diff --git a/.project/templates/makefile_pru.xdt b/.project/templates/makefile_pru.xdt
index 69b5294..df6e3ad 100644
--- a/.project/templates/makefile_pru.xdt
+++ b/.project/templates/makefile_pru.xdt
@@ -5,12 +5,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export `args.sdkPath`?=$(abspath `args.relPath`)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -18,43 +14,41 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./`obj.pru_main_file`.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/`projectPath`/`obj.pru_linker_file`.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 % // review these include files
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/`projectPath`/`obj.pru_linker_file`.cmd \
+`obj.pru_linker_file`.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm
+`obj.pru_main_file`.asm
 
 OBJS += \
-./`obj.pru_main_file`.obj
+`obj.pru_main_file`.obj
 
 ASM_DEPS += \
-./`obj.pru_main_file`.d
+`obj.pru_main_file`.d
 
-OBJS__QUOTED += \
-"`obj.pru_main_file`.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"`obj.pru_main_file`.d"
+% for (prop in obj.filedirs) {
+	% if ( obj.filedirs.hasOwnProperty(prop) && Array.isArray(obj.filedirs[prop]) ) {
+FILES_PATH_`prop` = \
+		% for(let val of obj.filedirs[prop]) {
+	`val` \
+		% }
+	% }
+% }
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 % let commandString = "";
 % let cflags = obj.cflags;
@@ -87,14 +81,13 @@ ASM_SRCS__QUOTED += \
     % }
 % }
 # Each subdirectory must supply rules for building sources it contributes
-`obj.pru_main_file`.obj: ${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" `commandString` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -113,15 +106,15 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "`projectName`.out"
 
 # Tool invocations
 % // # TODO: ti-cgt specific settings
-`projectName`.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+`projectName`.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" `cmdSubStr` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"`projectName`.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="`projectName`_linkInfo.xml" --rom_model -o "`projectName`.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" `cmdSubStr` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"`projectName`.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="`projectName`_linkInfo.xml" --rom_model -o "`projectName`.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -146,14 +139,18 @@ clean:
 post-build:
 	% steps = obj.postBuildSteps;
 	% for (let step of steps) {
-	-`step.slice(0, step.length-1)`
+		%let commands = step.split(";");
+	%for(let command of commands){
+		%if(command.length !== 0){
+		-`command`
+		%}
+	%}
 	% }
 	-@echo ' '
 % }
 % if(obj["defaultPruPostBuildSteps"]) {
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out
-	-${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=PRUFirmware  -o pru_load_bin.h `projectName`.out
 	-@echo ' '
 % }
 
diff --git a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
index c18de97..06050ab 100644
--- a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_PRU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out"
 
 # Tool invocations
-sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_PRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_PRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=pru_SDFM_PRU0_image -o sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out;  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_pru_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=pru_SDFM_PRU0_image -o sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out
+		-  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_pru_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile
index ebd5f64..63ba405 100644
--- a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_RTU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out"
 
 # Tool invocations
-sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_RTU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_RTU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=pru_SDFM_RTU0_image -o sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.h sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out;  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_rtu_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=pru_SDFM_RTU0_image -o sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.h sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out
+		-  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_rtu_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile
index d2ccfdf..b9d666a 100644
--- a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/multi_axis_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU0 -DSLICE0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_TXPRU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out"
 
 # Tool invocations
-sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU0 -DSLICE0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_TXPRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU0 -DSLICE0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_TXPRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=pru_SDFM_TXPRU0_image -o sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.h sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out;  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_txpru_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=pru_SDFM_TXPRU0_image -o sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.h sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out
+		-  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_txpru_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
index 9a86ce1..60ccefc 100644
--- a/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/single_axis_single_pru/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/single_axis_single_pru/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/single_axis_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDFM_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out"
 
 # Tool invocations
-sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDFM_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDFM_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=SDFM_PRU0_image -o sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out;  move sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=SDFM_PRU0_image -o sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out
+		-  move sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index b2a0a14..975078e 100644
--- a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMultiMakePRU -o bissc_master_multi_PRU_bin.h bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; mv bissc_master_multi_PRU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_PRU_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMultiMakePRU -o bissc_master_multi_PRU_bin.h bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		- mv bissc_master_multi_PRU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_PRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index 3f0c01b..4c9905f 100644
--- a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMultiMakeRTU -o bissc_master_multi_RTU_bin.h bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; mv bissc_master_multi_RTU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_RTU_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMultiMakeRTU -o bissc_master_multi_RTU_bin.h bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out
+		- mv bissc_master_multi_RTU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_RTU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index a04df44..abbb701 100644
--- a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMultiMakeTXPRU -o bissc_master_multi_TXPRU_bin.h bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; mv bissc_master_multi_TXPRU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_TXPRU_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMultiMakeTXPRU -o bissc_master_multi_TXPRU_bin.h bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out
+		- mv bissc_master_multi_TXPRU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_TXPRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 75a67b0..d2229b2 100644
--- a/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_single_pru/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_single_pru/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/multi_channel_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMulti -o bissc_master_multi_bin.h bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; mv bissc_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmwareMulti -o bissc_master_multi_bin.h bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		- mv bissc_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 1be8006..699740f 100644
--- a/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/single_channel/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/single_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmware -o bissc_master_bin.h bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; mv bissc_master_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_bin.h
+		-$(CG_TOOL_ROOT)/bin/hexpru --diag_wrap=off --array --array:name_prefix=BiSSFirmware -o bissc_master_bin.h bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		- mv bissc_master_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index d235da1..6407064 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakePRU -o endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_PRU_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakePRU -o endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_PRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index 5164751..6bc1076 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeRTU -o endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_RTU_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeRTU -o endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index b8abfeb..edda010 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeTXPRU -o endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeTXPRU -o endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 3be36d3..dbae73e 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakePRU -o endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_PRU_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakePRU -o endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_PRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index 76dd4bd..48bed17 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeRTU -o endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_RTU_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeRTU -o endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index a607b4b..ea91f6d 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeTXPRU -o endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMultiMakeTXPRU -o endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 1573f31..bee1331 100644
--- a/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMulti -o endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMulti -o endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 3755f3a..8aaccd6 100644
--- a/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/multi_channel_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMulti -o endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmwareMulti -o endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 6d7a619..e3cd08c 100644
--- a/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmware -o endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmware -o endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 2eb2712..194a127 100644
--- a/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+linker.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmware -o endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=EnDatFirmware -o endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 6372397..e6fd1bc 100644
--- a/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_freerun_225_mhz_bin.h hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_freerun_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_freerun_225_mhz_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_freerun_225_mhz_bin.h hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_freerun_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_freerun_225_mhz_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 3d080d3..925b532 100644
--- a/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/freerun_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_freerun_225_mhz_bin.h hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_freerun_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_freerun_225_mhz_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_freerun_225_mhz_bin.h hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_freerun_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_freerun_225_mhz_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 5a710c3..f5b1c32 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_multichannel_ch0_bin.h hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_multichannel_ch0_bin.h hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 3a06c56..2e4b839 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_multichannel_ch0_bin.h hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_RTU -o hdsl_master_icssg_multichannel_ch0_bin.h hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index a5c1094..b509f79 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index fb16b5f..06c75d4 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index f21e157..d18a87a 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_PRU -o hdsl_master_icssg_multichannel_ch1_bin.h hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_PRU -o hdsl_master_icssg_multichannel_ch1_bin.h hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 5a57f2e..516dbff 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_PRU -o hdsl_master_icssg_multichannel_ch1_bin.h hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL2_0_PRU -o hdsl_master_icssg_multichannel_ch1_bin.h hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 1cb6839..df41361 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_PRU -o hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_PRU -o hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 29e14b9..002e3ff 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_PRU -o hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_PRU -o hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 2052567..f4cd931 100644
--- a/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_sync_225_mhz_bin.h hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_sync_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_sync_225_mhz_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_sync_225_mhz_bin.h hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_sync_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_sync_225_mhz_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index bf990f5..a21913e 100644
--- a/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,45 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/main.asm
+main.asm
 
 OBJS += \
-./main.obj
+main.obj
 
 ASM_DEPS += \
-./main.d
+main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/sync_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +68,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -108,7 +97,8 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_sync_225_mhz_bin.h hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out;  move  hdsl_master_icssg_sync_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_sync_225_mhz_bin.
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=Hiperface_DSL_SYNC2_0_RTU -o hdsl_master_icssg_sync_225_mhz_bin.h hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		-  move  hdsl_master_icssg_sync_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_sync_225_mhz_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js b/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js
index 0eef6a3..9c74330 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js
+++ b/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js
@@ -68,8 +68,8 @@ function getComponentProperty() {
     property.isInternal = false;
     property.description = "Tamagawa Peripheral Interface"
     property.buildOptionCombos = buildOptionCombos;
-    property.pru_main_file = "main";
-    property.pru_linker_file = "linker";
+    property.pru_main_file = "tamagawa_main";
+    property.pru_linker_file = "tamagawa_diagnostic";
     property.isSkipTopLevelBuild = true;
     property.skipUpdatingTirex = true;
     return property;
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js b/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js
index 5a1bee4..365c578 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js
+++ b/source/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js
@@ -63,8 +63,8 @@ function getComponentProperty() {
     property.isInternal = false;
     property.description = "Tamagawa Peripheral Interface"
     property.buildOptionCombos = buildOptionCombos;
-    property.pru_main_file = "main";
-    property.pru_linker_file = "linker";
+    property.pru_main_file = "tamagawa_main";
+    property.pru_linker_file = "tamagawa_diagnostic";
     property.isSkipTopLevelBuild = true;
     property.skipUpdatingTirex = true;
     property.postBuildSteps = postBuildSteps;
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 1fd0baf..9097590 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,44 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+tamagawa_diagnostic.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm
+tamagawa_main.asm
 
 OBJS += \
-./main.obj
+tamagawa_main.obj
 
 ASM_DEPS += \
-./main.d
+tamagawa_main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +67,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -102,13 +90,15 @@ tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
 # Other Targets
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
-	-$(RM) "main.obj"
-	-$(RM) "main.d"
+	-$(RM) "tamagawa_main.obj"
+	-$(RM) "tamagawa_main.d"
 	-@echo 'Finished clean'
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		- ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4
+		- move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
index ff6eb24..6bc30ee 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,44 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+tamagawa_diagnostic.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm
+tamagawa_main.asm
 
 OBJS += \
-./main.obj
+tamagawa_main.obj
 
 ASM_DEPS += \
-./main.d
+tamagawa_main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +67,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -102,13 +90,15 @@ tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
 # Other Targets
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
-	-$(RM) "main.obj"
-	-$(RM) "main.d"
+	-$(RM) "tamagawa_main.obj"
+	-$(RM) "tamagawa_main.d"
 	-@echo 'Finished clean'
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out
+		- ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4
+		- move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 9183f0a..0bfd431 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,44 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+tamagawa_diagnostic.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm
+tamagawa_main.asm
 
 OBJS += \
-./main.obj
+tamagawa_main.obj
 
 ASM_DEPS += \
-./main.d
+tamagawa_main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +67,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -102,13 +90,15 @@ tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
 # Other Targets
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
-	-$(RM) "main.obj"
-	-$(RM) "main.d"
+	-$(RM) "tamagawa_main.obj"
+	-$(RM) "tamagawa_main.d"
 	-@echo 'Finished clean'
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		- ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4
+		- move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js b/source/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js
index b99ac39..a1e9f0c 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js
+++ b/source/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js
@@ -63,8 +63,8 @@ function getComponentProperty() {
     property.isInternal = false;
     property.description = "Tamagawa Peripheral Interface"
     property.buildOptionCombos = buildOptionCombos;
-    property.pru_main_file = "main";
-    property.pru_linker_file = "linker";
+    property.pru_main_file = "tamagawa_main";
+    property.pru_linker_file = "tamagawa_diagnostic";
     property.isSkipTopLevelBuild = true;
     property.skipUpdatingTirex = true;
 
diff --git a/source/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js b/source/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js
index 62f8ce8..178ffd3 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js
+++ b/source/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js
@@ -57,8 +57,8 @@ function getComponentProperty() {
     property.isInternal = false;
     property.description = "Tamagawa Peripheral Interface"
     property.buildOptionCombos = buildOptionCombos;
-    property.pru_main_file = "main";
-    property.pru_linker_file = "linker";
+    property.pru_main_file = "tamagawa_main";
+    property.pru_linker_file = "tamagawa_diagnostic";
     property.isSkipTopLevelBuild = true;
     property.skipUpdatingTirex = true;
     property.postBuildSteps = postBuildSteps;
diff --git a/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index e62104f..620d524 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,44 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+tamagawa_diagnostic.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm
+tamagawa_main.asm
 
 OBJS += \
-./main.obj
+tamagawa_main.obj
 
 ASM_DEPS += \
-./main.d
+tamagawa_main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +67,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -102,13 +90,15 @@ tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
 # Other Targets
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
-	-$(RM) "main.obj"
-	-$(RM) "main.d"
+	-$(RM) "tamagawa_main.obj"
+	-$(RM) "tamagawa_main.d"
 	-@echo 'Finished clean'
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		- ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4
+		- move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
index 9a84efd..b84ee27 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,44 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+tamagawa_diagnostic.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm
+tamagawa_main.asm
 
 OBJS += \
-./main.obj
+tamagawa_main.obj
 
 ASM_DEPS += \
-./main.d
+tamagawa_main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +67,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -102,13 +90,15 @@ tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
 # Other Targets
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
-	-$(RM) "main.obj"
-	-$(RM) "main.d"
+	-$(RM) "tamagawa_main.obj"
+	-$(RM) "tamagawa_main.d"
 	-@echo 'Finished clean'
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out
+		- ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4
+		- move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 5288706..3b0e59f 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -2,12 +2,8 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-#   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
-
 SHELL = cmd.exe
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
@@ -15,52 +11,44 @@ SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
 GEN_OPTS__FLAG :=
 GEN_CMDS__FLAG :=
 
-ORDERED_OBJS += \
-"./main.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
-$(GEN_CMDS__FLAG) \
--llibc.a \
-
 -include ../makefile.init
 
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+tamagawa_diagnostic.cmd \
 
 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm
+tamagawa_main.asm
 
 OBJS += \
-./main.obj
+tamagawa_main.obj
 
 ASM_DEPS += \
-./main.d
+tamagawa_main.d
 
-OBJS__QUOTED += \
-"main.obj"
+OBJDIR := .
 
-ASM_DEPS__QUOTED += \
-"main.d"
+FILES_PATH_common = \
+	.. \
+	../../../.. \
 
-ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm"
+FILES_PATH := $(FILES_PATH_common)
+
+vpath %.asm $(FILES_PATH)
+vpath %.obj $(OBJDIR)
+vpath %.cmd $(FILES_PATH)
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
-LIBS := -llibc.a
 
 -include ../makefile.defs
 
@@ -79,14 +67,14 @@ BIN_OUTPUTS__QUOTED += \
 
 
 # All Target
-all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
 # Tool invocations
-tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
@@ -102,13 +90,15 @@ tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
 # Other Targets
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
-	-$(RM) "main.obj"
-	-$(RM) "main.d"
+	-$(RM) "tamagawa_main.obj"
+	-$(RM) "tamagawa_main.d"
 	-@echo 'Finished clean'
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
+		-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out
+		- ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4
+		- move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents