The Control Law Accelerator on F2803x devices is an independent, 32-bit floating-point math accelerator that runs in parallel with the C28x core. The CLA can perform low level control loops (32-bit accurate) with much higher cycle efficiency, thus offloading the CPU and significantly enhancing the overall device performance. The CLA has direct access to peripherals such as the ADC and PWMs, resulting in the same fast system response time.