The eTPU is essentially a second processor capable of handling complex real-time I/O control. It includes angle clock hardware, simplified angle domain scheduling, and new instructions enabling more sophisticated timing functions and use of a C compiler. Nexus Class 3 debug mode support is included as well as a shared time angle bus for synchronizing eMIOS functions. The eTPU is fully supported by the eDMA which allows efficient transfers of data, without CPU involvement. The eMIOS, which stands for enhanced Modular I/O System, is 24-bits wide and includes two 24-bit wide counter buses.