diff --git a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am243x.js b/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am243x.js
index 23254d6..948385a 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am243x.js
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am243x.js
@@ -5,6 +5,7 @@ let device = "am243x";
 const files = {
     common: [
         "tamagawa_diagnostic.c",
+        "tamagawa_periodic_trigger.c",
         "main.c",
     ],
 };
@@ -34,6 +35,7 @@ const includes_freertos_r5f = {
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic",
     ],
 };
 
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am64x.js b/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am64x.js
index 11f0846..4472243 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am64x.js
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project_am64x.js
@@ -5,6 +5,7 @@ let device = "am64x";
 const files = {
     common: [
         "tamagawa_diagnostic.c",
+        "tamagawa_periodic_trigger.c",
         "main.c",
     ],
 };
@@ -34,6 +35,7 @@ const includes_freertos_r5f = {
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic",
     ],
 };
 
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/example.syscfg b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
index b7bf8d1..4136360 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
@@ -64,6 +64,9 @@ tamagawa1.PRU_ICSSG0_PRU.$assign = "PRU_ICSSG0_PRU1";
 const pruicss                            = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
 const pruicss1                           = pruicss.addInstance({}, false);
 pruicss1.$name                           = "CONFIG_PRU_ICSS0";
+pruicss1.intcMapping.create(1);
+pruicss1.intcMapping[0].$name            = "CONFIG_ICSS0_INTC_MAPPING0";
+pruicss1.intcMapping[0].event            = "18";
 tamagawa1.pru                            = pruicss1;
 pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
 
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 65aea87..2f38ef4 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -35,6 +35,7 @@
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -97,6 +98,8 @@
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
+        <file path="../../../../tamagawa_periodic_trigger.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
         <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
         <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 8b7a734..4533cc7 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -39,6 +39,7 @@ endif
 
 FILES_common := \
 	tamagawa_diagnostic.c \
+	tamagawa_periodic_trigger.c \
 	main.c \
 	ti_drivers_config.c \
 	ti_drivers_open_close.c \
@@ -61,6 +62,7 @@ INCLUDES_common := \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic \
 	-Igenerated \
 
 DEFINES_common := \
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/example.syscfg b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
index afa6d93..1574eff 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
@@ -83,6 +83,9 @@ tamagawa1.ENC2_EN.GPIO.gpioPin.$assign = "MMC1_SDCD";
 const pruicss                            = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
 const pruicss1                           = pruicss.addInstance({}, false);
 pruicss1.$name                           = "CONFIG_PRU_ICSS0";
+pruicss1.intcMapping.create(1);
+pruicss1.intcMapping[0].$name            = "CONFIG_ICSS0_INTC_MAPPING0";
+pruicss1.intcMapping[0].event            = "18";
 tamagawa1.pru                            = pruicss1;
 pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
 
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index bb4717f..0637745 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -35,6 +35,7 @@
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -97,6 +98,8 @@
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
+        <file path="../../../../tamagawa_periodic_trigger.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
         <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
         <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
index 1d1d489..95a8956 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -39,6 +39,7 @@ endif
 
 FILES_common := \
 	tamagawa_diagnostic.c \
+	tamagawa_periodic_trigger.c \
 	main.c \
 	ti_drivers_config.c \
 	ti_drivers_open_close.c \
@@ -61,6 +62,7 @@ INCLUDES_common := \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic \
 	-Igenerated \
 
 DEFINES_common := \
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/example.syscfg b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
index 0a8b774..8cb1665 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
@@ -64,6 +64,9 @@ tamagawa1.PRU_ICSSG0_PRU.$assign = "PRU_ICSSG0_PRU1";
 const pruicss                            = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
 const pruicss1                           = pruicss.addInstance({}, false);
 pruicss1.$name                           = "CONFIG_PRU_ICSS0";
+pruicss1.intcMapping.create(1);
+pruicss1.intcMapping[0].$name            = "CONFIG_ICSS0_INTC_MAPPING0";
+pruicss1.intcMapping[0].event            = "18";
 tamagawa1.pru                            = pruicss1;
 pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
 
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 5159be8..95aebc6 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -35,6 +35,7 @@
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -97,6 +98,8 @@
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
+        <file path="../../../../tamagawa_periodic_trigger.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
         <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
         <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 4a38122..b5ba3d6 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -39,6 +39,7 @@ endif
 
 FILES_common := \
 	tamagawa_diagnostic.c \
+	tamagawa_periodic_trigger.c \
 	main.c \
 	ti_drivers_config.c \
 	ti_drivers_open_close.c \
@@ -61,6 +62,7 @@ INCLUDES_common := \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic \
 	-Igenerated \
 
 DEFINES_common := \
diff --git a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am243x.js b/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am243x.js
index c12eaf2..a4f154e 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am243x.js
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am243x.js
@@ -5,6 +5,7 @@ let device = "am243x";
 const files = {
     common: [
         "tamagawa_diagnostic.c",
+        "tamagawa_periodic_trigger.c",
         "main.c",
     ],
 };
@@ -34,6 +35,7 @@ const includes_freertos_r5f = {
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic",
     ],
 };
 
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am64x.js b/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am64x.js
index bf1da04..295cace 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am64x.js
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/.project/project_am64x.js
@@ -5,6 +5,7 @@ let device = "am64x";
 const files = {
     common: [
         "tamagawa_diagnostic.c",
+        "tamagawa_periodic_trigger.c",
         "main.c",
     ],
 };
@@ -34,6 +35,7 @@ const includes_freertos_r5f = {
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
         "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic",
     ],
 };
 
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/example.syscfg b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
index 8ffdb0e..fed43bf 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
@@ -64,6 +64,9 @@ const pruicss1                           = pruicss.addInstance({}, false);
 pruicss1.$name                           = "CONFIG_PRU_ICSS0";
 tamagawa1.pru                            = pruicss1;
 pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
+pruicss1.intcMapping.create(1);
+pruicss1.intcMapping[0].$name            = "CONFIG_ICSS0_INTC_MAPPING0";
+pruicss1.intcMapping[0].event            = "18";
 
 /**
  * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index bd932be..e7c6c62 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -35,6 +35,7 @@
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -97,6 +98,8 @@
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
+        <file path="../../../../tamagawa_periodic_trigger.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
         <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
         <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 5c0a0cb..200d659 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -39,6 +39,7 @@ endif
 
 FILES_common := \
 	tamagawa_diagnostic.c \
+	tamagawa_periodic_trigger.c \
 	main.c \
 	ti_drivers_config.c \
 	ti_drivers_open_close.c \
@@ -61,6 +62,7 @@ INCLUDES_common := \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic \
 	-Igenerated \
 
 DEFINES_common := \
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/example.syscfg b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
index 36b235b..21dbc02 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
@@ -80,6 +80,10 @@ const pruicss1                           = pruicss.addInstance({}, false);
 pruicss1.$name                           = "CONFIG_PRU_ICSS0";
 tamagawa1.pru                            = pruicss1;
 pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
+pruicss1.intcMapping.create(1);
+pruicss1.intcMapping[0].$name            = "CONFIG_ICSS0_INTC_MAPPING0";
+pruicss1.intcMapping[0].event            = "18";
+
 
 /**
  * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 516e92f..b04db9a 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -35,6 +35,7 @@
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -97,6 +98,8 @@
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
+        <file path="../../../../tamagawa_periodic_trigger.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
         <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
         <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
index 939ebfb..8116e80 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -39,6 +39,7 @@ endif
 
 FILES_common := \
 	tamagawa_diagnostic.c \
+	tamagawa_periodic_trigger.c \
 	main.c \
 	ti_drivers_config.c \
 	ti_drivers_open_close.c \
@@ -61,6 +62,7 @@ INCLUDES_common := \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic \
 	-Igenerated \
 
 DEFINES_common := \
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/example.syscfg b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
index d1aa8e9..96b1d07 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
@@ -64,6 +64,10 @@ const pruicss1                           = pruicss.addInstance({}, false);
 pruicss1.$name                           = "CONFIG_PRU_ICSS0";
 tamagawa1.pru                            = pruicss1;
 pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
+pruicss1.intcMapping.create(1);
+pruicss1.intcMapping[0].$name            = "CONFIG_ICSS0_INTC_MAPPING0";
+pruicss1.intcMapping[0].event            = "18";
+
 
 /**
  * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index ea79739..cd6ffe0 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -35,6 +35,7 @@
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
             -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -97,6 +98,8 @@
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
+        <file path="../../../../tamagawa_periodic_trigger.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
         <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
         <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 04536a2..4095318 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -39,6 +39,7 @@ endif
 
 FILES_common := \
 	tamagawa_diagnostic.c \
+	tamagawa_periodic_trigger.c \
 	main.c \
 	ti_drivers_config.c \
 	ti_drivers_open_close.c \
@@ -61,6 +62,7 @@ INCLUDES_common := \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
 	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/position_sense/tamagawa_diagnostic \
 	-Igenerated \
 
 DEFINES_common := \
diff --git a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/examples/position_sense/tamagawa_diagnostic/tamagawa_diagnostic.c b/examples/position_sense/tamagawa_diagnostic/tamagawa_diagnostic.c
index 0f31218..7107305 100644
--- a/examples/position_sense/tamagawa_diagnostic/tamagawa_diagnostic.c
+++ b/examples/position_sense/tamagawa_diagnostic/tamagawa_diagnostic.c
@@ -52,6 +52,17 @@
 #include "ti_drivers_config.h"
 #include "ti_board_open_close.h"
 #include <position_sense/tamagawa/include/tamagawa_drv.h>
+#include "tamagawa_periodic_trigger.h"
+
+#define TASK_STACK_SIZE (4096)
+#define TASK_PRIORITY   (6)
+
+uint32_t gTaskFxnStack[TASK_STACK_SIZE/sizeof(uint32_t)] __attribute__((aligned(32)));
+TaskP_Object gTaskObject;
+
+#define TAMAGAWA_POSITION_LOOP_STOP    0
+#define TAMAGAWA_POSITION_LOOP_START   1
+
 #if ((CONFIG_TAMAGAWA0_CHANNEL0 + CONFIG_TAMAGAWA0_CHANNEL1 + CONFIG_TAMAGAWA0_CHANNEL2) == 1)
 #include <position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h>
 #endif
@@ -188,6 +199,18 @@ static enum data_id tamagawa_get_command(uint8_t *adf, uint8_t *edf)
         cmd = DATA_ID_0;
         DebugP_log("\r\n| WARNING: invalid Data ID, Data readout Data ID 0 will be sent\n");
     }
+    /* If the command is 9, start periodic trigger with DATA ID as 0*/
+    if(cmd == PERIODIC_TRIGGER_CMD)
+    {
+        DebugP_log("\r| Enter IEP cycle count: ");
+        if(DebugP_scanf("%u\n", &priv->cmp3) >= 0)
+        {
+            return cmd;
+        }else{
+            cmd = DATA_ID_0;
+            DebugP_log("\r\n| WARNING: invalid value entered, Data readout Data ID 0 will be sent with host trigger mode\n");
+        }
+    }
     /* Check to make sure that the command issued is correct */
     if(cmd >= DATA_ID_NUM)
     {
@@ -281,6 +304,7 @@ static void tamagawa_display_menu(void)
     DebugP_log("\r\n| 6 : Reset (Data ID 8)                                                        |");
     DebugP_log("\r\n| 7 : Reset (Data ID C)                                                        |");
     DebugP_log("\r\n| 8 : Readout from EEPROM (Data ID D)                                          |");
+    DebugP_log("\r\n| 9 : Start periodic continuous mode                                           |");
     DebugP_log("\r\n|------------------------------------------------------------------------------|\n|\n");
     DebugP_log("\r\n| enter value: ");
 }
@@ -292,6 +316,119 @@ uint32_t tamagawa_get_fw_version(void)
     return *((uint32_t *)TamagawaFirmware + 1);
 }
 
+static int32_t tamagawa_position_loop_status;
+
+static void tamagawa_position_loop_decide_termination(void *args)
+{
+    char c;
+
+    while(1)
+    {
+        DebugP_scanf("%c", &c);
+        tamagawa_position_loop_status = TAMAGAWA_POSITION_LOOP_STOP;
+        break;
+    }
+    TaskP_exit();
+}
+
+
+static int32_t tamagawa_loop_task_create(void)
+{
+    uint32_t status;
+    TaskP_Params taskParams;
+
+    TaskP_Params_init(&taskParams);
+    taskParams.name = "tamagawa_position_loop_decide_termination";
+    taskParams.stackSize = TASK_STACK_SIZE;
+    taskParams.stack = (uint8_t *)gTaskFxnStack;
+    taskParams.priority = TASK_PRIORITY;
+    taskParams.taskMain = (TaskP_FxnMain)tamagawa_position_loop_decide_termination;
+    status = TaskP_construct(&gTaskObject, &taskParams);
+
+    if(status != SystemP_SUCCESS)
+    {
+        DebugP_log("\rTask2 creation failed\n");
+    }
+
+    return status ;
+}
+
+static void tamagawa_process_periodic_command(enum data_id process_dataid_cmd)
+{
+    int32_t status;
+
+    tamagawa_config_periodic_trigger(priv);
+
+    if(tamagawa_loop_task_create() != SystemP_SUCCESS)
+    {
+        DebugP_log("\r| ERROR: OS not allowing continuous mode as related Task creation failed\r\n|\r\n|\n");
+        DebugP_log("Task_create() failed!\n");
+        return;
+    }
+
+    struct tamagawa_periodic_interface tamagawa_periodic_interface;
+    tamagawa_periodic_interface.pruss_cfg = priv->pruss_cfg;
+    tamagawa_periodic_interface.pruss_iep = priv->pruss_iep;
+    tamagawa_periodic_interface.pruss_dmem = priv->tamagawa_xchg;
+    tamagawa_periodic_interface.cmp3 = priv->cmp3;
+    
+    status = tamagawa_config_periodic_mode(&tamagawa_periodic_interface, gPruIcssXHandle);
+    DebugP_assert(0 != status);
+    tamagawa_position_loop_status = TAMAGAWA_POSITION_LOOP_START;
+
+    DebugP_log("\r|\n\r| press enter to stop the continuous mode\r\n|\r\n|         position, f1\r\n| ");
+
+    while(1)
+    {
+        if(tamagawa_position_loop_status == TAMAGAWA_POSITION_LOOP_STOP)
+        {
+            tamagawa_stop_periodic_continuous_mode(&tamagawa_periodic_interface);
+            tamagawa_config_host_trigger(priv);
+            return;
+        }
+        else
+        {
+            tamagawa_update_data_id(priv, process_dataid_cmd);
+
+            /* In case of EEPROM commands, calculate the CRC for the different channels selected */
+            if((process_dataid_cmd == DATA_ID_6) || (process_dataid_cmd == DATA_ID_D))
+            {
+                uint32_t ch = 0;
+                for(ch = 0 ; ch < MAX_CHANNELS ; ch++)
+                {
+                    if(gTamagawa_multi_ch_mask & 1 << ch)
+                    {
+                        tamagawa_update_crc(priv, process_dataid_cmd, ch);
+                    }
+                }
+
+            }
+
+            tamagawa_command_process(priv, process_dataid_cmd, gTamagawa_multi_ch_mask);
+
+            if(gTamagawa_is_multi_ch)
+            {
+                DebugP_log("\r\n Multi-channel mode is enabled\n\n");
+
+                uint32_t ch;
+                for(ch = 0; ch < MAX_CHANNELS; ch++)
+                {
+                    if(gTamagawa_multi_ch_mask & 1 << ch)
+                    {
+                        tamagawa_multi_channel_set_cur(priv, ch);
+                        DebugP_log("\r\n\r|\n|\t\t\t\tCHANNEL %d\n", ch);
+                        tamagawa_handle_rx(priv, process_dataid_cmd);
+                    }
+                }
+            }
+            else
+            {
+                DebugP_log("\r\n Single-channel mode is enabled\n\n");
+                tamagawa_handle_rx(priv, process_dataid_cmd);
+            }
+        }    
+    }
+}
 
 void tamagawa_main(void *args)
 {
@@ -310,12 +447,14 @@ void tamagawa_main(void *args)
 #endif
 
     void *pruicss_cfg;
+    void *pruicss_iep;
     uint32_t slice_value = 1;
     uint32_t selected_ch;
 
     tamagawa_pruicss_init();
 
     pruicss_cfg = (void *)(((PRUICSS_HwAttrs *)(gPruIcssXHandle->hwAttrs))->cfgRegBase);
+    pruicss_iep  = (void *)(((PRUICSS_HwAttrs *)(gPruIcssXHandle->hwAttrs))->iep0RegBase);
 
     if(PRUICSS_PRUx == 0)
     {
@@ -323,9 +462,8 @@ void tamagawa_main(void *args)
     }
 
     /* Initialize the priv structure according to the PRUx slice selected */
-    priv = tamagawa_init((struct tamagawa_xchg *)((PRUICSS_HwAttrs *)(
-                          gPruIcssXHandle->hwAttrs))->pru1DramBase, pruicss_cfg, slice_value);
-
+    priv = tamagawa_init((struct tamagawa_xchg *)(
+        (PRUICSS_HwAttrs *)(gPruIcssXHandle->hwAttrs))->pru1DramBase, pruicss_cfg,pruicss_iep,slice_value);
 
     tamagawa_set_baudrate(priv, CONFIG_TAMAGAWA0_BAUDRATE);
 
@@ -393,6 +531,12 @@ void tamagawa_main(void *args)
         tamagawa_display_menu();
         cmd = tamagawa_get_command(&adf, &edf);
 
+        if(cmd == PERIODIC_TRIGGER_CMD)
+        {   
+            /*Takes which data_id to process in input arguments*/
+            tamagawa_process_periodic_command(DATA_ID_0);
+        }
+
         if(cmd >= DATA_ID_NUM)
         {
             continue;
@@ -436,8 +580,8 @@ void tamagawa_main(void *args)
             DebugP_log("\r\n Single-channel mode is enabled\n\n");
             tamagawa_handle_rx(priv, cmd);
         }
+    }
 
-}
     Board_driversClose();
     Drivers_close();
 }
diff --git a/examples/position_sense/tamagawa_diagnostic/tamagawa_periodic_trigger.c b/examples/position_sense/tamagawa_diagnostic/tamagawa_periodic_trigger.c
new file mode 100644
index 0000000..0b22aa0
--- /dev/null
+++ b/examples/position_sense/tamagawa_diagnostic/tamagawa_periodic_trigger.c
@@ -0,0 +1,189 @@
+/*
+ *  Copyright (C) 2023 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+#include<stdio.h>
+#include<stdint.h>
+#include<math.h>
+
+#include <drivers/pruicss.h>
+#include <drivers/hw_include/hw_types.h>
+#include <drivers/hw_include/tistdtypes.h>
+#include <kernel/dpl/ClockP.h>
+#include "tamagawa_periodic_trigger.h"
+#include <drivers/soc.h>
+#include <position_sense/tamagawa/include/tamagawa_drv.h>
+
+static HwiP_Object gIcssgEncoderHwiObject0;  /* ICSSG Tamagawa PRU FW HWI */
+
+/* ICSSG Interrupt settings */
+#define ICSSG_PRU_TAMAGAWA_INT_NUM         ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_0 )
+uint32_t gPrutamagawaIrqCnt0;
+
+/*global variable */
+void *gPruss_iep; 
+
+PRUICSS_Handle gPruIcssXHandle;
+
+/* ICSS INTC configuration */
+extern PRUICSS_IntcInitData icss0_intc_initdata; 
+
+void tamagawa_config_iep(struct tamagawa_periodic_interface *tamagawa_periodic_interface)
+{
+    /*reset iep timer*/
+    void *pruss_iep = tamagawa_periodic_interface->pruss_iep;
+    struct tamagawa_pruss_xchg *pruss_xchg = tamagawa_periodic_interface->pruss_dmem;
+    uint8_t temp;
+    uint8_t event;
+    uint32_t cmp_reg0;
+    uint32_t cmp_reg1;
+    uint32_t event_clear;
+    uint64_t cmp0 = 0;
+
+    /*clear IEP*/
+    temp = HW_RD_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_GLOBAL_CFG_REG );
+    temp &= 0xFE;
+    HW_WR_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_GLOBAL_CFG_REG, temp);
+
+    /* cmp cfg reg */
+    event = HW_RD_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP_CFG_REG);
+    event_clear = HW_RD_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP_STATUS_REG);
+
+    /*enable IEP reset by cmp0 event*/
+    event |= IEP_CMP0_ENABLE;
+    event |= IEP_RST_CNT_EN;
+    event_clear |= 1;
+
+    /*set IEP counter to ZERO*/
+    HW_WR_REG32((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_COUNT_REG0, 0);
+    HW_WR_REG32((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_COUNT_REG1, 0);
+
+    /*configure cmp3 registers*/
+    event |= (0x1 << 4 );
+    event_clear |= (0x1 << 3);
+    cmp_reg0 = (tamagawa_periodic_interface->cmp3 & 0xffffffff) - IEP_DEFAULT_INC;
+    cmp_reg1 = (tamagawa_periodic_interface->cmp3>>32 & 0xffffffff);
+
+    HW_WR_REG32((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP3_REG0,  cmp_reg0);
+    HW_WR_REG32((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP3_REG1,  cmp_reg1);
+
+    cmp0 = tamagawa_periodic_interface->cmp3;
+
+    /*clear event*/
+    HW_WR_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP_STATUS_REG, event_clear);
+    /*enable  event*/
+    HW_WR_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP_CFG_REG, event);
+
+    /*configure cmp0 registers*/
+    cmp0 = 2*cmp0;
+    cmp_reg0 = (cmp0 & 0xffffffff) - IEP_DEFAULT_INC;
+    cmp_reg1 = (cmp0>>32 & 0xffffffff);
+    HW_WR_REG32((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP0_REG0,  cmp_reg0);
+    HW_WR_REG32((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP0_REG1,  cmp_reg1);
+
+
+    /*write IEP default increment & IEP start*/
+    temp = HW_RD_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_GLOBAL_CFG_REG );
+    temp &= 0x0F;
+    temp |= 0x10;
+    temp |= IEP_COUNTER_EN;
+    HW_WR_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_GLOBAL_CFG_REG, temp);
+}
+
+
+void tamagawa_interrupt_config(struct tamagawa_periodic_interface *tamagawa_periodic_interface)
+{
+    struct tamagawa_pruss_xchg *pruss_xchg = tamagawa_periodic_interface->pruss_dmem;
+    int32_t status;
+    HwiP_Params hwiPrms;
+    /* Register & enable ICSSG tamagawa PRU FW interrupt */
+    HwiP_Params_init(&hwiPrms);
+    hwiPrms.intNum      = ICSSG_PRU_TAMAGAWA_INT_NUM;
+    hwiPrms.callback    = &prutamagawaIrqHandler0;
+    hwiPrms.args        = 0;
+    hwiPrms.isPulse     = FALSE;
+    hwiPrms.isFIQ       = FALSE;
+    status              = HwiP_construct(&gIcssgEncoderHwiObject0, &hwiPrms);
+    DebugP_assert(status == SystemP_SUCCESS);
+
+}    
+uint32_t  tamagawa_config_periodic_mode(struct tamagawa_periodic_interface *tamagawa_periodic_interface, PRUICSS_Handle handle)
+{
+    int32_t  status;
+    gPruIcssXHandle = handle;
+    gPruss_iep = tamagawa_periodic_interface->pruss_iep;
+    /*configure IEP*/
+    tamagawa_config_iep(tamagawa_periodic_interface);
+    /* Initialize ICSS INTC */
+    status = PRUICSS_intcInit(gPruIcssXHandle, &icss0_intc_initdata);
+        if (status != SystemP_SUCCESS)
+        {
+            return 0;
+        }
+    /*config Interrupt*/
+    tamagawa_interrupt_config(tamagawa_periodic_interface);
+    return 1;
+
+}
+
+void tamagawa_stop_periodic_continuous_mode(struct tamagawa_periodic_interface *tamagawa_periodic_interface)
+{
+    /*reset iep timer*/
+    void *pruss_iep = tamagawa_periodic_interface->pruss_iep;
+    uint8_t temp;
+    /*clear IEP*/
+    temp = HW_RD_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_GLOBAL_CFG_REG );
+    temp &= 0xFE;
+    HW_WR_REG8((uint8_t*)pruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_GLOBAL_CFG_REG, temp);
+}
+
+/* PRU tamagawa FW IRQ handler */
+void prutamagawaIrqHandler0(void *args)
+{
+    
+    /* debug, inncrement PRU SDFM IRQ count */
+    gPrutamagawaIrqCnt0++;
+
+    /* clear Cmp3 event*/
+    uint32_t event_clear;
+    event_clear = HW_RD_REG8((uint8_t*)gPruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP_STATUS_REG);
+    event_clear |= IEP_CMP3_EVNT;
+    HW_WR_REG8((uint8_t*)gPruss_iep + CSL_ICSS_G_PR1_IEP1_SLV_CMP_STATUS_REG, event_clear);
+
+    /* Clear interrupt at source */
+    /* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
+        Firmware:   TRIGGER_HOST_SDFM_IRQ defined as 18
+        18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
+    */
+    PRUICSS_clearEvent(gPruIcssXHandle, PRU_TRIGGER_HOST_TAMAGAWA_EVT0);
+    
+}
\ No newline at end of file
diff --git a/examples/position_sense/tamagawa_diagnostic/tamagawa_periodic_trigger.h b/examples/position_sense/tamagawa_diagnostic/tamagawa_periodic_trigger.h
new file mode 100644
index 0000000..7d21c8f
--- /dev/null
+++ b/examples/position_sense/tamagawa_diagnostic/tamagawa_periodic_trigger.h
@@ -0,0 +1,63 @@
+/*
+ *  Copyright (C) 2023 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _TAMAGAWA_H_
+#define _TAMAGAWA_H_
+
+#include<stdint.h>
+
+struct tamagawa_periodic_interface
+{
+  void *pruss_iep;
+  void *pruss_dmem;
+  void *pruss_cfg;
+  uint64_t cmp3;
+};
+
+#define IEP_DEFAULT_INC    0x1;
+#define IEP_DEFAULT_INC_EN  0x4;
+#define IEP_COUNTER_EN      0x1;
+#define IEP_RST_CNT_EN      0x1;
+#define IEP_CMP0_ENABLE     0x1 << 1;
+#define IEP_CMP3_EVNT (0x1 << 3 )
+
+#define PRU_TRIGGER_HOST_TAMAGAWA_EVT0   ( 2+16 )    /* pr0_pru_mst_intr[2]_intr_req */
+#define PERIOD
+
+uint32_t tamagawa_config_periodic_mode(struct tamagawa_periodic_interface *tamagawa_periodic_interface, PRUICSS_Handle handle);
+
+void tamagawa_stop_periodic_continuous_mode(struct tamagawa_periodic_interface *tamagawa_periodic_interface);
+
+static void prutamagawaIrqHandler0(void *handle);
+
+
+#endif /* _TAMAGAWA_H_ */
diff --git a/examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
index c2be5da..d46875e 100644
--- a/examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -4,5 +4,5 @@
  *  View (ROV) tool.
  */
 var crovFiles = [
-    "mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
 ];
diff --git a/makefile.am243x b/makefile.am243x
index f043cc2..1694f05 100644
--- a/makefile.am243x
+++ b/makefile.am243x
@@ -103,6 +103,7 @@ help:
 	@echo  $(MAKE) -s -C source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
+	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
@@ -290,6 +291,7 @@ BUILD_COMBO_EXAMPLE_PRIVATE_ALL += hdsl_master_multichannel_ch0_sync_mode_am243x
 BUILD_COMBO_EXAMPLE_PRIVATE_ALL += hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt
 BUILD_COMBO_EXAMPLE_PRIVATE_ALL += hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt
 BUILD_COMBO_EXAMPLE_PRIVATE_ALL += tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt
+BUILD_COMBO_EXAMPLE_PRIVATE_ALL += tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt
 BUILD_COMBO_EXAMPLE_PRIVATE_ALL += tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt
 BUILD_COMBO_EXAMPLE_PRIVATE_ALL += tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt
 BUILD_COMBO_EXAMPLE_PRIVATE_ALL += bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt
@@ -462,6 +464,9 @@ examples-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_ALL)
  tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile all
 
+ tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt:
+	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile all
+
  tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile all
 
@@ -543,6 +548,7 @@ BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += hdsl_master_multichannel_ch0_sync_mode_
 BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
+BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL += bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
@@ -715,6 +721,9 @@ examples-private-clean: $(BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL)
  tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile clean
 
+ tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_clean:
+	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile clean
+
  tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile clean
 
@@ -796,6 +805,7 @@ BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += hdsl_master_multichannel_ch0_sync_mode_
 BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub
 BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub
 BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub
+BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_scrub
 BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub
 BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_scrub
 BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL += bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub
@@ -968,6 +978,9 @@ examples-scrub-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL)
  tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile scrub
 
+ tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_scrub:
+	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile scrub
+
  tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile scrub
 
diff --git a/makefile_projectspec.am243x b/makefile_projectspec.am243x
index 8c7c408..cc0e5be 100644
--- a/makefile_projectspec.am243x
+++ b/makefile_projectspec.am243x
@@ -64,6 +64,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += hdsl_master_multichannel_ch
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_build
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL += bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_build
@@ -236,6 +237,9 @@ all-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL)
  tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_build:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec all
 
+ tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_build:
+	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec all
+
  tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_build:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec all
 
@@ -318,6 +322,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += hdsl_master_multichannel_ch
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL += bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean
@@ -490,6 +495,9 @@ clean-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL)
  tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec clean
 
+ tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_clean:
+	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec clean
+
  tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_clean:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec clean
 
@@ -572,6 +580,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += hdsl_master_multichannel_c
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_export
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL += bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_export
@@ -744,6 +753,9 @@ export-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL)
  tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_export:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec export
 
+ tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_export:
+	$(MAKE) -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec export
+
  tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_export:
 	$(MAKE) -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec export
 
@@ -847,6 +859,7 @@ help:
 	@echo  $(MAKE) -s -C source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
+	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
diff --git a/source/position_sense/tamagawa/driver/tamagawa_drv.c b/source/position_sense/tamagawa/driver/tamagawa_drv.c
index 2474124..b048963 100644
--- a/source/position_sense/tamagawa/driver/tamagawa_drv.c
+++ b/source/position_sense/tamagawa/driver/tamagawa_drv.c
@@ -583,12 +583,13 @@ static inline void tamagawa_config_clr_cfg0(struct tamagawa_priv *priv)
     HW_WR_REG32((uint32_t)(pruss_cfg) + tamagawa_priv.register_offset_val.ICSS_CFG_PRUx_ED_CH2_CFG0, 0);
 }
 
-struct tamagawa_priv *tamagawa_init(struct tamagawa_xchg *tamagawa_xchg, void *pruss_cfg, uint32_t slice_value)
+struct tamagawa_priv *tamagawa_init(struct tamagawa_xchg *tamagawa_xchg, void *pruss_cfg, void *pruss_iep, uint32_t slice_value)
 {
     /* Initializes tamagawa firmware interface address and get the pointer to struct tamagawa_priv instance */
     tamagawa_priv.tamagawa_xchg = tamagawa_xchg;
     tamagawa_priv.pruss_cfg = pruss_cfg;
     tamagawa_priv.slice_value = slice_value;
+    tamagawa_priv.pruss_iep = pruss_iep;
 
     /* If the slice value is 0, it denotes that PRU0 is selected. Assign the register offsets for PRU0 */
     if(slice_value==0)
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 4616a03..0eef6a3 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
@@ -47,12 +47,17 @@ const lflags = {
 
 const buildOptionCombos = [
     { device: device, cpu: "icssg0-pru1", cgt: "ti-pru-cgt", board: "am243x-evm", os: "fw"},
+    { device: device, cpu: "icssg0-pru1", cgt: "ti-pru-cgt", board: "am243x-lp", os: "fw"},
 ];
 
-let postBuildSteps = [
+let postBuildStepsEVM = [
     "$(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 ;"
 ];
 
+let postBuildStepsLP = [
+    "$(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 ;"
+];
+
 function getComponentProperty() {
     let property = {};
 
@@ -67,8 +72,6 @@ function getComponentProperty() {
     property.pru_linker_file = "linker";
     property.isSkipTopLevelBuild = true;
     property.skipUpdatingTirex = true;
-    property.postBuildSteps = postBuildSteps;
-
     return property;
 }
 
@@ -85,6 +88,16 @@ function getComponentBuildProperty(buildOption) {
     build_property.projecspecFileAction = "copy";
     build_property.skipMakefileCcsBootimageGen = true;
 
+    if(buildOption.board.match(/am243x-evm*/) )
+    {
+        build_property.postBuildSteps = postBuildStepsEVM;
+    }
+    else if(buildOption.board.match(/am243x-lp*/) )
+    {
+        build_property.postBuildSteps = postBuildStepsLP;
+
+    }
+
     return build_property;
 }
 
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 0000000..56d6918
--- /dev/null
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,75 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM243x_LAUNCHPAD"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Tamagawa Multi Channel"
+        name = "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        configurations="
+                Release,
+                Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM243x_LAUNCHPAD"
+        deviceCore="ICSS_G0_PRU_1"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware
+            -DICSSG0
+            -DPRU1
+            -DSLICE1
+            -v4
+            -DSOC_AM243X
+            -DENABLE_MULTI_CHANNEL
+        "
+        linkerBuildOptions="
+            -m=tamagawa_multi_channel.${ConfigName}.map
+            --entry_point=TAMAGAWA_INIT
+            --disable_auto_rts
+        "
+
+        postBuildStep="
+            $(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 ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;
+        "
+
+        description="A Tamagawa Multi Channel FW project">
+
+        <configuration name="Release"
+            compilerBuildOptions="
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Debug"
+            compilerBuildOptions="
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
+        <file path="../../../../tamagawa_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../tamagawa_diagnostic.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../tamagawa_master_hexpru.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/TAMAGAWA_DESIGN.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
new file mode 100644
index 0000000..ff6eb24
--- /dev/null
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -0,0 +1,117 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+#   Required input arguments:
+#   MOTOR_CONTROL_SDK_PATH=${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
+CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
+CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
+
+GEN_OPTS__FLAG :=
+GEN_CMDS__FLAG :=
+
+ORDERED_OBJS += \
+"./main.obj" \
+"${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 \
+
+ASM_SRCS += \
+${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm
+
+OBJS += \
+./main.obj
+
+ASM_DEPS += \
+./main.d
+
+OBJS__QUOTED += \
+"main.obj"
+
+ASM_DEPS__QUOTED += \
+"main.d"
+
+ASM_SRCS__QUOTED += \
+"${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/multi_channel/main.asm"
+
+# 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) $(GEN_MISC_FILES)
+	@echo 'Building file: "$<"'
+	@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
+
+# Add inputs and outputs from these tool invocations to the build variables
+EXE_OUTPUTS += \
+tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out \
+
+EXE_OUTPUTS__QUOTED += \
+"tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" \
+
+BIN_OUTPUTS += \
+tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex \
+
+BIN_OUTPUTS__QUOTED += \
+"tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex" \
+
+
+# All Target
+all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+	@$(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) $(GEN_CMDS)
+	@echo 'Building target: "$@"'
+	@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" $(ORDERED_OBJS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
+	@echo 'Building secondary target: "$@"'
+	@echo 'Invoking: PRU Hex Utility'
+	"$(CG_TOOL_ROOT)/bin/hexpru" -o "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
+	@echo 'Finished building secondary target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# Other Targets
+clean:
+	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
+	-$(RM) "main.obj"
+	-$(RM) "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 ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
+	-@echo ' '
+
+.PHONY: all clean dependents
+.SECONDARY:
+
+-include ../makefile.targets
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile_projectspec b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 0000000..1d888c8
--- /dev/null
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/source/position_sense/tamagawa/firmware/tamagawa_main.asm b/source/position_sense/tamagawa/firmware/tamagawa_main.asm
index 9c573d7..d77eb91 100644
--- a/source/position_sense/tamagawa/firmware/tamagawa_main.asm
+++ b/source/position_sense/tamagawa/firmware/tamagawa_main.asm
@@ -172,11 +172,26 @@ TAMAGAWA_SKIP_INIT_SUCCESS:
 	LDI     R0.b0,  1
     ;Initialization successful status update ends here
 	SBCO	&R0.b0,	PRUx_DMEM,	TAMAGAWA_INTFC_CMD_STATUS_OFFSET,	1
+
+CHECK_OPERATING_MODE:
 	LBCO	&R0.b0,	PRUx_DMEM,	TAMAGAWA_OPMODE_CONFIG_OFFSET,	1
     ;If opmode=1, Host trigger is done
 	;If opmode=0, Periodic trigger is done
 	QBNE	HANDLE_HOST_TRIGGER_MODE,	R0.b0,		0
 
+HANDLE_PERIODIC_TRIGGER_MODE:
+    ;Get compare event status
+    LBCO	&R0,	ICSS_IEP,	ICSS_IEP_CMP_STATUS_REG,	4
+    ; wait till IEP CMP3 event
+	QBBC	HANDLE_PERIODIC_TRIGGER_MODE,	R0,	3
+	; Clear IEP CMP3 event
+	SET	R0,	R0,	3
+    ; store compare event status
+    SBCO	&R0,	ICSS_IEP,  ICSS_IEP_CMP_STATUS_REG,	4
+    ; SET command TRIGGER
+    LDI		R0.b0,	1
+    SBCO    &R0.b0,	PRUx_DMEM, TAMAGAWA_INTFC_CMD_TRIGGER_OFFSET,	1
+
 HANDLE_HOST_TRIGGER_MODE:
     ;If Host Trigger=1, request made by R5F to Firmware, now Firmware do processing and when done set trigger to 0 so that R5F application can act further.
     LBCO	&R0.b0,	PRUx_DMEM,	TAMAGAWA_INTFC_CMD_TRIGGER_OFFSET,	1
@@ -197,6 +212,18 @@ TAMAGAWA_HOST_CMD_END:
 	LDI		R3.w0,	0
     ;Clear Host Trigger
 	SBCO	&R3.b0,	PRUx_DMEM,	TAMAGAWA_INTFC_CMD_TRIGGER_OFFSET,	1
+    ;check PRU host trigger for all three channels
+    LBCO	&R3.b0,	PRUx_DMEM,	TAMAGAWA_OPMODE_CONFIG_OFFSET,	1 
+    ;skip interrupt to R5F in host trigger
+    QBNE    SKIP_INTERRUPT_TRIGGER,  R3.b0,  0
+    ;Generate interrupt to R5F
+    LDI     R31.w0, 34;PRU_TRIGGER_HOST_TAMAGAWA_EVT0 ( pr0_pru_mst_intr[2]_intr_req )
+    ;Global reinit
+    set     R31, TAMAGAWA_TX_GLOBAL_REINIT
+    ;Handle next Postition in periodic trigger
+    JMP		HANDLE_PERIODIC_TRIGGER_MODE
+
+SKIP_INTERRUPT_TRIGGER:
     ;Handle next Position request by user.
     JMP		HANDLE_HOST_TRIGGER_MODE
 
diff --git a/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h b/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h
index e24b233..bc017ea 100644
--- a/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h
+++ b/source/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h
@@ -71,21 +71,30 @@ const unsigned int TamagawaFirmware[]= {
 0x91401880,
 0x914418c0,
 0x91481801,
-0x23013888,
+0x23014188,
 0x24000100,
 0x81031800,
 0x91001800,
-0x69000001,
+0x69000006,
+0x91743a80,
+0xcf03e0fd,
+0x1f03e0e0,
+0x81743a80,
+0x81021800,
 0x91021800,
 0x570000ff,
 0x9104181b,
 0x9105183b,
 0x91081821,
 0x91091806,
-0x23001f88,
+0x23002888,
 0x24000083,
 0x81021803,
-0x21001500,
+0x91001803,
+0x69000302,
+0x2400229f,
+0x570003ed,
+0x21001a00,
 0xc9000702,
 0x240000de,
 0xc9010702,
@@ -102,32 +111,32 @@ const unsigned int TamagawaFirmware[]= {
 0x101b1b1e,
 0x103b3b1e,
 0x05015e5e,
-0x2300fec8,
-0x21008f00,
+0x230107c8,
+0x21009800,
 0x31020016,
 0xc9000705,
 0x11035e1a,
 0x69001a03,
 0x2400881a,
-0x21004100,
+0x21004a00,
 0xc9010705,
 0x11035e1a,
 0x69011a03,
 0x2400b01a,
-0x21004100,
+0x21004a00,
 0xc9020705,
 0x11035e1a,
 0x69021a03,
 0x2400d81a,
-0x21004100,
+0x21004a00,
 0x901a3899,
 0x1079791e,
 0x1059591e,
 0x1039391e,
 0x1019191e,
 0x05015e5e,
-0x2300fec8,
-0x21008f00,
+0x230107c8,
+0x21009800,
 0x31020026,
 0xc900070c,
 0x11035e1a,
@@ -140,7 +149,7 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21006e00,
+0x21007700,
 0xc901070c,
 0x11035e1a,
 0x69011a0a,
@@ -152,7 +161,7 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21006e00,
+0x21007700,
 0xc902070c,
 0x11035e1a,
 0x69021a0a,
@@ -164,9 +173,9 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21006e00,
+0x21007700,
 0x05015e5e,
-0x2300fec8,
+0x230107c8,
 0x2eff819a,
 0x100a0a5e,
 0x3102001d,
@@ -178,7 +187,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400881a,
 0x901a1819,
 0x1019191e,
-0x21008e00,
+0x21009700,
 0xc9010709,
 0x11035e1a,
 0x69011a07,
@@ -187,7 +196,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400b01a,
 0x901a1819,
 0x1019191e,
-0x21008e00,
+0x21009700,
 0xc9020709,
 0x11035e1a,
 0x69021a07,
@@ -196,7 +205,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400d81a,
 0x901a1819,
 0x1019191e,
-0x21008e00,
+0x21009700,
 0x05015e5e,
 0x2eff9d8b,
 0x2eff8183,
@@ -222,13 +231,13 @@ const unsigned int TamagawaFirmware[]= {
 0x10077f1c,
 0x6e071cff,
 0xd104ff02,
-0x2100a900,
+0x2100b200,
 0x1f070b0b,
 0xd10cff02,
-0x2100ac00,
+0x2100b500,
 0x1f072b2b,
 0xd114ff02,
-0x2100af00,
+0x2100b800,
 0x1f074b4b,
 0x101c1c7f,
 0x100b0b0c,
@@ -254,18 +263,18 @@ const unsigned int TamagawaFirmware[]= {
 0x09012727,
 0x09014b4b,
 0x12262727,
-0x2100d700,
+0x2100e000,
 0x24000003,
 0x24000023,
 0x24000043,
 0x50460b04,
 0x50662b05,
 0x50274b06,
-0x2100d400,
+0x2100dd00,
 0x24000103,
-0x2100cc00,
+0x2100d500,
 0x24000123,
-0x2100cd00,
+0x2100d600,
 0x24000143,
 0x81183883,
 0x812838a3,
@@ -279,25 +288,25 @@ const unsigned int TamagawaFirmware[]= {
 0x5108240a,
 0x510c240f,
 0x51000614,
-0x21009a00,
+0x2100a300,
 0x10ececf0,
 0x10ededf3,
 0x10eeeef6,
 0x2eff858c,
 0x51004412,
-0x2100df00,
+0x2100e800,
 0x10ececf1,
 0x10ededf4,
 0x10eeeef7,
 0x2eff858c,
 0x5100440c,
-0x2100df00,
+0x2100e800,
 0x10ececf2,
 0x10ededf5,
 0x10eeeef8,
 0x2eff858c,
 0x51004406,
-0x2100df00,
+0x2100e800,
 0x24000044,
 0x670424ed,
 0x670824f2,
@@ -318,9 +327,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21010b00,
+0x21011400,
 0x13f00202,
-0x21010b00,
+0x21011400,
 0x11000202,
 0x2401099d,
 0x809d0402,
@@ -335,9 +344,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21011c00,
+0x21012500,
 0x13f00202,
-0x21011c00,
+0x21012500,
 0x11000202,
 0x2401119d,
 0x809d0402,
@@ -352,9 +361,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21012d00,
+0x21013600,
 0x13f00202,
-0x21012d00,
+0x21013600,
 0x11000202,
 0x2401199d,
 0x809d0402,
diff --git a/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h b/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h
index 768a0ae..93ac76e 100644
--- a/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h
+++ b/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h
@@ -76,21 +76,32 @@ const unsigned int TamagawaFirmware[]= {
 0x91401880,
 0x914418c0,
 0x91481801,
-0x23018e88,
+0x23019988,
 0x24000100,
 0x81031800,
 0x91001800,
-0x69000001,
+0x69000007,
+0x91743a80,
+0xcf03e0ff,
+0x1f03e0e0,
+0x81743a80,
+0x24000100,
+0x81021800,
 0x91021800,
 0x570000ff,
 0x9104181b,
 0x9105183b,
 0x91081821,
 0x91091806,
-0x23002488,
+0x23002f88,
 0x24000083,
 0x81021803,
+0x91001803,
+0x69000304,
+0x2400229f,
+0x1f13ffff,
 0x21001a00,
+0x21002000,
 0xc9000702,
 0x240000de,
 0xc9010702,
@@ -105,30 +116,30 @@ const unsigned int TamagawaFirmware[]= {
 0x51047a1b,
 0x101b1b1e,
 0x103b3b1e,
-0x230150c8,
-0x21008c00,
+0x23015bc8,
+0x21009700,
 0xc9000705,
 0x11035e1a,
 0x69001a03,
 0x2400881a,
-0x21004300,
+0x21004e00,
 0xc9010705,
 0x11035e1a,
 0x69011a03,
 0x2400b01a,
-0x21004300,
+0x21004e00,
 0xc9020705,
 0x11035e1a,
 0x69021a03,
 0x2400d81a,
-0x21004300,
+0x21004e00,
 0x901a3899,
 0x1079791e,
 0x1059591e,
 0x1039391e,
 0x1019191e,
-0x230150c8,
-0x21008c00,
+0x23015bc8,
+0x21009700,
 0xc900070c,
 0x11035e1a,
 0x69001a0a,
@@ -140,7 +151,7 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21006e00,
+0x21007900,
 0xc901070c,
 0x11035e1a,
 0x69011a0a,
@@ -152,7 +163,7 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21006e00,
+0x21007900,
 0xc902070c,
 0x11035e1a,
 0x69021a0a,
@@ -164,8 +175,8 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21006e00,
-0x230150c8,
+0x21007900,
+0x23015bc8,
 0x2eff819a,
 0x100a0a5e,
 0xc9000709,
@@ -176,7 +187,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400881a,
 0x901a1819,
 0x1019191e,
-0x21008c00,
+0x21009700,
 0xc9010709,
 0x11035e1a,
 0x69011a07,
@@ -185,7 +196,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400b01a,
 0x901a1819,
 0x1019191e,
-0x21008c00,
+0x21009700,
 0xc9020709,
 0x11035e1a,
 0x69021a07,
@@ -194,7 +205,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400d81a,
 0x901a1819,
 0x1019191e,
-0x21008c00,
+0x21009700,
 0x2eff9d8b,
 0x2eff8183,
 0x2eff8185,
@@ -220,7 +231,7 @@ const unsigned int TamagawaFirmware[]= {
 0x11017f1c,
 0x6f011cff,
 0xd104ff02,
-0x2100a700,
+0x2100b200,
 0x1f070b0b,
 0x101c1c7f,
 0x100b0b0c,
@@ -232,10 +243,10 @@ const unsigned int TamagawaFirmware[]= {
 0x09010303,
 0x09010b0b,
 0x12630303,
-0x2100b700,
+0x2100c200,
 0x24000023,
 0x50030b02,
-0x2100b600,
+0x2100c100,
 0x24000123,
 0x811838a3,
 0x01012424,
@@ -247,19 +258,19 @@ const unsigned int TamagawaFirmware[]= {
 0x51082408,
 0x510c240b,
 0x5100060e,
-0x21009900,
+0x2100a400,
 0x10ececf0,
 0x2eff818c,
 0x5100440e,
-0x2100bf00,
+0x2100ca00,
 0x10ececf1,
 0x2eff818c,
 0x5100440a,
-0x2100bf00,
+0x2100ca00,
 0x10ececf2,
 0x2eff818c,
 0x51004406,
-0x2100bf00,
+0x2100ca00,
 0x24000044,
 0x670424f3,
 0x670824f6,
@@ -282,7 +293,7 @@ const unsigned int TamagawaFirmware[]= {
 0x11027f1c,
 0x6f021cff,
 0xd10cff02,
-0x2100e500,
+0x2100f000,
 0x1f070b0b,
 0x101c1c7f,
 0x100b0b0c,
@@ -294,10 +305,10 @@ const unsigned int TamagawaFirmware[]= {
 0x09010303,
 0x09010b0b,
 0x12630303,
-0x2100f500,
+0x21010000,
 0x24000023,
 0x50030b02,
-0x2100f400,
+0x2100ff00,
 0x24000123,
 0x812838a3,
 0x01012424,
@@ -309,19 +320,19 @@ const unsigned int TamagawaFirmware[]= {
 0x51082408,
 0x510c240b,
 0x5100060e,
-0x2100d700,
+0x2100e200,
 0x10ececf0,
 0x2eff818c,
 0x5100440e,
-0x2100fd00,
+0x21010800,
 0x10ececf1,
 0x2eff818c,
 0x5100440a,
-0x2100fd00,
+0x21010800,
 0x10ececf2,
 0x2eff818c,
 0x51004406,
-0x2100fd00,
+0x21010800,
 0x24000044,
 0x670424f3,
 0x670824f6,
@@ -344,7 +355,7 @@ const unsigned int TamagawaFirmware[]= {
 0x11047f1c,
 0x6f041cff,
 0xd114ff02,
-0x21012300,
+0x21012e00,
 0x1f070b0b,
 0x101c1c7f,
 0x100b0b0c,
@@ -356,10 +367,10 @@ const unsigned int TamagawaFirmware[]= {
 0x09010303,
 0x09010b0b,
 0x12630303,
-0x21013300,
+0x21013e00,
 0x24000023,
 0x50030b02,
-0x21013200,
+0x21013d00,
 0x24000123,
 0x813838a3,
 0x01012424,
@@ -371,19 +382,19 @@ const unsigned int TamagawaFirmware[]= {
 0x51082408,
 0x510c240b,
 0x5100060e,
-0x21011500,
+0x21012000,
 0x10ececf0,
 0x2eff818c,
 0x5100440e,
-0x21013b00,
+0x21014600,
 0x10ececf1,
 0x2eff818c,
 0x5100440a,
-0x21013b00,
+0x21014600,
 0x10ececf2,
 0x2eff818c,
 0x51004406,
-0x21013b00,
+0x21014600,
 0x24000044,
 0x670424f3,
 0x670824f6,
@@ -400,9 +411,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21015d00,
+0x21016800,
 0x13f00202,
-0x21015d00,
+0x21016800,
 0x11000202,
 0x2401099d,
 0x809d0402,
@@ -417,9 +428,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21016e00,
+0x21017900,
 0x13f00202,
-0x21016e00,
+0x21017900,
 0x11000202,
 0x2401119d,
 0x809d0402,
@@ -434,9 +445,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21017f00,
+0x21018a00,
 0x13f00202,
-0x21017f00,
+0x21018a00,
 0x11000202,
 0x2401199d,
 0x809d0402,
diff --git a/source/position_sense/tamagawa/include/tamagawa_drv.h b/source/position_sense/tamagawa/include/tamagawa_drv.h
index 3f87778..298860b 100644
--- a/source/position_sense/tamagawa/include/tamagawa_drv.h
+++ b/source/position_sense/tamagawa/include/tamagawa_drv.h
@@ -105,6 +105,7 @@ enum data_id
     DATA_ID_8,  /**< Reset */
     DATA_ID_C,  /**< Reset */
     DATA_ID_D,  /**< EEPROM read */
+    PERIODIC_TRIGGER_CMD, /**< periodic trigger command */
     DATA_ID_NUM /**< Number of Data ID codes */
 };
 
@@ -280,6 +281,8 @@ struct tamagawa_priv
     void *pruss_cfg;    /**< ICSS PRU config base address*/
     int32_t slice_value;    /**< PRUx Slice being used*/
     struct register_offsets register_offset_val;    /**< Register offset values based on PRUx slice selection*/
+    void *pruss_iep; /**< ICSS IEP base address*/
+    uint64_t cmp3; /**< IEP CMP3 reg used in periodic trigger mode*/
 };
 
 /* ========================================================================== */
@@ -404,12 +407,13 @@ void tamagawa_multi_channel_set_cur(struct tamagawa_priv *priv, uint32_t ch);
  *
  *  \param[in]  tamagawa_xchg      tamagawa firmware interface address
  *  \param[in]  pruss_cfg       ICSS PRU config base address
+ *  \param[in]  pruss_iep       ICSS PRU IEP base address
  *  \param[in]  slice_value     PRUx slice value : 0 for PRU0 and 1 for PRU1
  *
  *  \retval     priv            pointer to struct tamagawa_priv instance
  *
  */
-struct tamagawa_priv *tamagawa_init(struct tamagawa_xchg *tamagawa_xchg, void *pruss_cfg, uint32_t slice_value);
+struct tamagawa_priv *tamagawa_init(struct tamagawa_xchg *tamagawa_xchg, void *pruss_cfg, void *pruss_iep, uint32_t slice_value);
 
 /**
  *  \brief      update the current requested command id in tamagawa interface.    <br>