Before getting started, this module will review the basic architecture of the F28M35x. Note that this is the first device in the Concerto family. This device consists of two subsystems. The first is the master subsystem; it is based on the Arm Cortex-M3 and has a number of communication peripherals. The second is the control subsystem; it is based on the TI C28x floating point unit and has a number of real time control peripherals such as ePWM, eCAP, and eQEP. This training session will concentrate on the mechanisms the two subsystems can use to share information.