This is part two of a two-part series on clock rate pipelining, using a field-oriented control (FOC) design to illustrate:

• How resource sharing reduces FPGA DSP slice usage at the cost of extra latency
• How clock rate pipelining works with resource sharing to minimize the latency of inserted logic
• How to further optimize the latency of the FOC design

Part one of this series provides an introductory overview on:

• How Simulink^® sample rates map to FPGA clock rates
• How to use HDL Coder™ oversampling together with clock rate pipelining to control optimization