfaces with a wide range of onboard and external sensors. Real-time data acquisition, structured SPI communication, and field-oriented motor control are implemented to ensure low-latency, high-throughput operation. Evaluation results demonstrate robust sensor multiplexing, responsive motor actuation, and reliable performance under dynamic robotic workloads, confirming the platform's suitability for advanced robotics and automation applications.