diff --git a/docs_src/docs/api_guide/device/am243x/examples.cfg b/docs_src/docs/api_guide/device/am243x/examples.cfg
index b2a87db..d597a87 100644
--- a/docs_src/docs/api_guide/device/am243x/examples.cfg
+++ b/docs_src/docs/api_guide/device/am243x/examples.cfg
@@ -1,4 +1,5 @@
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/examples.md
+INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/tidep_01032_reference_design_example.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/hdsl_example.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/endat_example.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/tamagawa_example.md
diff --git a/docs_src/docs/api_guide/device/am243x/release_notes_09_01_00.md b/docs_src/docs/api_guide/device/am243x/release_notes_09_01_00.md
index d8b95f3..7db1a59 100644
--- a/docs_src/docs/api_guide/device/am243x/release_notes_09_01_00.md
+++ b/docs_src/docs/api_guide/device/am243x/release_notes_09_01_00.md
@@ -34,7 +34,7 @@ SYNC Mode support for 1 to 10 frames per cycle and 8 kHz to 50 kHz cycle frequen
API support for Parameter Channel Long Message Read and Write | Position Sense HDSL
Add support for PIPE_D register for SensorHub Channel | Position Sense HDSL
Add support for PIPE_D register for SensorHub Channel | Position Sense HDSL
-Long cable (upto 100 meters) with Free Run mode | Position Sense HDSL
+Long cable (upto 100 meters) with Free Run mode | Position Sense HDSL
Two channel example with LP-AM243 + BP-AM2BLDCSERVO | Position Sense HDSL
Compare event based command trigger support | Position Sense Tamagawa
Two channel example with LP-AM243 + BP-AM2BLDCSERVO | Position Sense Tamagawa
diff --git a/docs_src/docs/api_guide/examples/examples.md b/docs_src/docs/api_guide/examples/examples.md
index 8de3e9b..1bc9fff 100644
--- a/docs_src/docs/api_guide/examples/examples.md
+++ b/docs_src/docs/api_guide/examples/examples.md
@@ -13,6 +13,8 @@ This page lists all the examples and demos supported in this SDK.
\endcond
\cond SOC_AM243X
+- Reference Design
+ - \subpage EXAMPLE_TIDEP_01032_REFERENCE_DESIGN
- Position Sense
-# \subpage EXAMPLE_MOTORCONTROL_ENDAT
-# \subpage EXAMPLE_MOTORCONTROL_HDSL
diff --git a/docs_src/docs/api_guide/examples/tidep_01032_reference_design_example.md b/docs_src/docs/api_guide/examples/tidep_01032_reference_design_example.md
new file mode 100644
index 0000000..0761cfc
--- /dev/null
+++ b/docs_src/docs/api_guide/examples/tidep_01032_reference_design_example.md
@@ -0,0 +1,14 @@
+# TIDEP-01032 EtherCAT-Connected Single-Chip Dual-Servo Motor Drive Reference Design {#EXAMPLE_TIDEP_01032_REFERENCE_DESIGN}
+
+This reference design showcases the ability of the AM243x device to support a fully-integrated real-time servo motor drive control and industrial communication path. This path extends from receiving EtherCAT CiA402 target commands for velocity, to performing closed-loop FOC velocity control of dual connected motors, to passing the actual velocity values back up to the EtherCAT PLC.
+
+## Features Supported
+
+- Support EtherCAT CiA402 device profile for motor velocity control
+- Single-chip, dual-servo motor control
+- BOOST-XL TI BoosterPack Plug-in Module design - 80 digital and analog I/O compatible with AM2x LaunchPad Development Kits
+- Two axes of 3-phase BLDC motor drive with the DRV8316R 24 V, 8 A monolithic gate drive and amplifier bridges
+- Two axes (6 channels) of 3-phase current feedback through AMC1035D Sigma-Delta modulator and INA241A current sense path
+- Two axes of RS-485 based absolute encoder feedback supporting multiple industrial encoder standards
+
+\note Currently the FOC loop used for Closed Speed (Velocity) Control is based on the CMSIS library. We will switch to the RTLib functions and DCL functions in the near future.
\ No newline at end of file
diff --git a/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 66a0697..aa5a64a 100644
--- a/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 69ecbe0..bff1366 100644
--- a/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 9273c61..55db478 100644
--- a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index c20eafe..3b531b0 100644
--- a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 424845a..4914cf0 100644
--- a/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 6d446a5..c864e22 100644
--- a/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 98abd14..96b6134 100644
--- a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 9df9b45..ba36aa1 100644
--- a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -117,7 +117,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 44c27bb..12f5980 100644
--- a/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -119,7 +119,7 @@
-
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index f539485..049e8d4 100644
--- a/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -119,7 +119,7 @@
-
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/.project/mcsdk_project_am243x.js b/examples/tidep_01032_dual_motor_drive/single_chip_servo/.project/mcsdk_project_am243x.js
index bc3fec3..a6d7d51 100644
--- a/examples/tidep_01032_dual_motor_drive/single_chip_servo/.project/mcsdk_project_am243x.js
+++ b/examples/tidep_01032_dual_motor_drive/single_chip_servo/.project/mcsdk_project_am243x.js
@@ -277,7 +277,7 @@ const lnkfiles_r5f = {
const syscfgfile = "../example.syscfg";
-const readmeDoxygenPageTag = "EXAMPLES_DUAL_MOTOR_DRIVE";
+const readmeDoxygenPageTag = "EXAMPLE_TIDEP_01032_REFERENCE_DESIGN";
const templates_r5f_0_0 =
[
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec
index d60b04e..eacf6ab 100644
--- a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec
+++ b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec
@@ -133,7 +133,7 @@
-
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-1_nortos/ti-arm-clang/example.projectspec b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-1_nortos/ti-arm-clang/example.projectspec
index e12dbec..b4ac524 100644
--- a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-1_nortos/ti-arm-clang/example.projectspec
+++ b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-1_nortos/ti-arm-clang/example.projectspec
@@ -127,7 +127,7 @@
-
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/example.projectspec b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/example.projectspec
index 51cd5c0..0d9e632 100644
--- a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/example.projectspec
@@ -156,7 +156,7 @@
-
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/readme.txt b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/readme.txt
index 7ff1b8c..c7893a6 100644
--- a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/readme.txt
+++ b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/readme.txt
@@ -1,2 +1 @@
-This folder contains the reference design software for the TIDEP-01032 (EtherCAT-Connected, Single-Chip, Dual-Servo Motor Drive Reference Design for AM243x Systems). It will be release as part of the Motor Control SDK 09.01.00. Currently the FOC loop used for Closed Speed (Velocity) Control is based on the CMSIS library. We will switch to the RTLib functions and DCL functions in the near future.
-
+This folder contains the reference design software for the TIDEP-01032 (EtherCAT-Connected, Single-Chip, Dual-Servo Motor Drive Reference Design for AM243x Systems). It is included as a part of the Motor Control SDK 09.01.00. Currently the FOC loop used for Closed Speed (Velocity) Control is based on the CMSIS library. We will switch to the RTLib functions and DCL functions in the near future.
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/system_freertos_nortos/system.projectspec b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/system_freertos_nortos/system.projectspec
index c3c022a..3ddffd7 100644
--- a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/system_freertos_nortos/system.projectspec
+++ b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/system_freertos_nortos/system.projectspec
@@ -16,7 +16,7 @@
toolChain="TICLANG"
>
-