This study course is about heterogeneous systems (HS), which utilize data processing units of different types, specifically – Hard Processor System (HPS) and Field-Programmable Gate Arrays (FPGAs). In System-on-a-Chip (SoC) devices, the HPS and FPGA are integrated on a single silicon die and are connected with multiple bridges for fast data exchange. This course examines how to use each resource of the HS to perform the most suited part of the task, thus increasing the overall data processing efficiency. Two signal processing models are observed and all the necessary concepts for practical implementation are discussed: architecture of HS, usage of Hardware Description Languages (HDL) for algorithm’s part implementation in the FPGA, data exchange mechanisms between the HPS and FPGA and Operating System’s (OS’s) tools that facilitate such an exchange.