Hi, others here answered in a good way but I got just curious, why C#, is this language offering some performances in BBB design?
What is actual controller? You speak about two axis motor
then about a video.
Is this on BBB now?
About FPGA translation it seems more far from clean:
What type of video processing did you think to perform and to do what?
How you need communicate to external devices and what kind of information transfer.
About control system is not better use an internal cpu and leave quite untouched working code?
Why you need parallel processing?
Terasic DE0 Nano is a good starting point but there is an equivalent with internal ARM core:
http://www.terasic.com.tw/cgi-bin/page/archive.pl?language=english&categoryno=205&no=941 or a bigger one with internal dual core and video, on that a video scaling is running in parallel of linux showing how to parallel process on both ARM core and external hardware complex video tasks.