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TMS320F28021: Can I use one C2000 to replace M4 MCU + MP6570

Part Number: TMS320F28021
Other Parts Discussed in Thread: DRV8353

Hi 

My customer use M4 MCU + MP6570 + DRV8353 to design a 200W servo. Magnetic encoder, need CAN.

MP6570: https://www.monolithicpower.com/pub/media/document/MP6570_r0.1.pdf

Can I use (one C2000 +DRV8353) to replace (M4 MCU + MP6570 + DRV8353)? Thanks.