One of the first things noticed is that the ePWM module in Concerto is very reminiscent on what is in the Piccolo module, however, TI made some enhancements to it. The first feature to consider is the high resolution, that allows one to achieve resolutions up to 150 picoseconds on the PWM output. This feature on Piccolo was on A channels only, but now the PWM frequency that is set with period registers is high res, this is similar to the old devices. However, both channels can release resolutions in PWM, channels A and B. Also, comparator A and comparator B, these are also used to configure the duty cycle value. All the phase registers are compliant with the high resolution PWMs, both the A and B channels can release high resolution PWM waveforms, that was limited to a single channel on the existing family of devices. There is also a deadband sub module that allows the delayed PWM falling and/or rising edge, is a new feature for the high res PWMs. On top of comparator A and comparator B on the high res PWMs, there is two new ePWM events that are available, which are comparator C and comparator D, however, these are not high res. Comparator C and comparator D cannot be used by the action qualifier to handle the duty cycle, but they can be used either to trigger an interrupt or send an SOC event to the ADC anywhere in a PWM period. This is a symmetrical, asymmetrical and up or down count modes, that enables a much finer positioning of ADC sampling. Also the ability to simultaneously update the period and compare registers across synchronized modules. This prevents some tough cases where updating the period registers first and then see a new PWM cycle starting while comparator X has not been updated yet, while the period and duty cycle essentially should be working together. TI has slightly changed the event trigger so that the SOC end counters have been increased to four bits so that INT SOC can be generated up to every 15 events. This allows software initialization of event counters on sync event. A user can initialize the ETSOC counters to synchronize between different PWM control loops, the ePWMs are accessible from DMA, which make control loops highly efficient and extremely quick.