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 f8e4893..5315a55 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
@@ -30,20 +30,20 @@ const files_r5f_0_1 = {
 const files_r5f_1_0 = {
     common: [
         /* Project Files */
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/ESL_version.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_OS_os.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_eeprom.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_fileHandling.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_foeDemo.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_soeDemo.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_gpioHelper.c",
-        "ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_base.c",
-        "ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c",
-        "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c",
-        "EtherCAT_Slave_CiA402.c",
-        "ESL_cia402Demo.c",
-        "ESL_BOARD_OS_config.c",
+        "ESL_version.c",
+        "ESL_OS_os.c",
+        "ESL_eeprom.c",
+        "ESL_fileHandling.c",
+        "ESL_foeDemo.c",
+        "ESL_soeDemo.c",
+        "ESL_gpioHelper.c",
+        "CUST_PHY_base.c",
+        "CUST_PHY_dp83869.c",
+        "ecSlvCiA402.c",
+        "ESL_cia402Obd.c",
+        "EtherCAT_Slave_CiA402_tidep_01032.c",
+        "ESL_cia402Demo_tidep_01032.c",
+        "ESL_BOARD_OS_config_tidep_01032.c",
     ],
 };
 
@@ -100,6 +100,10 @@ const filedirs_r5f_1_0 = {
         "..",       /* core_os_combo base */
         "../../..", /* Example base */
         "../../../../../..", /* Motor Control SDK base */
+        "../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common",
+        "../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos",
+        "../../../../../../ind_comms_sdk/examples/industrial_comms/custom_phy/src",
+        "../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia",
     ],
 };
 
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_BOARD_OS_config.c b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_BOARD_OS_config_tidep_01032.c
similarity index 100%
rename from examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_BOARD_OS_config.c
rename to examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_BOARD_OS_config_tidep_01032.c
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_cia402Demo.c b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_cia402Demo_tidep_01032.c
similarity index 100%
rename from examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_cia402Demo.c
rename to examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ESL_cia402Demo_tidep_01032.c
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/EtherCAT_Slave_CiA402.c b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/EtherCAT_Slave_CiA402_tidep_01032.c
similarity index 100%
rename from examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/EtherCAT_Slave_CiA402.c
rename to examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/EtherCAT_Slave_CiA402_tidep_01032.c
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 e436315..f727daf 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
@@ -146,11 +146,11 @@
         </file>
         <file path="../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
-        <file path="../EtherCAT_Slave_CiA402.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        <file path="../EtherCAT_Slave_CiA402_tidep_01032.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
-        <file path="../ESL_cia402Demo.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        <file path="../ESL_cia402Demo_tidep_01032.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
-        <file path="../ESL_BOARD_OS_config.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        <file path="../ESL_BOARD_OS_config_tidep_01032.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
         <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/makefile b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/makefile
index bc76cd6..11ed671 100644
--- a/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/makefile
+++ b/examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/makefile
@@ -32,20 +32,20 @@ BOOTIMAGE_RPRC_NAME_XIP:=single_chip_servo.$(PROFILE).rprc_xip
 BOOTIMAGE_RPRC_NAME_TMP:=single_chip_servo.$(PROFILE).rprc_tmp
 
 FILES_common := \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/ESL_version.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_OS_os.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_eeprom.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_fileHandling.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_foeDemo.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_soeDemo.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos/ESL_gpioHelper.c \
-	ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_base.c \
-	ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c \
-	ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c \
-	EtherCAT_Slave_CiA402.c \
-	ESL_cia402Demo.c \
-	ESL_BOARD_OS_config.c \
+	ESL_version.c \
+	ESL_OS_os.c \
+	ESL_eeprom.c \
+	ESL_fileHandling.c \
+	ESL_foeDemo.c \
+	ESL_soeDemo.c \
+	ESL_gpioHelper.c \
+	CUST_PHY_base.c \
+	CUST_PHY_dp83869.c \
+	ecSlvCiA402.c \
+	ESL_cia402Obd.c \
+	EtherCAT_Slave_CiA402_tidep_01032.c \
+	ESL_cia402Demo_tidep_01032.c \
+	ESL_BOARD_OS_config_tidep_01032.c \
 	ti_drivers_config.c \
 	ti_drivers_open_close.c \
 	ti_board_config.c \
@@ -58,6 +58,10 @@ FILES_PATH_common = \
 	.. \
 	../../.. \
 	../../../../../.. \
+	../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common \
+	../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/common/os/freertos \
+	../../../../../../ind_comms_sdk/examples/industrial_comms/custom_phy/src \
+	../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia \
 	generated \
 
 INCLUDES_common := \