diff --git a/.gitignore b/.gitignore
index 09e5ee0..d6e964f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -65,3 +65,5 @@ source/motor_control/position_sense/endat/firmware/*.obj
 source/motor_control/position_sense/endat/firmware/*.b00
 source/motor_control/position_sense/endat/firmware/*.xml
 !*boardcfg_*.bin
+mcu_plus_sdk
+ind_comms_sdk
\ No newline at end of file
diff --git a/.metadata/product.json b/.metadata/product.json
index 238bc97..4736e5b 100644
--- a/.metadata/product.json
+++ b/.metadata/product.json
@@ -5,18 +5,24 @@
     "documentationPath": "../docs",
     "includePaths": [
         "../source",
+        "../mcu_plus_sdk/source",
     ],
     "components": [
         "/motor_control/motor_control",
+        "/kernel/dpl",
+        "/drivers/drivers",
+        "/board/board",
+        "/fs/fs",
+        "/networking/networking",
+        "/security/security",
+        "/usb/usb",
+        "/pru_io/pru_io",
     ],
     "devices": [
         "AM64x_beta",
         "AM243x_ALV_beta",
         "AM243x_ALX_beta",
-        "AM273x",
-        "AWR294X",
         "AM263x_beta",
-        "AM62x",
     ],
     "contexts": {
         "AM64x_beta": [
@@ -41,18 +47,6 @@
             "r5fss1-1",
             "m4fss0-0",
         ],
-        "AM273x": [
-            "r5fss0-0",
-            "r5fss0-1",
-            "c66ss0",
-            "hsm0-0",
-        ],
-        "AWR294X": [
-            "r5fss0-0",
-            "r5fss0-1",
-            "c66ss0",
-            "hsm0-0",
-        ],
         "AM263x_beta": [
             "r5fss0-0",
             "r5fss0-1",
@@ -60,9 +54,6 @@
             "r5fss1-1",
             "hsm0-0",
         ],
-        "AM62x": [
-            "m4fss0-0",
-        ],
     },
     "pinmuxUIOptions": {
         "group": "merged",
diff --git a/.project/cgt/cgt_gcc-aarch64.js b/.project/cgt/cgt_gcc-aarch64.js
index 2d0afa9..07c1dca 100644
--- a/.project/cgt/cgt_gcc-aarch64.js
+++ b/.project/cgt/cgt_gcc-aarch64.js
@@ -25,7 +25,7 @@ const cgt_common = {
 
     includes: {
         common: [
-            "${MCU_PLUS_SDK_PATH}/source",
+            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
             "${MOTOR_CONTROL_SDK_PATH}/source",
         ],
     },
diff --git a/.project/cgt/cgt_gcc-armv7.js b/.project/cgt/cgt_gcc-armv7.js
index 919fdeb..e7fa2f4 100644
--- a/.project/cgt/cgt_gcc-armv7.js
+++ b/.project/cgt/cgt_gcc-armv7.js
@@ -30,7 +30,7 @@ const cgt_common = {
 
     includes: {
         common: [
-            "${MCU_PLUS_SDK_PATH}/source",
+            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
             "${MOTOR_CONTROL_SDK_PATH}/source",
         ],
     },
diff --git a/.project/cgt/cgt_ti-arm-clang.js b/.project/cgt/cgt_ti-arm-clang.js
index 3a25732..ce238c1 100644
--- a/.project/cgt/cgt_ti-arm-clang.js
+++ b/.project/cgt/cgt_ti-arm-clang.js
@@ -42,7 +42,7 @@ const cgt_common = {
     includes: {
         common: [
             "${CG_TOOL_ROOT}/include/c",
-            "${MCU_PLUS_SDK_PATH}/source",
+            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
             "${MOTOR_CONTROL_SDK_PATH}/source",
         ],
     },
diff --git a/.project/cgt/cgt_ti-arm.js b/.project/cgt/cgt_ti-arm.js
index 4b0ef91..74d9397 100644
--- a/.project/cgt/cgt_ti-arm.js
+++ b/.project/cgt/cgt_ti-arm.js
@@ -7,8 +7,9 @@ const cgt = {
         common: [
             "$(CGT_TI_ARM_PATH)/include",
             ".",
-            "$(MCU_PLUS_SDK_PATH)/source"],
+            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source"
             "${MOTOR_CONTROL_SDK_PATH}/source",
+        ]
     },
     cflags: {
         common: [
diff --git a/.project/cgt/cgt_ti-c6000.js b/.project/cgt/cgt_ti-c6000.js
index 6fd9e9b..13059b9 100644
--- a/.project/cgt/cgt_ti-c6000.js
+++ b/.project/cgt/cgt_ti-c6000.js
@@ -12,7 +12,7 @@ const cgt_common = {
     includes: {
         common: [
             "${CG_TOOL_ROOT}/include",
-            "${MCU_PLUS_SDK_PATH}/source",
+            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
             "${MOTOR_CONTROL_SDK_PATH}/source",
         ],
     },
@@ -74,7 +74,7 @@ const cgt_common_awr294x = {
     includes: {
         common: [
             "${CG_TOOL_ROOT}/include",
-            "${MCU_PLUS_SDK_PATH}/source",
+            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
             "${MOTOR_CONTROL_SDK_PATH}/source",
         ],
     },
diff --git a/.project/cgt/cgt_ti-pru-cgt.js b/.project/cgt/cgt_ti-pru-cgt.js
index e708f63..ada7b6f 100644
--- a/.project/cgt/cgt_ti-pru-cgt.js
+++ b/.project/cgt/cgt_ti-pru-cgt.js
@@ -77,7 +77,7 @@ const cgt_common = {
     includes: {
         common: [
             "${CG_TOOL_ROOT}/include",
-            "${MCU_PLUS_SDK_PATH}/source",
+            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
             "${MOTOR_CONTROL_SDK_PATH}/source",
         ],
     },
diff --git a/.project/device/project_am243x.js b/.project/device/project_am243x.js
index 370a57d..621ec76 100644
--- a/.project/device/project_am243x.js
+++ b/.project/device/project_am243x.js
@@ -154,10 +154,6 @@ function getProductNameProjectSpec() {
     return "MOTOR_CONTROL_SDK_AM243X";
 }
 
-function getDependentProductNameProjectSpec() {
-    return "MCU_PLUS_SDK_AM243X";
-}
-
 function getFlashAddr() {
     return 0x60000000;
 }
@@ -175,6 +171,5 @@ module.exports = {
     getProperty,
     getLinuxFwName,
     getProductNameProjectSpec,
-    getDependentProductNameProjectSpec,
     getFlashAddr,
 };
\ No newline at end of file
diff --git a/.project/device/project_am263x.js b/.project/device/project_am263x.js
index c17d20b..2edd665 100644
--- a/.project/device/project_am263x.js
+++ b/.project/device/project_am263x.js
@@ -116,7 +116,7 @@ function getLinuxFwName(cpu) {
 }
 
 function getProductNameProjectSpec() {
-    return "MCU_PLUS_SDK_AM263X";
+    return "MOTOR_CONTROL_SDK_AM263X";
 }
 
 function getFlashAddr() {
@@ -135,6 +135,5 @@ module.exports = {
     getDevToolTirex,
     getProperty,
     getLinuxFwName,
-    getProductNameProjectSpec,
     getFlashAddr,
 };
diff --git a/.project/device/project_am64x.js b/.project/device/project_am64x.js
index 75cb5df..1f52921 100644
--- a/.project/device/project_am64x.js
+++ b/.project/device/project_am64x.js
@@ -129,10 +129,6 @@ function getProductNameProjectSpec() {
     return "MOTOR_CONTROL_SDK_AM64X";
 }
 
-function getDependentProductNameProjectSpec() {
-    return "MCU_PLUS_SDK_AM64X";
-}
-
 function getFlashAddr() {
     return 0x60000000;
 }
@@ -150,6 +146,5 @@ module.exports = {
     getProperty,
     getLinuxFwName,
     getProductNameProjectSpec,
-    getDependentProductNameProjectSpec,
     getFlashAddr,
 };
\ No newline at end of file
diff --git a/.project/genProjectSpec.js b/.project/genProjectSpec.js
index 2f31221..a8cf736 100644
--- a/.project/genProjectSpec.js
+++ b/.project/genProjectSpec.js
@@ -143,13 +143,6 @@ const utils = {
         return require(`./device/project_${device}`).getProductNameProjectSpec();
     },
 	
-    getDependentProductNameProjectSpec: (device) => {
-
-        if(common.isDevelopmentMode())
-            return "MCU_PLUS_SDK_AMXXX"
-
-        return require(`./device/project_${device}`).getDependentProductNameProjectSpec();
-    },
     /* default action for files in project spec, i.e copy or link */
     getDefaultActionProjectSpec: () => {
 
diff --git a/.project/templates/imports.mak.xdt b/.project/templates/imports.mak.xdt
index f0c3d5e..0931c6f 100644
--- a/.project/templates/imports.mak.xdt
+++ b/.project/templates/imports.mak.xdt
@@ -44,9 +44,6 @@ else
     endif
 endif
 
-# Variable pointing to location of MCU+ SDK
-export MCU_PLUS_SDK_PATH?=$(abspath .)/mcu_plus_sdk
-
 CGT_TI_PRU_PATH=$(TOOLS_PATH)/ti-cgt-pru_2.3.3
 CGT_TI_SMART_PLACEMENT_TOOL_PATH=$(TOOLS_PATH)/ti-cgt-armllvm_3.0.0.STS
 CGT_TI_ARM_CLANG_PATH=$(CCS_PATH)/tools/compiler/ti-cgt-armllvm_2.1.2.LTS
@@ -55,7 +52,7 @@ ifeq ($(wildcard $(CGT_TI_ARM_CLANG_PATH)),)
 endif
 % if((args.device == "am273x") || (args.device == "awr294x") || (isDevelopmentMode)) {
 CGT_TI_C6000_PATH=$(CCS_PATH)/tools/compiler/ti-cgt-c6000_8.3.12
-DSPLIB_PATH=$(MCU_PLUS_SDK_PATH)/source/dsplib_c66x_3_4_0_0
+DSPLIB_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/dsplib_c66x_3_4_0_0
 % }
 CCS_NODE = $(CCS_PATH)/tools/node/node
 SYSCFG_PATH ?= $(TOOLS_PATH)/sysconfig_1.14.0
@@ -63,4 +60,3 @@ SYSCFG_CLI_PATH ?= $(SYSCFG_PATH)
 SYSCFG_NODE = $(SYSCFG_PATH)/nodejs/node
 SYSCFG_NWJS = $(SYSCFG_PATH)/nw/nw
 SYSCFG_SDKPRODUCT=$(MOTOR_CONTROL_SDK_PATH)/.metadata/product.json
-SYSCFG_MCUPLUSSDKPRODUCT=$(MCU_PLUS_SDK_PATH)/.metadata/product.json
diff --git a/.project/templates/makefile_ccs_bootimage_gen.xdt b/.project/templates/makefile_ccs_bootimage_gen.xdt
index a632bb2..de4d0ac 100644
--- a/.project/templates/makefile_ccs_bootimage_gen.xdt
+++ b/.project/templates/makefile_ccs_bootimage_gen.xdt
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,9 +11,9 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
 % if (["am243x", "am64x", "am263x", "am273x"].includes(args.project.device)) {
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 % }
 
 STRIP=$(CG_TOOL_ROOT)/bin/`args.cgtOptions.strip`
@@ -65,30 +65,30 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
 % if (args.project.isBootLoader) {
 % if ((args.project.device == "am64x") || (args.project.device == "am243x")) {
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/rom_image_gen.py
-SYSFW_PATH=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/soc/am64x_am243x
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/rom_image_gen.py
+SYSFW_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/soc/am64x_am243x
 SYSFW_LOAD_ADDR=0x44000
 BOARDCFG_LOAD_ADDR=0x7B000
 % if (args.project.name.includes("linux")) {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
 % }
 % } else {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
 % }
 % }
 % }
@@ -96,9 +96,9 @@ BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_bo
 ifeq ($(DEVICE_TYPE),HS)
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
 else
-BOOTIMAGE_CERT_KEY=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_gpkey.pem
+BOOTIMAGE_CERT_KEY=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_gpkey.pem
 endif
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_rom_image_gen.py
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_rom_image_gen.py
 % }
 
 % if ((args.project.device == "am273x") || (args.project.device == "awr294x")) {
@@ -109,7 +109,7 @@ SBL_RUN_ADDRESS=0x70002000
 SBL_RUN_ADDRESS=0x70000000
 % }
 
-SBL_PREBUILT_PATH=$(MCU_PLUS_SDK_PATH)/tools/boot/sbl_prebuilt/`args.project.board`
+SBL_PREBUILT_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/sbl_prebuilt/`args.project.board`
 
 all:
 ifeq ($(CCS_IDE_MODE),cloud)
@@ -197,7 +197,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@@ -213,16 +213,16 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
 % if (((args.project.device == "am243x") || (args.project.device == "am64x")) && (!args.project.isPartOfSystemProject)) {
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 % }
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/.project/templates/makefile_device_projectspec_top.xdt b/.project/templates/makefile_device_projectspec_top.xdt
index ad2537b..0099d65 100644
--- a/.project/templates/makefile_device_projectspec_top.xdt
+++ b/.project/templates/makefile_device_projectspec_top.xdt
@@ -147,7 +147,7 @@ $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL) $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_
 # Same CCS workspace used by the examples is used here.
 import_extra_components:
 	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
-	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR) -ccs.productDiscoveryPath $(COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR)
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR)
 % }
 
 help:
diff --git a/.project/templates/makefile_executable.xdt b/.project/templates/makefile_executable.xdt
index 2e035b8..a66e422 100644
--- a/.project/templates/makefile_executable.xdt
+++ b/.project/templates/makefile_executable.xdt
@@ -439,10 +439,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: `args.project.syscfgfile`
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/ `args.project.syscfgfile`
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/ `args.project.syscfgfile`
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device `args.syscfg.device` --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/  `args.project.syscfgfile`
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device `args.syscfg.device` --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/  `args.project.syscfgfile`
 % }
 
 % if (args.project.isBootLoader) {
@@ -458,9 +458,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -471,21 +471,21 @@ BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
 % if (args.project.isBootLoader) {
 % if ((args.project.device == "am64x") || (args.project.device == "am243x")) {
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/rom_image_gen.py
-SYSFW_PATH=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/soc/am64x_am243x
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/rom_image_gen.py
+SYSFW_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/soc/am64x_am243x
 SYSFW_LOAD_ADDR=0x44000
 BOARDCFG_LOAD_ADDR=0x7B000
 % if (args.project.name.includes("linux")) {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
 % }
 % } else {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
 % }
 % }
 % }
@@ -494,9 +494,9 @@ BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_bo
 ifeq ($(DEVICE_TYPE),HS)
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
 else
-BOOTIMAGE_CERT_KEY=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_gpkey.pem
+BOOTIMAGE_CERT_KEY=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_gpkey.pem
 endif
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_rom_image_gen.py
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_rom_image_gen.py
 % }
 
 % if ((args.project.device == "am273x") || (args.project.device == "awr294x")) {
@@ -507,7 +507,7 @@ SBL_RUN_ADDRESS=0x70002000
 SBL_RUN_ADDRESS=0x70000000
 % }
 
-SBL_PREBUILT_PATH=$(MCU_PLUS_SDK_PATH)/tools/boot/sbl_prebuilt/`args.project.board`
+SBL_PREBUILT_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/sbl_prebuilt/`args.project.board`
 
 $(BOOTIMAGE_BIN_NAME): $(OUTNAME)
 	$(OBJCOPY) --strip-sections -O binary $(OUTNAME) $(BOOTIMAGE_BIN_NAME)
@@ -607,7 +607,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@@ -623,16 +623,16 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
 % if (((args.project.device == "am243x") || (args.project.device == "am64x")) && (!args.project.isPartOfSystemProject)) {
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 % }
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
@@ -703,7 +703,7 @@ coverage:
 	$(PROFDATA) merge -sparse -obj-file=$(OUTNAME) $(OUTNAME).cnt -o `args.project.name`.$(PROFILE).profdata
 	$(COV) show --format=html --show-expansions --show-instantiations --show-branches=count --object=$(OUTNAME) -instr-profile=`args.project.name`.$(PROFILE).profdata --output-dir=$(COVERAGE_PATH)/coverage
 	$(COV) export --format=text --object=$(OUTNAME) --instr-profile=`args.project.name`.$(PROFILE).profdata > coverage/`args.project.name`.$(PROFILE).profdata.json
-	node $(MCU_PLUS_SDK_PATH)/docs_src/code_coverage/clang_coverage_analyse.js --input=coverage/`args.project.name`.$(PROFILE).profdata.json --output-json=coverage/`args.project.name`.$(PROFILE).analysis.json --output-lnk=linker_xip.cmd --top-function-count=500
+	node ${MOTOR_CONTROL_SDK_PATH}/docs_src/code_coverage/clang_coverage_analyse.js --input=coverage/`args.project.name`.$(PROFILE).profdata.json --output-json=coverage/`args.project.name`.$(PROFILE).analysis.json --output-lnk=linker_xip.cmd --top-function-count=500
 	@echo Coverage Report Generated at $(COVERAGE_PATH)/coverage folder !!!
 
 % }
diff --git a/.project/templates/makefile_pru.xdt b/.project/templates/makefile_pru.xdt
index 70d450e..69b5294 100644
--- a/.project/templates/makefile_pru.xdt
+++ b/.project/templates/makefile_pru.xdt
@@ -6,9 +6,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -20,7 +20,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./`obj.pru_main_file`.obj" \
-"$(MCU_PLUS_SDK_PATH)/`projectPath`/`obj.pru_linker_file`.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/`projectPath`/`obj.pru_linker_file`.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -36,10 +36,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/`projectPath`/`obj.pru_linker_file`.cmd \
+${MOTOR_CONTROL_SDK_PATH}/`projectPath`/`obj.pru_linker_file`.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/`obj.relpath`/`obj.pru_main_file`.asm
+${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm
 
 OBJS += \
 ./`obj.pru_main_file`.obj
@@ -54,7 +54,7 @@ ASM_DEPS__QUOTED += \
 "`obj.pru_main_file`.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/`obj.relpath`/`obj.pru_main_file`.asm"
+"${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm"
 
 % let commandString = "";
 % let cflags = obj.cflags;
@@ -87,7 +87,7 @@ ASM_SRCS__QUOTED += \
     % }
 % }
 # Each subdirectory must supply rules for building sources it contributes
-`obj.pru_main_file`.obj: $(MCU_PLUS_SDK_PATH)/`obj.relpath`/`obj.pru_main_file`.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+`obj.pru_main_file`.obj: ${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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" $(GEN_OPTS__FLAG) "$<"
@@ -152,8 +152,8 @@ post-build:
 % }
 % if(obj["defaultPruPostBuildSteps"]) {
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MCU_PLUS_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out
-	-${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out
+	-${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4
 	-@echo ' '
 % }
 
diff --git a/.project/templates/makefile_system.xdt b/.project/templates/makefile_system.xdt
index 355e0d0..ac60f67 100644
--- a/.project/templates/makefile_system.xdt
+++ b/.project/templates/makefile_system.xdt
@@ -145,7 +145,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@@ -161,10 +161,10 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
 % if ((args.project.device == "am243x") || (args.project.device == "am64x")) {
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 % }
 
 MULTI_CORE_APP_PARAMS = \
diff --git a/.project/templates/makefile_system_ccs_bootimage_gen.xdt b/.project/templates/makefile_system_ccs_bootimage_gen.xdt
index 050adac..32d5f27 100644
--- a/.project/templates/makefile_system_ccs_bootimage_gen.xdt
+++ b/.project/templates/makefile_system_ccs_bootimage_gen.xdt
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - OUTNAME
 # - CCS_INSTALL_DIR
@@ -71,7 +71,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@@ -87,10 +87,10 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
 % if ((args.project.device == "am243x") || (args.project.device == "am64x")) {
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 % }
 
 MULTI_CORE_APP_PARAMS = \
diff --git a/.project/templates/product.json.xdt b/.project/templates/product.json.xdt
index 23da80d..7bcb4c8 100644
--- a/.project/templates/product.json.xdt
+++ b/.project/templates/product.json.xdt
@@ -17,24 +17,30 @@
     "documentationPath": "../docs",
     "includePaths": [
         "../source",
+        "../mcu_plus_sdk/source",
     ],
     "components": [
 % if((args.device == "am64x") || (args.device == "am243x")) {
         "/motor_control/motor_control",
+        "/kernel/dpl",
+        "/drivers/drivers",
+        "/board/board",
+        "/fs/fs",
+        "/networking/networking",
+        "/security/security",
+        "/usb/usb",
+        "/pru_io/pru_io",
 % }
 % if(args.device == "am263x") {
         "/motor_control/motor_control",
-% }
-% if((args.device == "am273x") || (args.device == "awr294x")) {
         "/kernel/dpl",
         "/drivers/drivers",
         "/board/board",
+        "/fs/fs",
         "/networking/networking",
-% }
-% if(args.device == "am62x") {
-        "/kernel/dpl",
-        "/drivers/drivers",
-        "/board/board",
+        "/security/security",
+        "/usb/usb",
+        "/pru_io/pru_io",
 % }
     ],
     "devices": [
@@ -45,17 +51,8 @@
         "AM243x_ALV_beta",
         "AM243x_ALX_beta",
 % }
-% if((args.device == "am273x") || (isDevelopmentMode)) {
-        "AM273x",
-% }
-% if((args.device == "awr294x") || (isDevelopmentMode)) {
-        "AWR294X",
-% }
 % if((args.device == "am263x") || (isDevelopmentMode)) {
         "AM263x_beta",
-% }
-% if((args.device == "am62x") || (isDevelopmentMode)) {
-        "AM62x",
 % }
     ],
     "contexts": {
@@ -85,22 +82,6 @@
             "m4fss0-0",
         ],
 % }
-% if((args.device == "am273x") || (isDevelopmentMode)) {
-        "AM273x": [
-            "r5fss0-0",
-            "r5fss0-1",
-            "c66ss0",
-            "hsm0-0",
-        ],
-% }
-% if((args.device == "awr294x") || (isDevelopmentMode)) {
-        "AWR294X": [
-            "r5fss0-0",
-            "r5fss0-1",
-            "c66ss0",
-            "hsm0-0",
-        ],
-% }
 % if((args.device == "am263x") || (isDevelopmentMode)) {
         "AM263x_beta": [
             "r5fss0-0",
@@ -109,11 +90,6 @@
             "r5fss1-1",
             "hsm0-0",
         ],
-% }
-% if((args.device == "am62x") || (isDevelopmentMode)) {
-        "AM62x": [
-            "m4fss0-0",
-        ],
 % }
     },
     "pinmuxUIOptions": {
diff --git a/.project/templates/projectspec_executable.xdt b/.project/templates/projectspec_executable.xdt
index db24b39..798fbc0 100644
--- a/.project/templates/projectspec_executable.xdt
+++ b/.project/templates/projectspec_executable.xdt
@@ -7,8 +7,6 @@
     }
     products+=`com.ti.${args.utils.getProductNameProjectSpec(args.project.device)};`
     productName = args.utils.getProductNameProjectSpec(args.project.device);
-    products+=`com.ti.${args.utils.getDependentProductNameProjectSpec(args.project.device)}`
-    dependentProductName = args.utils.getDependentProductNameProjectSpec(args.project.device);
     if(args.project.projecspecFileAction)  // should be renamed to projectspecFileAction
     {
         defaultAction = args.project.projecspecFileAction;
@@ -160,8 +158,8 @@
         % let projectPath = `${obj.relpath}/${obj.board}/${obj.cpu}_${obj.os}/${obj.cgt}`;
         % if(args.project["defaultPruPostBuildSteps"]) {
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MCU_PLUS_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out;
-            ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out;
+            ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4;
         "
         % }
         % if("postBuildSteps" in args.project) {
@@ -173,7 +171,7 @@
         "
         % } else if (args.project.cpu.includes("pru")) {
         % } else {
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=`args.project.device`"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=`args.project.device`"
         % }
 
         % if("syscfgfile" in args.project) {
@@ -252,7 +250,6 @@
         % if(args.project.device == "am273x") {
         <pathVariable name="DSPLIB_PATH" path="${COM_TI_`productName`_INSTALL_DIR}/source/dsplib_c66x_3_4_0_0" scope="project" />
         % }
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_`dependentProductName`_INSTALL_DIR}" scope="project" />
         <pathVariable name="`args.sdkName`" path="${COM_TI_`productName`_INSTALL_DIR}" scope="project" />
         % filelist = args.utils.getFileListProjectSpec(args.project.files, args.project.filedirs, args.project.dirPath)
         % for (file of filelist) {
diff --git a/.project/templates/system.xml.xdt b/.project/templates/system.xml.xdt
index 560078c..32f48db 100644
--- a/.project/templates/system.xml.xdt
+++ b/.project/templates/system.xml.xdt
@@ -10,7 +10,7 @@
 	<preBuildSteps>
 	</preBuildSteps>
     <postBuildSteps>
-        <step command="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_system_ccs_bootimage_gen OUTNAME=`args.project.name`_system PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE}"/>
+        <step command="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_system_ccs_bootimage_gen OUTNAME=`args.project.name`_system PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE}"/>
     </postBuildSteps>
 
 </system>
diff --git a/devconfig/devconfig.mak b/devconfig/devconfig.mak
index de84394..103f840 100644
--- a/devconfig/devconfig.mak
+++ b/devconfig/devconfig.mak
@@ -2,7 +2,7 @@
 DEVICE_TYPE?=GP
 
 # Path to the signing tools, keys etc
-SIGNING_TOOL_PATH=$(MCU_PLUS_SDK_PATH)/tools/boot/signing
+SIGNING_TOOL_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing
 
 # Path to the keys
 ROM_DEGENERATE_KEY:=$(SIGNING_TOOL_PATH)/rom_degenerateKey.pem
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am243x.js b/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am243x.js
index 8a207fe..ee19941 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am243x.js
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am243x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am64x.js b/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am64x.js
index 1e64258..806f21f 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am64x.js
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project_am64x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 52012a1..de49d8e 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Diagnostic Multi Channel Load Share"
         name = "endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
             -i${CG_TOOL_ROOT}/lib
             -m=endat_diagnostic_multi_channel_load_share.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index e00081c..c978763 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index e0e331b..7ba60ae 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Diagnostic Multi Channel Load Share"
         name = "endat_diagnostic_multi_channel_load_share_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
             -i${CG_TOOL_ROOT}/lib
             -m=endat_diagnostic_multi_channel_load_share.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 8d80f8c..bc52bd0 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am243x.js b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am243x.js
index f92977f..529af42 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am243x.js
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am243x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am64x.js b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am64x.js
index 409a30b..1a1a33e 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am64x.js
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project_am64x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 5a6b9c1..4171002 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Diagnostic Multi Channel Single Pru"
         name = "endat_diagnostic_multi_channel_single_pru_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
             -i${CG_TOOL_ROOT}/lib
             -m=endat_diagnostic_multi_channel_single_pru.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 36eed6d..1868335 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 172889b..71c86d4 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Diagnostic Multi Channel Single Pru"
         name = "endat_diagnostic_multi_channel_single_pru_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
             -i${CG_TOOL_ROOT}/lib
             -m=endat_diagnostic_multi_channel_single_pru.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index d319ce6..9ec4a07 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/single_channel/.project/project_am243x.js b/examples/motor_control/endat_diagnostic/single_channel/.project/project_am243x.js
index 4cdbcdb..8046b81 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/.project/project_am243x.js
+++ b/examples/motor_control/endat_diagnostic/single_channel/.project/project_am243x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/endat_diagnostic/single_channel/.project/project_am64x.js b/examples/motor_control/endat_diagnostic/single_channel/.project/project_am64x.js
index e5ee867..a5695b0 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/.project/project_am64x.js
+++ b/examples/motor_control/endat_diagnostic/single_channel/.project/project_am64x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 188f21c..fbf60cd 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Diagnostic Single Channel"
         name = "endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
             -i${CG_TOOL_ROOT}/lib
             -m=endat_diagnostic_single_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 0158277..fdcc33c 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 6ceb15a..f91e44b 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Diagnostic Single Channel"
         name = "endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
             -i${CG_TOOL_ROOT}/lib
             -m=endat_diagnostic_single_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
index 8ecba4a..b8485f2 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 5f17407..801e9fb 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Diagnostic Single Channel"
         name = "endat_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
             -i${CG_TOOL_ROOT}/lib
             -m=endat_diagnostic_single_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 6fc1450..9e125af 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am243x.js b/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am243x.js
index 2fc98e4..0cdad8b 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am243x.js
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am243x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am64x.js b/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am64x.js
index 28bd665..777fb88 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am64x.js
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/.project/project_am64x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 34e0853..d5c56d7 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Diagnostic Multi Channel"
         name = "hdsl_diagnostic_multi_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib
             -i${CG_TOOL_ROOT}/lib
             -m=hdsl_diagnostic_multi_channel.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../hdsl_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index c68cc05..d5d4d43 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 1be66f5..0e56e66 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Diagnostic Multi Channel"
         name = "hdsl_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib
             -i${CG_TOOL_ROOT}/lib
             -m=hdsl_diagnostic_multi_channel.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../hdsl_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index b7609e9..5b5785d 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am243x.js b/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am243x.js
index 2993b90..e10958f 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am243x.js
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am243x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am64x.js b/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am64x.js
index 8a254f2..f2bd948 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am64x.js
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/.project/project_am64x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 5fb9f44..7533ad4 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Diagnostic Single Channel"
         name = "hdsl_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib
             -i${CG_TOOL_ROOT}/lib
             -m=hdsl_diagnostic_single_channel.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../hdsl_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 5c688d6..a1a95f6 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 4abde92..dbf4ae6 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Diagnostic Single Channel"
         name = "hdsl_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib
             -i${CG_TOOL_ROOT}/lib
             -m=hdsl_diagnostic_single_channel.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../hdsl_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
index 902f19e..714eb0f 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 350e6fc..468b9d2 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Diagnostic Single Channel"
         name = "hdsl_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib
             -i${CG_TOOL_ROOT}/lib
             -m=hdsl_diagnostic_single_channel.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../hdsl_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 8192090..e130729 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -99,9 +99,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -128,9 +128,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am243x.js b/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am243x.js
index e2392db..01e5b4f 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am243x.js
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am243x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
 
     ],
 };
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am64x.js b/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am64x.js
index 269013b..960c615 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am64x.js
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/.project/project_am64x.js
@@ -21,18 +21,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 39835fe..f741374 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Diagnostic Ddr"
         name = "hdsl_diagnostic_ddr_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib
             -i${CG_TOOL_ROOT}/lib
             -m=hdsl_diagnostic_ddr.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../hdsl_diagnostic_ddr.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index fba2a73..58e8165 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -98,9 +98,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -127,9 +127,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -226,10 +226,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -238,9 +238,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -254,14 +254,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index ad84e2c..83a571b 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Diagnostic Ddr"
         name = "hdsl_diagnostic_ddr_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib
             -i${CG_TOOL_ROOT}/lib
             -m=hdsl_diagnostic_ddr.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../hdsl_diagnostic_ddr.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 1af9d29..ecd15b8 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -55,11 +55,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -98,9 +98,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -127,9 +127,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -226,10 +226,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -238,9 +238,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/icss_sdfm/.project/project_am243x.js b/examples/motor_control/icss_sdfm/.project/project_am243x.js
index 2dfa174..5561fe6 100644
--- a/examples/motor_control/icss_sdfm/.project/project_am243x.js
+++ b/examples/motor_control/icss_sdfm/.project/project_am243x.js
@@ -26,20 +26,20 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include",
-        "${MCU_PLUS_SDK_PATH}/examples/motor_control/icss_sdfm",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/motor_control/icss_sdfm",
     ],
 };
 
diff --git a/examples/motor_control/icss_sdfm/.project/project_am64x.js b/examples/motor_control/icss_sdfm/.project/project_am64x.js
index bf39d4b..bc7ace0 100644
--- a/examples/motor_control/icss_sdfm/.project/project_am64x.js
+++ b/examples/motor_control/icss_sdfm/.project/project_am64x.js
@@ -26,20 +26,20 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include",
-        "${MCU_PLUS_SDK_PATH}/examples/motor_control/icss_sdfm",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/motor_control/icss_sdfm",
     ],
 };
 
diff --git a/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 64747f6..ff37190 100644
--- a/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Icss Sdfm"
         name = "icss_sdfm_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,13 +30,13 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include
-            -I${MCU_PLUS_SDK_PATH}/examples/motor_control/icss_sdfm
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/motor_control/icss_sdfm
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -49,9 +49,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib
             -i${CG_TOOL_ROOT}/lib
             -m=icss_sdfm.${ConfigName}.map
@@ -60,7 +60,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -95,7 +95,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../app_sddf.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 5e647b9..1284700 100644
--- a/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -60,13 +60,13 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include \
-	-I${MCU_PLUS_SDK_PATH}/examples/motor_control/icss_sdfm \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/motor_control/icss_sdfm \
 	-Igenerated \
 
 DEFINES_common := \
@@ -105,9 +105,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -134,9 +134,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -233,10 +233,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -245,9 +245,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -261,14 +261,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index ea096bd..22b37be 100644
--- a/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Icss Sdfm"
         name = "icss_sdfm_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,13 +30,13 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include
-            -I${MCU_PLUS_SDK_PATH}/examples/motor_control/icss_sdfm
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/motor_control/icss_sdfm
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -49,9 +49,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib
             -i${CG_TOOL_ROOT}/lib
             -m=icss_sdfm.${ConfigName}.map
@@ -60,7 +60,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -95,7 +95,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../app_sddf.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 39e299a..69803bf 100644
--- a/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -60,13 +60,13 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include \
-	-I${MCU_PLUS_SDK_PATH}/examples/motor_control/icss_sdfm \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/motor_control/icss_sdfm \
 	-Igenerated \
 
 DEFINES_common := \
@@ -105,9 +105,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -134,9 +134,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -233,10 +233,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -245,9 +245,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -262,14 +262,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am243x.js b/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am243x.js
index e818139..b3632b4 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am243x.js
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am243x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am64x.js b/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am64x.js
index b146e59..0dbe5d0 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am64x.js
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project_am64x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 0e3c14f..bbdfa44 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Diagnostic Multi Channel"
         name = "tamagawa_diagnostic_multi_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib
             -i${CG_TOOL_ROOT}/lib
             -m=tamagawa_diagnostic_multi_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index a141995..e51fc95 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -100,9 +100,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -129,9 +129,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -228,10 +228,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -240,9 +240,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 0bfbae9..7181e9d 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Diagnostic Multi Channel"
         name = "tamagawa_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib
             -i${CG_TOOL_ROOT}/lib
             -m=tamagawa_diagnostic_multi_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 9660dcf..c958346 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -100,9 +100,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -129,9 +129,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -228,10 +228,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -240,9 +240,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -257,14 +257,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am243x.js b/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am243x.js
index b1824ae..2fbdcd7 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am243x.js
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am243x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am64x.js b/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am64x.js
index 46d52fd..77dc121 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am64x.js
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/.project/project_am64x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib",
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 7078a74..6b39447 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Diagnostic Single Channel"
         name = "tamagawa_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib
             -i${CG_TOOL_ROOT}/lib
             -m=tamagawa_diagnostic_single_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 4fc24ac..f27a394 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -100,9 +100,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -129,9 +129,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -228,10 +228,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -240,9 +240,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index da6c2ec..155aa58 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Diagnostic Single Channel"
         name = "tamagawa_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM243X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib
             -i${CG_TOOL_ROOT}/lib
             -m=tamagawa_diagnostic_single_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
index 19cc906..0003965 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -100,9 +100,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -129,9 +129,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -228,10 +228,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -240,9 +240,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index b8b417e..8666cfd 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index dcb4e25..c11759a 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Diagnostic Single Channel"
         name = "tamagawa_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -48,9 +48,9 @@
             -DSOC_AM64X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib
             -i${CG_TOOL_ROOT}/lib
             -m=tamagawa_diagnostic_single_channel.${ConfigName}.map
@@ -59,7 +59,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -94,7 +94,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
index 2dc2c00..f2e291e 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -56,11 +56,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -100,9 +100,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -129,9 +129,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -228,10 +228,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -240,9 +240,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -257,14 +257,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 17e86fd..a314cd1 100644
--- a/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
-APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/.project/project_am263x.js b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/.project/project_am263x.js
index a0af3b6..9de34d2 100644
--- a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/.project/project_am263x.js
+++ b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/.project/project_am263x.js
@@ -22,18 +22,18 @@ const filedirs = {
 
 const libdirs_freertos = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
-        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
-        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
         "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa_over_soc_uart/lib"
     ],
 };
 
 const includes_freertos_r5f = {
     common: [
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
-        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am263x/r5f",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am263x/r5f",
     ],
 };
 
diff --git a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
index 89a680e..c98fd45 100644
--- a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Diagnostic Soc Uart"
         name = "tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
             Release,
             Debug,
@@ -30,11 +30,11 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include/c
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
-            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am263x/r5f
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am263x/r5f
             -mcpu=cortex-r5
             -mfloat-abi=hard
             -mfpu=vfpv3-d16
@@ -47,9 +47,9 @@
             -DSOC_AM263X
         "
         linkerBuildOptions="
-            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
-            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
-            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
             -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa_over_soc_uart/lib
             -i${CG_TOOL_ROOT}/lib
             -m=tamagawa_diagnostic_soc_uart.${ConfigName}.map
@@ -58,7 +58,7 @@
             --reread_libs
         "
 
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am263x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am263x"
 
         enableSysConfigTool="true"
         sysConfigBuildOptions="
@@ -93,7 +93,6 @@
                 -llibsysbm.a
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../uart_tamagawa.c" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
index c3bfe8c..264ab82 100644
--- a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -50,11 +50,11 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MCU_PLUS_SDK_PATH}/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
 	-I${MOTOR_CONTROL_SDK_PATH}/source \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
-	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am263x/r5f \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am263x/r5f \
 	-Igenerated \
 
 DEFINES_common := \
@@ -93,9 +93,9 @@ LNK_FILES_common = \
 	linker.cmd \
 
 LIBS_PATH_common = \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa_over_soc_uart/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \
 
@@ -122,9 +122,9 @@ LIBS_NAME = \
 	libsysbm.a \
 
 LIBS_PATH_NAME = \
-	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
-	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
-	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
+	${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
 	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa_over_soc_uart/lib \
 	${CG_TOOL_ROOT}/lib \
 
@@ -219,10 +219,10 @@ $(SYSCFG_GEN_FILES): syscfg
 
 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part AM263x --package ZCZ --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part AM263x --package ZCZ --output generated/ ../example.syscfg
 
 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM263x_beta --context r5fss0-0 --part AM263x --package ZCZ --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM263x_beta --context r5fss0-0 --part AM263x --package ZCZ --output generated/  ../example.syscfg
 
 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@@ -231,9 +231,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
 
@@ -245,13 +245,13 @@ BOOTIMAGE_CORE_ID_r5fss1-1 = 3
 SBL_RUN_ADDRESS=0x70002000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
index 7e5331d..e0799fb 100644
--- a/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -3,7 +3,7 @@
 #
 
 # Below variables need to be defined outside this file or via command line
-# - MCU_PLUS_SDK_PATH
+# - MOTOR_CONTROL_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@@ -11,8 +11,8 @@
 # - CCS_IDE_MODE
 
 CCS_PATH=$(CCS_INSTALL_DIR)
-include $(MCU_PLUS_SDK_PATH)/imports.mak
-include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
 
 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
 
@@ -51,13 +51,13 @@ BOOTIMAGE_CORE_ID_r5fss1-1 = 3
 SBL_RUN_ADDRESS=0x70002000
 SBL_DEV_ID=55
 
-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
-OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
 
 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
 endif
 
 MULTI_CORE_IMAGE_PARAMS = \
diff --git a/imports.mak b/imports.mak
index 8a53b4b..3f54bc2 100644
--- a/imports.mak
+++ b/imports.mak
@@ -36,9 +36,6 @@ else
     endif
 endif
 
-# Variable pointing to location of MCU+ SDK
-export MCU_PLUS_SDK_PATH?=./mcu_plus_sdk
-
 CGT_TI_PRU_PATH=$(TOOLS_PATH)/ti-cgt-pru_2.3.3
 CGT_TI_SMART_PLACEMENT_TOOL_PATH=$(TOOLS_PATH)/ti-cgt-armllvm_3.0.0.STS
 CGT_TI_ARM_CLANG_PATH=$(CCS_PATH)/tools/compiler/ti-cgt-armllvm_2.1.2.LTS
@@ -46,11 +43,10 @@ ifeq ($(wildcard $(CGT_TI_ARM_CLANG_PATH)),)
     CGT_TI_ARM_CLANG_PATH=$(TOOLS_PATH)/ti-cgt-armllvm_2.1.2.LTS
 endif
 CGT_TI_C6000_PATH=$(CCS_PATH)/tools/compiler/ti-cgt-c6000_8.3.12
-DSPLIB_PATH=$(MCU_PLUS_SDK_PATH)/source/dsplib_c66x_3_4_0_0
+DSPLIB_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/dsplib_c66x_3_4_0_0
 CCS_NODE = $(CCS_PATH)/tools/node/node
 SYSCFG_PATH ?= $(TOOLS_PATH)/sysconfig_1.14.0
 SYSCFG_CLI_PATH ?= $(SYSCFG_PATH)
 SYSCFG_NODE = $(SYSCFG_PATH)/nodejs/node
 SYSCFG_NWJS = $(SYSCFG_PATH)/nw/nw
 SYSCFG_SDKPRODUCT=$(MOTOR_CONTROL_SDK_PATH)/.metadata/product.json
-SYSCFG_MCUPLUSSDKPRODUCT=$(MCU_PLUS_SDK_PATH)/.metadata/product.json
diff --git a/makefile_projectspec.am243x b/makefile_projectspec.am243x
index 8082cde..ddeb93b 100644
--- a/makefile_projectspec.am243x
+++ b/makefile_projectspec.am243x
@@ -366,7 +366,7 @@ $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL) $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_
 # Same CCS workspace used by the examples is used here.
 import_extra_components:
 	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
-	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR) -ccs.productDiscoveryPath $(COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR)
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR)
 
 help:
 	@echo  Notes,
diff --git a/makefile_projectspec.am64x b/makefile_projectspec.am64x
index e20b324..3fa819e 100644
--- a/makefile_projectspec.am64x
+++ b/makefile_projectspec.am64x
@@ -318,7 +318,7 @@ $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL) $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_
 # Same CCS workspace used by the examples is used here.
 import_extra_components:
 	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
-	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR) -ccs.productDiscoveryPath $(COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR)
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR)
 
 help:
 	@echo  Notes,
diff --git a/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec b/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec
index a978026..1eb3b55 100644
--- a/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Sdfm Firmware"
         name = "sdfm_firmware_am243x-evm_icssg0-pru0_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,7 +30,7 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
             -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware
             -DICSSG0
@@ -75,7 +75,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../sddf.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile b/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
index 66bc15d..b1c122b 100644
--- a/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/am243x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,13 +50,13 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDDF_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MCU_PLUS_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDDF_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM243X --include_path="$(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="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
diff --git a/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec b/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec
index 20ee607..9a4ee77 100644
--- a/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Sdfm Firmware"
         name = "sdfm_firmware_am64x-evm_icssg0-pru0_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -30,7 +30,7 @@
 
         compilerBuildOptions="
             -I${CG_TOOL_ROOT}/include
-            -I${MCU_PLUS_SDK_PATH}/source
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
             -I${MOTOR_CONTROL_SDK_PATH}/source
             -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware
             -DICSSG0
@@ -75,7 +75,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../sddf.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile b/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
index 17f4ec2..eff57c7 100644
--- a/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/am64x-evm/icssg0-pru0_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,13 +50,13 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/current_sense/sdfm/firmware/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDDF_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM64X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${CG_TOOL_ROOT}/include" --include_path="${MCU_PLUS_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU0 -DSLICE0 -v4 -v4 -DSDDF_PRU_CORE -o2 --display_error_number --hardware_mac=on --define=SOC_AM64X --include_path="$(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="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
diff --git a/source/motor_control/current_sense/sdfm/makefile.am243x.r5f.ti-arm-clang b/source/motor_control/current_sense/sdfm/makefile.am243x.r5f.ti-arm-clang
index afcbbb5..dcba76e 100644
--- a/source/motor_control/current_sense/sdfm/makefile.am243x.r5f.ti-arm-clang
+++ b/source/motor_control/current_sense/sdfm/makefile.am243x.r5f.ti-arm-clang
@@ -23,7 +23,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware \
diff --git a/source/motor_control/current_sense/sdfm/makefile.am64x.r5f.ti-arm-clang b/source/motor_control/current_sense/sdfm/makefile.am64x.r5f.ti-arm-clang
index 036afe7..db69be0 100644
--- a/source/motor_control/current_sense/sdfm/makefile.am64x.r5f.ti-arm-clang
+++ b/source/motor_control/current_sense/sdfm/makefile.am64x.r5f.ti-arm-clang
@@ -23,7 +23,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/include \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/current_sense/sdfm/firmware \
diff --git a/source/motor_control/position_sense/endat/firmware/Readme.txt b/source/motor_control/position_sense/endat/firmware/Readme.txt
index 539cc74..15b398b 100644
--- a/source/motor_control/position_sense/endat/firmware/Readme.txt
+++ b/source/motor_control/position_sense/endat/firmware/Readme.txt
@@ -1,6 +1,6 @@
 Steps for generating ENDAT binary header files is given below.
 1. In the make file, porovide correct paths for CCS(CCS_PATH) and code generation tool(CG_TOOL_ROOT).
 2. Provide the required mode as shown below. If user does not provide input, default mode taken is SINGLE.
-   $(MCU_PLUS_SDK_PATH)\source\motor_control\position_sense\endat\firmware>gmake all CHANNELS=SINGLE
-   $(MCU_PLUS_SDK_PATH)\source\motor_control\position_sense\endat\firmware>gmake all CHANNELS=MULTI
+   $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/motor_control/position_sense/endat/firmware>gmake all CHANNELS=SINGLE
+   $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/motor_control/position_sense/endat/firmware>gmake all CHANNELS=MULTI
 3. Above step will generate either endat_master_bin.h or endat_master_multi_bin.h.
\ No newline at end of file
diff --git a/source/motor_control/position_sense/endat/firmware/makefile b/source/motor_control/position_sense/endat/firmware/makefile
index c150a92..e459f35 100644
--- a/source/motor_control/position_sense/endat/firmware/makefile
+++ b/source/motor_control/position_sense/endat/firmware/makefile
@@ -3,7 +3,6 @@
 ################################################################################
 
 SHELL = cmd.exe
-MCU_PLUS_SDK_PATH?=$(abspath ../../../../..)
 CCS_PATH?=C:/ti/ccs1200/ccs/ccs_base/pru/include
 CG_TOOL_ROOT := C:/ti/ti-cgt-pru_2.3.3
 
@@ -40,7 +39,7 @@ CMD_SRCS += \
 endat_diagnostic.cmd
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/endat_main.asm
+$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/motor_control/position_sense/endat/firmware/endat_main.asm
 
 OBJS += \
 ./endat_main.obj
@@ -55,13 +54,13 @@ ASM_DEPS__QUOTED += \
 "endat_main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/endat_main.asm"
+"$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/motor_control/position_sense/endat/firmware/endat_main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-endat_main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/endat_main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+endat_main.obj: $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/motor_control/position_sense/endat/firmware/endat_main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" --include_path="$(CCS_PATH)" --include_path="$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware" --include_path="$(CG_TOOL_ROOT)/include" --define=PRU1 --define=$(MULTI_CHANNEL) --define=icssg1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"$(CG_TOOL_ROOT)/bin/clpru" --include_path="$(CCS_PATH)" --include_path="$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/motor_control/position_sense/endat/firmware" --include_path="$(CG_TOOL_ROOT)/include" --define=PRU1 --define=$(MULTI_CHANNEL) --define=icssg1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo '
 
@@ -116,10 +115,10 @@ clean:
 
 post-build:
 ifeq ($(CHANNELS),SINGLE)
-	$(CG_TOOL_ROOT)\bin\hexpru.exe endat_master_hexpru.cmd endat_master.out && $(MCU_PLUS_SDK_PATH)\tools\bin2header\bin2header.exe endat_master.b00 endat_master_bin.h EnDatFirmware 4
+	$(CG_TOOL_ROOT)/bin/hexpru.exe endat_master_hexpru.cmd endat_master.out && $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_master.b00 endat_master_bin.h EnDatFirmware 4
 endif
 ifeq ($(CHANNELS),MULTI)
-	$(CG_TOOL_ROOT)\bin\hexpru.exe endat_master_hexpru.cmd endat_master.out && $(MCU_PLUS_SDK_PATH)\tools\bin2header\bin2header.exe endat_master.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4
+	$(CG_TOOL_ROOT)/bin/hexpru.exe endat_master_hexpru.cmd endat_master.out && $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_master.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4
 endif
 	-
 	-@echo ' '
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am243x.js b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am243x.js
index 6d70baf..d7cc595 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am243x.js
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am243x.js
@@ -74,15 +74,15 @@ const buildOptionCombos = [
 ];
 
 let postBuildStepsPru1 = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h;",
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h;",
 
 ];
 let postBuildStepsRtupru1 = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h;",
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h;",
 
 ];
 let postBuildStepsTxpru1 = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h;",
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h;",
 
 ];
 
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am64x.js b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am64x.js
index b9fd2ba..9757cff 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am64x.js
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project_am64x.js
@@ -74,15 +74,15 @@ const buildOptionCombos = [
 ];
 
 let postBuildStepsPru1 = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h ;"
 
 ];
 let postBuildStepsRtupru1 = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h;"
 
 ];
 let postBuildStepsTxpru1 = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h;"
 
 ];
 
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 2556259..7cc1665 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch Load Share"
         name = "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -58,7 +58,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 6b594dd..34e8b85 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec
index b765b9c..5f840f5 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch Load Share"
         name = "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -58,7 +58,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index f74622a..7a83b6b 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec
index 970d91f..7f42945 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch Load Share"
         name = "endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -60,7 +60,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index a31cbb9..48a6637 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am243x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am243x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 901e194..3123f5f 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch Load Share"
         name = "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -44,7 +44,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h ;
         "
 
         description="A Endat Peripheral Interface Multi Ch Load Share FW project">
@@ -61,7 +61,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 4e502d9..80bc916 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_PRU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_PRU_bin.h EnDatFirmwareMultiMakePRU 4;  move  endat_master_multi_PRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec
index 27c1a9d..170be39 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch Load Share"
         name = "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -44,7 +44,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h;
         "
 
         description="A Endat Peripheral Interface Multi Ch Load Share FW project">
@@ -61,7 +61,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
index 35e1610..c55f218 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_MAKE_RTU --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-rtupru1_fw_ti-pru-cgt.b00 endat_master_multi_RTU_bin.h EnDatFirmwareMultiMakeRTU 4;  move  endat_master_multi_RTU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec
index cc41bac..72e373a 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch Load Share"
         name = "endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -46,7 +46,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h;
         "
 
         description="A Endat Peripheral Interface Multi Ch Load Share FW project">
@@ -63,7 +63,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
index 92f09c6..8cfc45e 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_load_share/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-txpru1_fw_ti-pru-cgt.b00 endat_master_multi_TXPRU_bin.h EnDatFirmwareMultiMakeTXPRU 4; move  endat_master_multi_TXPRU_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am243x.js b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am243x.js
index 64c5f76..8b80360 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am243x.js
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am243x.js
@@ -57,7 +57,7 @@ const buildOptionCombos = [
 ];
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;",
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;",
 
 ];
 function getComponentProperty() {
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am64x.js b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am64x.js
index dfe197a..7ad3205 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am64x.js
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project_am64x.js
@@ -57,7 +57,7 @@ const buildOptionCombos = [
 ];
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00  endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;",
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00  endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;",
 
 
 ];
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 328883b..edf2ab2 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch"
         name = "endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -44,7 +44,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;
         "
 
         description="A Endat Peripheral Interface Multi Ch FW project">
@@ -61,7 +61,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 4812391..725dd28 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 5f66f2e..00d4e56 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Multi Ch"
         name = "endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -44,7 +44,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00  endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00  endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h;
         "
 
         description="A Endat Peripheral Interface Multi Ch FW project">
@@ -61,7 +61,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index d543cec..920c9fb 100644
--- a/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00  endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_multi_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00  endat_master_multi_bin.h EnDatFirmwareMulti 4; move endat_master_multi_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_multi_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am243x.js b/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am243x.js
index 9db6bea..2d33359 100644
--- a/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am243x.js
+++ b/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am243x.js
@@ -60,7 +60,7 @@ const buildOptionCombos = [
 ];
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;"
 
 ];
 function getComponentProperty() {
diff --git a/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am64x.js b/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am64x.js
index 8c0f2ba..07153cc 100644
--- a/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am64x.js
+++ b/source/motor_control/position_sense/endat/firmware/single_channel/.project/project_am64x.js
@@ -56,7 +56,7 @@ const buildOptionCombos = [
 ];
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;",
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;",
 
 ];
 function getComponentProperty() {
diff --git a/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index bfb367b..c7ba352 100644
--- a/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Single Ch"
         name = "endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -43,7 +43,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;
         "
 
         description="A Endat Peripheral Interface Single Ch FW project">
@@ -60,7 +60,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 7cb0e33..317e404 100644
--- a/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 0a7d5b8..6a67f7d 100644
--- a/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Endat Peripheral Interface Single Ch"
         name = "endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -43,7 +43,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h;
         "
 
         description="A Endat Peripheral Interface Single Ch FW project">
@@ -60,7 +60,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../endat_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 78ffc20..28fe644 100644
--- a/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/endat/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_hexpru.cmd endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe endat_peripheral_interface_single_ch_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 endat_master_bin.h EnDatFirmware 4; move endat_master_bin.h   ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/firmware/endat_master_bin.h
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/endat/makefile.am243x.r5f.ti-arm-clang b/source/motor_control/position_sense/endat/makefile.am243x.r5f.ti-arm-clang
index 81e35b6..b6cf73b 100644
--- a/source/motor_control/position_sense/endat/makefile.am243x.r5f.ti-arm-clang
+++ b/source/motor_control/position_sense/endat/makefile.am243x.r5f.ti-arm-clang
@@ -23,7 +23,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/include \
 
diff --git a/source/motor_control/position_sense/endat/makefile.am64x.r5f.ti-arm-clang b/source/motor_control/position_sense/endat/makefile.am64x.r5f.ti-arm-clang
index 1380eac..ae789e0 100644
--- a/source/motor_control/position_sense/endat/makefile.am64x.r5f.ti-arm-clang
+++ b/source/motor_control/position_sense/endat/makefile.am64x.r5f.ti-arm-clang
@@ -23,7 +23,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/include \
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am243x.js b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am243x.js
index b90e01b..c90f849 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am243x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am243x.js
@@ -48,7 +48,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am64x.js b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am64x.js
index a82d79a..337123e 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am64x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project_am64x.js
@@ -48,7 +48,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index f155222..7e9953f 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Freerun 225 Mhz"
         name = "hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -46,7 +46,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;
         "
 
         description="A Hdsl Master Freerun 225 Mhz FW project">
@@ -63,7 +63,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 86b336f..a4c64be 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 3224acf..9462a75 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Freerun 225 Mhz"
         name = "hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -46,7 +46,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h ;
         "
 
         description="A Hdsl Master Freerun 225 Mhz FW project">
@@ -63,7 +63,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index c6637d0..6e6dbf4 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am243x.js b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am243x.js
index 80380dc..dd06329 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am243x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am243x.js
@@ -49,7 +49,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am64x.js b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am64x.js
index 6351a66..8fc0ffa 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am64x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project_am64x.js
@@ -49,7 +49,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 5ca1237..cbe4e50 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Freerun 300 Mhz"
         name = "hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -47,7 +47,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;
         "
 
         description="A Hdsl Master Freerun 300 Mhz FW project">
@@ -64,7 +64,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 407456d..d086ef1 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 70cb72e..8fc0d6e 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Freerun 300 Mhz"
         name = "hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -47,7 +47,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h ;
         "
 
         description="A Hdsl Master Freerun 300 Mhz FW project">
@@ -64,7 +64,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index ea4aebc..3bcf1c9 100644
--- a/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_freerun_300_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_300_mhz_bin.h Hiperface_DSL2_0 4;  move  hdsl_master_icssg_300_mhz_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am243x.js b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am243x.js
index d0bb7b5..01aaa05 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am243x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am243x.js
@@ -50,7 +50,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am64x.js b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am64x.js
index 8b30e11..f7a1013 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am64x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project_am64x.js
@@ -50,7 +50,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 28cd2f7..2a4349c 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Multichannel Ch0"
         name = "hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -48,7 +48,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;
         "
 
         description="A Hdsl Master Multichannel Ch0 FW project">
@@ -65,7 +65,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index d14e4bf..9894db6 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index bab681f..fb6ee2e 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Multichannel Ch0"
         name = "hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -48,7 +48,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h ;
         "
 
         description="A Hdsl Master Multichannel Ch0 FW project">
@@ -65,7 +65,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index b53941c..ba55165 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch0_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch0_bin.h Hiperface_DSL2_0_RTU 4;  move  hdsl_master_icssg_multichannel_ch0_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am243x.js b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am243x.js
index f5d9a53..14df54f 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am243x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am243x.js
@@ -50,7 +50,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am64x.js b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am64x.js
index 06a1521..ec7999b 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am64x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project_am64x.js
@@ -50,7 +50,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 7f4777f..2e135b7 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Multichannel Ch1"
         name = "hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -48,7 +48,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;
         "
 
         description="A Hdsl Master Multichannel Ch1 FW project">
@@ -65,7 +65,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index c2f577d..95576ed 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 64db2db..209377a 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Multichannel Ch1"
         name = "hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -48,7 +48,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h ;
         "
 
         description="A Hdsl Master Multichannel Ch1 FW project">
@@ -65,7 +65,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 1eece1f..7842aa2 100644
--- a/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_multichannel_ch1_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_multichannel_ch1_bin.h Hiperface_DSL2_0_PRU 4;  move  hdsl_master_icssg_multichannel_ch1_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am243x.js b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am243x.js
index dc40935..ac11d1e 100644
--- a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am243x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am243x.js
@@ -49,7 +49,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am64x.js b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am64x.js
index 1312898..c7d1c9e 100644
--- a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am64x.js
+++ b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project_am64x.js
@@ -49,7 +49,7 @@ const lflags = {
 };
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;"
 
 ];
 
diff --git a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 72a30de..d5f68b4 100644
--- a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Sync 225 Mhz"
         name = "hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -47,7 +47,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;
         "
 
         description="A Hdsl Master Sync 225 Mhz FW project">
@@ -64,7 +64,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 1631492..f97e97d 100644
--- a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 5a2a82d..514b13f 100644
--- a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Hdsl Master Sync 225 Mhz"
         name = "hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -47,7 +47,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h ;
         "
 
         description="A Hdsl Master Sync 225 Mhz FW project">
@@ -64,7 +64,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index f14a247..0120397 100644
--- a/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/hdsl_master_icssg.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@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/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_hexpru.cmd hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe hdsl_master_sync_225_mhz_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 hdsl_master_icssg_sync_bin.h Hiperface_DSL_SYNC2_0 4;  move  hdsl_master_icssg_sync_bin.h  ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/hdsl/makefile.am243x.r5f.ti-arm-clang b/source/motor_control/position_sense/hdsl/makefile.am243x.r5f.ti-arm-clang
index fd25ad9..d46ea08 100644
--- a/source/motor_control/position_sense/hdsl/makefile.am243x.r5f.ti-arm-clang
+++ b/source/motor_control/position_sense/hdsl/makefile.am243x.r5f.ti-arm-clang
@@ -24,7 +24,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -Iinclude \
 
diff --git a/source/motor_control/position_sense/hdsl/makefile.am64x.r5f.ti-arm-clang b/source/motor_control/position_sense/hdsl/makefile.am64x.r5f.ti-arm-clang
index 51e7b6a..e1a4716 100644
--- a/source/motor_control/position_sense/hdsl/makefile.am64x.r5f.ti-arm-clang
+++ b/source/motor_control/position_sense/hdsl/makefile.am64x.r5f.ti-arm-clang
@@ -24,7 +24,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -Iinclude \
 
diff --git a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js
index 0547741..2b45cdb 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js
+++ b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am243x.js
@@ -50,7 +50,7 @@ const buildOptionCombos = [
 ];
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;"
 ];
 
 function getComponentProperty() {
diff --git a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js
index 2b28b44..be3e8cf 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js
+++ b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project_am64x.js
@@ -50,7 +50,7 @@ const buildOptionCombos = [
 ];
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;"
 ];
 
 function getComponentProperty() {
diff --git a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 535cb62..987ce0e 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Multi Channel"
         name = "tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -44,7 +44,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;
         "
 
         description="A Tamagawa Multi Channel FW project">
@@ -61,7 +61,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 9179094..b33410b 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 9e252cb..3ff1592 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Multi Channel"
         name = "tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -44,7 +44,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h ;
         "
 
         description="A Tamagawa Multi Channel FW project">
@@ -61,7 +61,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index aa18ef9..c54c8ea 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/multi_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --define=ENABLE_MULTI_CHANNEL --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_multi_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_multi_channel_bin.h TamagawaFirmware 4; move tamagawa_master_multi_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js b/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js
index a1dc4ab..dfca502 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am243x.js
@@ -46,11 +46,11 @@ const buildOptionCombos = [
 
 
 let postBuildStepsEVM = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;"
 ];
 
 let postBuildStepsLP = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;"
 ];
 
 function getComponentProperty() {
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js b/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js
index eee253d..d651da1 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project_am64x.js
@@ -44,7 +44,7 @@ const buildOptionCombos = [
 ];
 
 let postBuildSteps = [
-    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;"
+    "$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;"
 ];
 
 function getComponentProperty() {
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 3836cff..661c73b 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Single Channel"
         name = "tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -43,7 +43,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;
         "
 
         description="A Tamagawa Single Channel FW project">
@@ -60,7 +60,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index d8539e5..9b2baf4 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 4f2a31a..caf2499 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Single Channel"
         name = "tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -43,7 +43,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;
         "
 
         description="A Tamagawa Single Channel FW project">
@@ -60,7 +60,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
index 0ad344b..496caff 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/am243x-lp/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM243X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am243x-lp_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
index 06e988e..5627609 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec
@@ -12,7 +12,7 @@
     <project
         title="Tamagawa Single Channel"
         name = "tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt"
-        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
+        products="com.ti.MOTOR_CONTROL_SDK_AMXXX;"
         configurations="
                 Debug,
                 Release,
@@ -43,7 +43,7 @@
         "
 
         postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h ;
         "
 
         description="A Tamagawa Single Channel FW project">
@@ -60,7 +60,6 @@
             linkerBuildOptions="
             "
         ></configuration>
-        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
         <file path="../../../../tamagawa_main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
         </file>
diff --git a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
index 85f3813..9c6117d 100644
--- a/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
+++ b/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile
@@ -3,9 +3,9 @@
 ################################################################################
 
 #   Required input arguments:
-#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
-#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
-#   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path
+#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          		ccs_dir_path
+#   CCS_PROJECT_DEBUG=${CWD}       						project_debug_dir_path
 
 SHELL = cmd.exe
 CCS_PATH?=$(CCS_INSTALL_DIR)/ccs_base/pru/include
@@ -17,7 +17,7 @@ GEN_CMDS__FLAG :=
 
 ORDERED_OBJS += \
 "./main.obj" \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \
 
@@ -32,10 +32,10 @@ SUBDIRS := \
 
 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/linker.cmd \
 
 ASM_SRCS += \
-$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm
+${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm
 
 OBJS += \
 ./main.obj
@@ -50,10 +50,10 @@ ASM_DEPS__QUOTED += \
 "main.d"
 
 ASM_SRCS__QUOTED += \
-"$(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm"
+"${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm"
 
 # Each subdirectory must supply rules for building sources it contributes
-main.obj: $(MCU_PLUS_SDK_PATH)/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/single_channel/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 -v4 --define=SOC_AM64X --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/motor_control/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" $(GEN_OPTS__FLAG) "$<"
@@ -108,7 +108,7 @@ clean:
 	-@echo ' '
 
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_hexpru.cmd tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out; ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe tamagawa_single_channel_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.b00 tamagawa_master_single_channel_bin.h TamagawaFirmware 4; move tamagawa_master_single_channel_bin.h ${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h 
 	-@echo ' '
 
 .PHONY: all clean dependents
diff --git a/source/motor_control/position_sense/tamagawa/makefile.am243x.r5f.ti-arm-clang b/source/motor_control/position_sense/tamagawa/makefile.am243x.r5f.ti-arm-clang
index 538366a..1f99d9e 100644
--- a/source/motor_control/position_sense/tamagawa/makefile.am243x.r5f.ti-arm-clang
+++ b/source/motor_control/position_sense/tamagawa/makefile.am243x.r5f.ti-arm-clang
@@ -23,7 +23,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/include \
 
diff --git a/source/motor_control/position_sense/tamagawa/makefile.am64x.r5f.ti-arm-clang b/source/motor_control/position_sense/tamagawa/makefile.am64x.r5f.ti-arm-clang
index 331860c..49ca009 100644
--- a/source/motor_control/position_sense/tamagawa/makefile.am64x.r5f.ti-arm-clang
+++ b/source/motor_control/position_sense/tamagawa/makefile.am64x.r5f.ti-arm-clang
@@ -23,7 +23,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa/include \
 
diff --git a/source/motor_control/position_sense/tamagawa_over_soc_uart/makefile.am263x.r5f.ti-arm-clang b/source/motor_control/position_sense/tamagawa_over_soc_uart/makefile.am263x.r5f.ti-arm-clang
index 792c1f2..6342494 100644
--- a/source/motor_control/position_sense/tamagawa_over_soc_uart/makefile.am263x.r5f.ti-arm-clang
+++ b/source/motor_control/position_sense/tamagawa_over_soc_uart/makefile.am263x.r5f.ti-arm-clang
@@ -23,7 +23,7 @@ FILES_PATH_common = \
 
 INCLUDES_common := \
     -I${CG_TOOL_ROOT}/include/c \
-    -I${MCU_PLUS_SDK_PATH}/source \
+    -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source \
     -I${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/tamagawa_over_soc_uart/include \