TMDSCNCD28388D: Two axes to be controlled how to execute these tasks simultaneously

Tool/software:

I am using the TMDSCNCD28388D control card of TMS320F28388D. I am developing a control system application which involves reading of position feedback of antenna, motor velocity reading , Velocity loop closing with PI using motor velocity feedback and position loop closing with PI control using position feedback this entire tasks are for one axes. presently all these tasks I kept in single program and executing it. nicely it is working. I thought of implementing same tasks to second axis. Both axis tasks should run simultaneously what is best way to implement these axis movement simultaneously. please suggest.

thanks in advance.