From fb89d7f3a66f89cb144eaba91eac7ceaea6ab770 Mon Sep 17 00:00:00 2001
From: Manoj Koppolu <manoj_koppolu@ti.com>
Date: Fri, 22 Dec 2023 11:46:27 +0530
Subject: [PATCH] am243x/am64x: pru_io: remove redundant code in makefile_pru

- resolve reviewer comments

Fixes: PINDSW-7115

Signed-off-by: Manoj Koppolu <manoj_koppolu@ti.com>
---
 .project/templates/makefile_pru.xdt           | 53 ++++++-------------
 .../icssg0-pru0_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-rtupru0_fw/ti-pru-cgt/makefile     | 49 ++++++-----------
 .../icssg0-txpru0_fw/ti-pru-cgt/makefile      | 49 ++++++-----------
 .../icssg0-pru0_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-rtupru1_fw/ti-pru-cgt/makefile     | 49 ++++++-----------
 .../icssg0-txpru1_fw/ti-pru-cgt/makefile      | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-rtupru1_fw/ti-pru-cgt/makefile     | 49 ++++++-----------
 .../icssg0-txpru1_fw/ti-pru-cgt/makefile      | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-rtupru1_fw/ti-pru-cgt/makefile     | 49 ++++++-----------
 .../icssg0-txpru1_fw/ti-pru-cgt/makefile      | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 .../icssg0-pru1_fw/ti-pru-cgt/makefile        | 49 ++++++-----------
 38 files changed, 571 insertions(+), 1295 deletions(-)

diff --git a/.project/templates/makefile_pru.xdt b/.project/templates/makefile_pru.xdt
index df6e3ad..6514b19 100644
--- a/.project/templates/makefile_pru.xdt
+++ b/.project/templates/makefile_pru.xdt
@@ -4,19 +4,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export `args.sdkPath`?=$(abspath `args.relPath`)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(`args.sdkPath`)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
-% // review these include files
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -68,7 +62,6 @@ vpath %.cmd $(FILES_PATH)
     % }
 % }
 % let cmdSubStr = commandString;
-% commandString += `--include_path="$(CCS_PATH)" `;
 % if ("postBuildSteps" in obj || obj["defaultPruPostBuildSteps"]) {
     % commandString += `--include_path="$(SYSCFG_DIR)" `;
 % }
@@ -80,16 +73,6 @@ vpath %.cmd $(FILES_PATH)
         % }
     % }
 % }
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" `commandString` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -104,30 +87,29 @@ BIN_OUTPUTS += \
 BIN_OUTPUTS__QUOTED += \
 "`projectName`.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "`projectName`.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" `commandString` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 % // # TODO: ti-cgt specific settings
 `projectName`.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" `cmdSubStr` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"`projectName`.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="`projectName`_linkInfo.xml" --rom_model -o "`projectName`.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" `cmdSubStr` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"`projectName`.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="`projectName`_linkInfo.xml" --rom_model -o "`projectName`.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-`projectName`.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "`projectName`.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "`obj.pru_main_file`.obj"
@@ -150,11 +132,8 @@ post-build:
 % }
 % if(obj["defaultPruPostBuildSteps"]) {
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=PRUFirmware  -o pru_load_bin.h `projectName`.out
+	-$(CGT_TI_PRU_PATH)/bin/hexpru.exe --diag_wrap=off --array --array:name_prefix=PRUFirmware  -o pru_load_bin.h `projectName`.out
 	-@echo ' '
 % }
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
index 06050ab..3b43ea4 100644
--- a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_PRU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_PRU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_PRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_PRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_pru_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile
index 63ba405..cb16952 100644
--- a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_RTU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.hex
 BIN_OUTPUTS__QUOTED += \
 "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_RTU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_RTU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_RTU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-rtupru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_rtu_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile
index b9d666a..bd5d025 100644
--- a/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU0 -DSLICE0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_TXPRU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU0 -DSLICE0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_TXPRU_CORE --define=SDFM_LOAD_SHARE_MODE --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU0 -DSLICE0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_TXPRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU0 -DSLICE0 -DPRU0 -DSLICE0 -v4 -v4 -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --define=SDFM_TXPRU_CORE --define=SDFM_LOAD_SHARE_MODE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-txpru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_txpru_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile b/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
index 60ccefc..1af2291 100644
--- a/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
+++ b/source/current_sense/sdfm/firmware/single_axis_single_pru/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDFM_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDFM_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDFM_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDFM_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move sdfm_firmware_single_axis_single_pru_am243x-evm_icssg0-pru0_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/firmware/sdfm_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 975078e..c93b03f 100644
--- a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-
 BIN_OUTPUTS__QUOTED += \
 "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- mv bissc_master_multi_PRU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_PRU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index 4c9905f..288b6f2 100644
--- a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-p
 BIN_OUTPUTS__QUOTED += \
 "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- mv bissc_master_multi_RTU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_RTU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index abbb701..33cfba8 100644
--- a/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pr
 BIN_OUTPUTS__QUOTED += \
 "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "bissc_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- mv bissc_master_multi_TXPRU_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_TXPRU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index d2229b2..b6248d2 100644
--- a/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "bissc_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- mv bissc_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_multi_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 699740f..b1e297b 100644
--- a/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/bissc/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "bissc_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- mv bissc_master_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/bissc/firmware/bissc_master_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 6407064..8a3f5a8 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_PRU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index 6bc1076..23440c6 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-p
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index edda010..d8f51c9 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pr
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index dbae73e..8435d9b 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-c
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_PRU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index 48bed17..bd6cd31 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pr
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index ea91f6d..a07a2bd 100644
--- a/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_TXPRU --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DTX_PRU1 -DSLICE1 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_TXPRU  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index bee1331..c34a4fb 100644
--- a/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 8aaccd6..d8704da 100644
--- a/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_multi_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index e3cd08c..d5679a9 100644
--- a/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 194a127..0972671 100644
--- a/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/endat/firmware/endat_master_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index e6fd1bc..5f8d150 100644
--- a/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_freerun_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_freerun_225_mhz_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 925b532..a4f602f 100644
--- a/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_freerun_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_freerun_225_mhz_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index f5b1c32..ac66f52 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 2e4b839..4d41e31 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index b509f79..3375bda 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 06c75d4..63ac384 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index d18a87a..d66171e 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 516dbff..8b63993 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index df41361..6901953 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 002e3ff..4f36ab6 100644
--- a/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index f4cd931..6371577 100644
--- a/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0 --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_sync_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_sync_225_mhz_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index a21913e..0f00867 100644
--- a/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -42,16 +37,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0 --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -66,29 +51,28 @@ hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0 --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=EXT_SYNC_ENABLE --define=ICSS_G_V_1_0  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex: $(EXE_OUTPUTS)
-	@echo 'Building secondary target: "$@"'
-	@echo 'Invoking: PRU Hex Utility'
-	"$(CG_TOOL_ROOT)/bin/hexpru" -o "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "main.obj"
@@ -101,7 +85,4 @@ post-build:
 		-  move  hdsl_master_icssg_sync_225_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/hdsl_master_icssg_sync_225_mhz_bin.h
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 9097590..6b3f530 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -41,16 +36,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -65,29 +50,28 @@ tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(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 $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-tamagawa_multi_channel_am243x-evm_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-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "tamagawa_main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- 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
+.PHONY: all clean
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
index 6bc30ee..6b9b664 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -41,16 +36,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -65,29 +50,28 @@ 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) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(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 $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-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 ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "tamagawa_main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- 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
+.PHONY: all clean
diff --git a/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 0bfd431..16b6231 100644
--- a/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -41,16 +36,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -65,29 +50,28 @@ tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(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 $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-tamagawa_multi_channel_am64x-evm_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_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "tamagawa_main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- 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
+.PHONY: all clean
diff --git a/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 620d524..f8305d1 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -41,16 +36,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -65,29 +50,28 @@ tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(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 $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-tamagawa_single_channel_am243x-evm_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_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "tamagawa_main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
index b84ee27..8a96bff 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -41,16 +36,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -65,29 +50,28 @@ tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(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 $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-tamagawa_single_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_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "tamagawa_main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean
diff --git a/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 3b0e59f..28b0960 100644
--- a/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -1,18 +1,13 @@
 ################################################################################
 # Automatically-generated file. Do not edit!
 ################################################################################
+#   Required input arguments :
+#   CCS_PROJECT_DEBUG=${CWD}   Use this input argument to include files from external paths 
 
-SHELL = cmd.exe
 export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../../../..)
-CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
-CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
 SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
-
-GEN_OPTS__FLAG :=
-GEN_CMDS__FLAG :=
-
--include ../makefile.init
-
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
 RM := DEL /F
 RMDIR := RMDIR /S/Q
 
@@ -41,16 +36,6 @@ vpath %.asm $(FILES_PATH)
 vpath %.obj $(OBJDIR)
 vpath %.cmd $(FILES_PATH)
 
-# Each subdirectory must supply rules for building sources it contributes
-$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
--include ../makefile.defs
 
 # Add inputs and outputs from these tool invocations to the build variables
 EXE_OUTPUTS += \
@@ -65,29 +50,28 @@ tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex \
 BIN_OUTPUTS__QUOTED += \
 "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" \
 
-
 # All Target
 all: $(OBJS) $(CMD_SRCS)
 	@$(MAKE) --no-print-directory -Onone "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out"
 
+# Each subdirectory must supply rules for building sources it contributes
+$(OBJDIR)/$(OBJS): $(ASM_SRCS) 
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(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 $(<F)).d_raw" "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
 # Tool invocations
 tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
+	"$(CGT_TI_PRU_PATH)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" --disable_auto_rts   --diag_wrap=off --display_error_number --warn_sections --xml_link_info="tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $^
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build
 
-tamagawa_single_channel_am64x-evm_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_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.hex" $(EXE_OUTPUTS__QUOTED)
-	@echo 'Finished building secondary target: "$@"'
-	@echo ' '
-	@$(MAKE) --no-print-directory post-build
-
-# Other Targets
+# To clean generated files
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
 	-$(RM) "tamagawa_main.obj"
@@ -101,7 +85,4 @@ post-build:
 		- move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
+.PHONY: all clean