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With the growing popularity of using multiprocessors in embedded systems, teaching multiprocessors in universities is becoming more and more important. FPGA-based configurable processors offer a low-cost, fast turnaround, and versatile design and implementation platform for this challenging task. This paper presents an introductory embedded systems design course that integrates configurable processors, FPGAs, and multiprocessor design and implementation. We emphasize hands-on hardware-software codesign skills by a series of carefully designed tutorials, lab assignments, and a comprehensive project on the Altera DE2 FPGA development board. Developing and teaching such a new course with no appropriate textbook available is quite challenging. The course has been popular and well received as reflected by the students evaluation and feedback.