In 1997, Texas Instruments announced the release of the TMS320F240, a DSP optimised for digital motor control. The formula was simple; combine a proven, well-established DSP core, add non-volatile flash memory, an A/D converter, and a programmable PWM generator. The result: a highly integrated, cost effective solution for digital motor control. In the original architectural block diagram shown on this slide, all these features, together with integrated serial communications ports and a watchdog timer can be seen. This original idea has stood the test of time well. Today, the C2000 family consists of dozens of parts, all of which are variations on this same theme.