diff --git a/.metadata/.tirex/am243x.content.tirex.json b/.metadata/.tirex/am243x.content.tirex.json
index c4ca4ed..f0fcb28 100644
--- a/.metadata/.tirex/am243x.content.tirex.json
+++ b/.metadata/.tirex/am243x.content.tirex.json
@@ -975,6 +975,70 @@
             ]
         ]
     },
+    {
+        "resourceType": "project.ccs",
+        "resourceClass": [
+            "example"
+        ],
+        "resourceSubClass": [
+            "example.general"
+        ],
+        "description": "A Icss Sdfm Nine Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
+        "name": "icss_sdfm_nine_channel_with_continuous_mode",
+        "location": "../../examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "devtools": [
+            "AM243x_GP_EVM"
+        ],
+        "kernel": [
+            "freertos"
+        ],
+        "compiler": [
+            "ticlang"
+        ],
+        "subCategories": [
+            "current_sense",
+            "icss_sdfm_nine_channel_with_continuous_mode",
+            "r5fss0-0_freertos"
+        ],
+        "mainCategories": [
+            [
+                "Examples",
+                "Development Tools"
+            ]
+        ]
+    },
+    {
+        "resourceType": "project.ccs",
+        "resourceClass": [
+            "example"
+        ],
+        "resourceSubClass": [
+            "example.general"
+        ],
+        "description": "A Icss Sdfm Nine Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
+        "name": "icss_sdfm_nine_channel_with_continuous_mode",
+        "location": "../../examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "devtools": [
+            "AM243x_LAUNCHPAD"
+        ],
+        "kernel": [
+            "freertos"
+        ],
+        "compiler": [
+            "ticlang"
+        ],
+        "subCategories": [
+            "current_sense",
+            "icss_sdfm_nine_channel_with_continuous_mode",
+            "r5fss0-0_freertos"
+        ],
+        "mainCategories": [
+            [
+                "Examples",
+                "Development Tools"
+            ]
+        ]
+    },
     {
         "resourceType": "project.ccs",
         "resourceClass": [
@@ -1039,6 +1103,70 @@
             ]
         ]
     },
+    {
+        "resourceType": "project.ccs",
+        "resourceClass": [
+            "example"
+        ],
+        "resourceSubClass": [
+            "example.general"
+        ],
+        "description": "A Icss Sdfm Three Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
+        "name": "icss_sdfm_three_channel_with_continuous_mode",
+        "location": "../../examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "devtools": [
+            "AM243x_GP_EVM"
+        ],
+        "kernel": [
+            "freertos"
+        ],
+        "compiler": [
+            "ticlang"
+        ],
+        "subCategories": [
+            "current_sense",
+            "icss_sdfm_three_channel_with_continuous_mode",
+            "r5fss0-0_freertos"
+        ],
+        "mainCategories": [
+            [
+                "Examples",
+                "Development Tools"
+            ]
+        ]
+    },
+    {
+        "resourceType": "project.ccs",
+        "resourceClass": [
+            "example"
+        ],
+        "resourceSubClass": [
+            "example.general"
+        ],
+        "description": "A Icss Sdfm Three Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
+        "name": "icss_sdfm_three_channel_with_continuous_mode",
+        "location": "../../examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "devtools": [
+            "AM243x_LAUNCHPAD"
+        ],
+        "kernel": [
+            "freertos"
+        ],
+        "compiler": [
+            "ticlang"
+        ],
+        "subCategories": [
+            "current_sense",
+            "icss_sdfm_three_channel_with_continuous_mode",
+            "r5fss0-0_freertos"
+        ],
+        "mainCategories": [
+            [
+                "Examples",
+                "Development Tools"
+            ]
+        ]
+    },
     {
         "resourceType": "project.ccs",
         "resourceClass": [
diff --git a/.project/device/project_am243x.js b/.project/device/project_am243x.js
index cce8926..ccbd87f 100644
--- a/.project/device/project_am243x.js
+++ b/.project/device/project_am243x.js
@@ -30,7 +30,9 @@ const example_file_list = [
     "examples/position_sense/bissc_diagnostic/multi_channel_load_share/.project/project.js",
     "examples/position_sense/bissc_diagnostic/multi_channel_single_pru/.project/project.js",
     "examples/current_sense/icss_sdfm_nine_channel_load_share_mode/.project/project.js",
+    "examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project.js",
     "examples/current_sense/icss_sdfm_three_channel_single_pru_mode/.project/project.js",
+    "examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project.js",
     "examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/.project/project.js",
     "examples/pruicss_pwm/pruicss_pwm_duty_cycle/.project/project.js",
     "examples/pruicss_pwm/pruicss_pwm_epwm_sync/.project/project.js",
diff --git a/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/app_sdfm.c b/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/app_sdfm.c
index 768b6ab..6d355b7 100644
--- a/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/app_sdfm.c
+++ b/examples/current_sense/icss_sdfm_nine_channel_load_share_mode/app_sdfm.c
@@ -179,6 +179,7 @@ SdfmPrms gTestSdfmPrms = {
     0,  /*enable Phase delay measurment */
     0,   /*Enable zero cross*/
     {1700, 1700, 1700}, /*Zero cross threshold*/
+    0, /*enable continuous mode*/
 };
 
 #define PRUICSS_G_MUX_EN    ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project.js b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project.js
new file mode 100644
index 0000000..f6c2d16
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project.js
@@ -0,0 +1,14 @@
+function getComponentProperty(device)
+{
+    return require(`./project_${device}`).getComponentProperty();
+};
+
+function getComponentBuildProperty(buildOption)
+{
+    return require(`./project_${buildOption.device}`).getComponentBuildProperty(buildOption);
+};
+
+module.exports = {
+    getComponentProperty,
+    getComponentBuildProperty,
+};
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project_am243x.js b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project_am243x.js
new file mode 100644
index 0000000..20c611f
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project_am243x.js
@@ -0,0 +1,125 @@
+let path = require('path');
+
+let device = "am243x";
+
+const files = {
+    common: [
+        "app_sdfm.c",
+        "epwm_dc.c",
+        "epwm_drv_aux.c",
+        "epwm_mod.c",
+        "sdfm_example.c",
+        "main.c",
+    ],
+};
+
+/* Relative to where the makefile will be generated
+ * Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
+ */
+const filedirs = {
+    common: [
+        "..",       /* core_os_combo base */
+        "../../..", /* Example base */
+        "../../../..", 
+    ],
+};
+
+const libdirs_freertos = {
+    common: [
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${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/current_sense/sdfm/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib"
+    ],
+};
+
+const includes_freertos_r5f = {
+    common: [
+        "${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",
+        "${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/include",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/current_sense",
+        "${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include"
+    ],
+};
+
+const libs_freertos_r5f = {
+    common: [
+        "freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+    ],
+};
+
+
+const lnkfiles = {
+    common: [
+        "linker.cmd",
+    ]
+};
+
+const syscfgfile = "../example.syscfg";
+
+const readmeDoxygenPageTag = "EXAMPLE_MOTORCONTROL_SDFM";
+
+const templates_freertos_r5f =
+[
+    {
+        input: ".project/templates/am243x/freertos/main_freertos.c.xdt",
+        output: "../main.c",
+        options: {
+            entryFunction: "sdfm_main",
+        },
+    }
+];
+
+const buildOptionCombos = [
+    { device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "freertos"},
+    { device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "freertos"},
+];
+
+function getComponentProperty() {
+    let property = {};
+
+    property.dirPath = path.resolve(__dirname, "..");
+    property.type = "executable";
+    property.name = "icss_sdfm_nine_channel_with_continuous_mode";
+    property.isInternal = false;
+    property.buildOptionCombos = buildOptionCombos;
+    property.isSkipTopLevelBuild = false;
+
+    return property;
+}
+
+function getComponentBuildProperty(buildOption) {
+    let build_property = {};
+
+    build_property.files = files;
+    build_property.filedirs = filedirs;
+    build_property.lnkfiles = lnkfiles;
+    build_property.syscfgfile = syscfgfile;
+    build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
+
+    if(buildOption.cpu.match(/r5f*/)) {
+        if(buildOption.os.match(/freertos*/) )
+        {
+            build_property.includes = includes_freertos_r5f;
+            build_property.libdirs = libdirs_freertos;
+            build_property.libs = libs_freertos_r5f;
+            build_property.templates = templates_freertos_r5f;
+
+        }
+    }
+
+    return build_property;
+}
+
+module.exports = {
+    getComponentProperty,
+    getComponentBuildProperty,
+};
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/example.syscfg b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/example.syscfg
new file mode 100644
index 0000000..26f7043
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/example.syscfg
@@ -0,0 +1,150 @@
+/**
+ * These arguments were used when this file was generated. They will be automatically applied on subsequent loads
+ * via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
+ * @cliArgs --device "AM243x_ALV_beta" --package "ALV" --part "ALV" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
+ * @versions {"tool":"1.18.0+3266"}
+ */
+
+/**
+ * Import the modules used in this configuration.
+ */
+const sdfm       = scripting.addModule("/current_sense/sdfm", {}, false);
+const sdfm1      = sdfm.addInstance();
+const epwm       = scripting.addModule("/drivers/epwm/epwm", {}, false);
+const epwm1      = epwm.addInstance();
+const gpio       = scripting.addModule("/drivers/gpio/gpio", {}, false);
+const gpio1      = gpio.addInstance();
+const gpio2      = gpio.addInstance();
+const gpio3      = gpio.addInstance();
+const gpio4      = gpio.addInstance();
+const pruicss    = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
+const pruicss1   = pruicss.addInstance();
+const debug_log  = scripting.addModule("/kernel/dpl/debug_log");
+const mpu_armv7  = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
+const mpu_armv71 = mpu_armv7.addInstance();
+const mpu_armv72 = mpu_armv7.addInstance();
+const mpu_armv73 = mpu_armv7.addInstance();
+const mpu_armv74 = mpu_armv7.addInstance();
+const mpu_armv75 = mpu_armv7.addInstance();
+const mpu_armv76 = mpu_armv7.addInstance();
+const pwm        = scripting.addModule("/pru_icssg/pwm", {}, false);
+const pwm1       = pwm.addInstance();
+const pwm2       = pwm.addInstance();
+const pwm3       = pwm.addInstance();
+
+/**
+ * Write custom configuration values to the imported modules.
+ */
+sdfm1.$name                  = "CONFIG_SDFM0";
+sdfm1.Channel_3              = true;
+sdfm1.Channel_4              = true;
+sdfm1.Channel_5              = true;
+sdfm1.Channel_6              = true;
+sdfm1.Channel_7              = true;
+sdfm1.Channel_8              = true;
+sdfm1.PRU_ICSSG0_PRU.$assign = "PRU_ICSSG0_PRU0";
+
+epwm1.$name              = "CONFIG_EPWM0";
+epwm1.EPWM.$assign       = "EHRPWM0";
+epwm1.EPWM.A.$assign     = "GPMC0_AD3";
+epwm1.EPWM.B.$assign     = "GPMC0_AD4";
+epwm1.EPWM.SYNCO.$assign = "GPMC0_AD1";
+epwm1.EPWM.SYNCI.$used   = false;
+
+gpio1.$name                = "GPIO_MTR_1_PWM_EN";
+gpio1.pinDir               = "OUTPUT";
+gpio1.GPIO.$assign         = "GPIO0";
+gpio1.GPIO.gpioPin.rx      = false;
+gpio1.GPIO.gpioPin.$assign = "GPMC0_AD15";
+
+gpio2.pinDir                   = "OUTPUT";
+gpio2.useMcuDomainPeripherals  = true;
+gpio2.$name                    = "GPIO_ZC_TH_CH0";
+gpio2.MCU_GPIO.$assign         = "MCU_GPIO0";
+gpio2.MCU_GPIO.gpioPin.rx      = false;
+gpio2.MCU_GPIO.gpioPin.$assign = "MCU_SPI0_D1";
+
+gpio3.pinDir                   = "OUTPUT";
+gpio3.useMcuDomainPeripherals  = true;
+gpio3.$name                    = "GPIO_ZC_TH_CH1";
+gpio3.MCU_GPIO.gpioPin.rx      = false;
+gpio3.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_CS0";
+
+gpio4.pinDir                   = "OUTPUT";
+gpio4.useMcuDomainPeripherals  = true;
+gpio4.$name                    = "GPIO_ZC_TH_CH2";
+gpio4.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_D1";
+
+pruicss1.$name                           = "CONFIG_PRU_ICSS0";
+pruicss1.coreClk                         = 300000000;
+pruicss1.iepClk                          = 300000000;
+sdfm1.pru                                = pruicss1;
+pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
+
+debug_log.enableUartLog        = true;
+debug_log.uartLog.$name        = "CONFIG_UART_CONSOLE";
+debug_log.uartLog.UART.$assign = "USART0";
+
+mpu_armv71.$name             = "CONFIG_MPU_REGION0";
+mpu_armv71.size              = 31;
+mpu_armv71.attributes        = "Device";
+mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv71.allowExecute      = false;
+
+mpu_armv72.$name             = "CONFIG_MPU_REGION1";
+mpu_armv72.size              = 15;
+mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv73.$name             = "CONFIG_MPU_REGION2";
+mpu_armv73.baseAddr          = 0x41010000;
+mpu_armv73.size              = 15;
+mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv74.$name             = "CONFIG_MPU_REGION3";
+mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv74.baseAddr          = 0x70000000;
+mpu_armv74.size              = 21;
+
+mpu_armv75.$name             = "CONFIG_MPU_REGION4";
+mpu_armv75.baseAddr          = 0x60000000;
+mpu_armv75.size              = 28;
+mpu_armv75.accessPermissions = "Supervisor RD, User RD";
+
+mpu_armv76.$name    = "CONFIG_MPU_REGION5";
+mpu_armv76.baseAddr = 0x80000000;
+mpu_armv76.size     = 31;
+
+pwm1.$name                       = "CONFIG_PRU_ICSS_PWM0";
+pwm1.PRU_ICSSG0_PWM.$assign      = "PRU_ICSSG0_PWM0";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$used = true;
+
+pwm2.$name                       = "CONFIG_PRU_ICSS_PWM1";
+pwm2.PRU_ICSSG0_PWM.$assign      = "PRU_ICSSG0_PWM1";
+pwm2.PRU_ICSSG0_PWM.TZ_OUT.$used = true;
+
+pwm3.$name                       = "CONFIG_PRU_ICSS_PWM2";
+pwm3.PRU_ICSSG0_PWM.$assign      = "PRU_ICSSG0_PWM2";
+pwm3.PRU_ICSSG0_PWM.TZ_OUT.$used = true;
+
+/**
+ * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
+ * version of the tool will not impact the pinmux you originally saw.  These lines can be completely deleted in order to
+ * re-solve from scratch.
+ */
+sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution = "PRG0_PRU0_GPO16";
+sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution  = "PRG0_PRU0_GPO1";
+sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution  = "PRG0_PRU0_GPO3";
+sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution  = "PRG0_PRU0_GPO5";
+sdfm1.PRU_ICSSG0_PRU.GPI7.$suggestSolution  = "PRG0_PRU0_GPO7";
+sdfm1.PRU_ICSSG0_PRU.GPI18.$suggestSolution = "PRG0_PRU0_GPO18";
+sdfm1.PRU_ICSSG0_PRU.GPI11.$suggestSolution = "PRG0_PRU0_GPO11";
+sdfm1.PRU_ICSSG0_PRU.GPI13.$suggestSolution = "PRG0_PRU0_GPO13";
+sdfm1.PRU_ICSSG0_PRU.GPI15.$suggestSolution = "PRG0_PRU0_GPO15";
+sdfm1.PRU_ICSSG0_PRU.GPI17.$suggestSolution = "PRG0_PRU0_GPO17";
+gpio3.MCU_GPIO.$suggestSolution             = "MCU_GPIO0";
+gpio4.MCU_GPIO.$suggestSolution             = "MCU_GPIO0";
+debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
+debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU0_GPO19";
+pwm2.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU1_GPO19";
+pwm3.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU1_GPO8";
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/main.c b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/main.c
new file mode 100644
index 0000000..4268e23
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/main.c
@@ -0,0 +1,84 @@
+/*
+ *  Copyright (C) 2018-2021 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdlib.h>
+#include <kernel/dpl/DebugP.h>
+#include "ti_drivers_config.h"
+#include "ti_board_config.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define MAIN_TASK_PRI  (configMAX_PRIORITIES-1)
+
+#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
+StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
+
+StaticTask_t gMainTaskObj;
+TaskHandle_t gMainTask;
+
+void sdfm_main(void *args);
+
+void freertos_main(void *args)
+{
+    sdfm_main(NULL);
+
+    vTaskDelete(NULL);
+}
+
+
+int main(void)
+{
+    /* init SOC specific modules */
+    System_init();
+    Board_init();
+
+    /* This task is created at highest priority, it should create more tasks and then delete itself */
+    gMainTask = xTaskCreateStatic( freertos_main,   /* Pointer to the function that implements the task. */
+                                  "freertos_main", /* Text name for the task.  This is to facilitate debugging only. */
+                                  MAIN_TASK_SIZE,  /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
+                                  NULL,            /* We are not using the task parameter. */
+                                  MAIN_TASK_PRI,   /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
+                                  gMainTaskStack,  /* pointer to stack base */
+                                  &gMainTaskObj ); /* pointer to statically allocated task object memory */
+    configASSERT(gMainTask != NULL);
+
+    /* Start the scheduler to start the tasks executing. */
+    vTaskStartScheduler();
+
+    /* The following line should never be reached because vTaskStartScheduler()
+    will only return if there was not enough FreeRTOS heap memory available to
+    create the Idle and (if configured) Timer tasks.  Heap management, and
+    techniques for trapping heap exhaustion, are described in the book text. */
+    DebugP_assertNoLog(0);
+
+    return 0;
+}
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
new file mode 100644
index 0000000..9273c61
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -0,0 +1,128 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="ARM"
+                deviceId="Cortex R.AM2434_ALV"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Icss Sdfm Nine Channel With Continuous Mode"
+        name = "icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        configurations="
+                Release,
+                Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TICLANG"
+        cgtVersion="3.2.0"
+        device="Cortex R.AM2434_ALV"
+        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include/c
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MOTOR_CONTROL_SDK_PATH}/source
+            -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/current_sense/sdfm/include
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
+            -I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
+            -mcpu=cortex-r5
+            -mfloat-abi=hard
+            -mfpu=vfpv3-d16
+            -mthumb
+            -Wall
+            -Werror
+            -g
+            -Wno-gnu-variable-sized-type-not-at-end
+            -Wno-unused-function
+            -DSOC_AM243X
+        "
+        linkerBuildOptions="
+            -i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
+            -i${CG_TOOL_ROOT}/lib
+            -m=icss_sdfm_nine_channel_with_continuous_mode.${ConfigName}.map
+            --diag_suppress=10063
+            --ram_model
+            --reread_libs
+        "
+
+        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=${CCS_IDE_MODE} DEVICE=am243x"
+
+        enableSysConfigTool="true"
+        sysConfigBuildOptions="
+            --context r5fss0-0 --part ALV --package ALV
+        "
+
+        description="A Icss Sdfm Nine Channel With Continuous Mode FREERTOS project">
+
+        <configuration name="Release"
+            compilerBuildOptions="
+                -Os
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.release.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.release.lib
+                -lboard.am243x.r5f.ti-arm-clang.release.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.debug.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.debug.lib
+                -lboard.am243x.r5f.ti-arm-clang.debug.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
+        <file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+        <file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="makefile_ccs_bootimage_gen" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
new file mode 100644
index 0000000..1e56c6d
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
@@ -0,0 +1,151 @@
+
+/* This is the stack that is used by code running within main()
+ * In case of NORTOS,
+ * - This means all the code outside of ISR uses this stack
+ * In case of FreeRTOS
+ * - This means all the code until vTaskStartScheduler() is called in main()
+ *   uses this stack.
+ * - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
+ */
+--stack_size=16384
+/* This is the heap size for malloc() API in NORTOS and FreeRTOS
+ * This is also the heap used by pvPortMalloc in FreeRTOS
+ */
+--heap_size=32768
+-e_vectors  /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
+
+/* This is the size of stack when R5 is in IRQ mode
+ * In NORTOS,
+ * - Here interrupt nesting is enabled
+ * - This is the stack used by ISRs registered as type IRQ
+ * In FreeRTOS,
+ * - Here interrupt nesting is disabled
+ * - This is stack that is used initally when a IRQ is received
+ * - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
+ * - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
+ */
+__IRQ_STACK_SIZE = 256;
+/* This is the size of stack when R5 is in IRQ mode
+ * - In both NORTOS and FreeRTOS nesting is disabled for FIQ
+ */
+__FIQ_STACK_SIZE = 256;
+__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
+__ABORT_STACK_SIZE = 256;  /* This is the size of stack when R5 is in ABORT mode */
+__UNDEFINED_STACK_SIZE = 256;  /* This is the size of stack when R5 is in UNDEF mode */
+
+SECTIONS
+{
+    /* This has the R5F entry point and vector table, this MUST be at 0x0 */
+    .vectors:{} palign(8) > R5F_VECS
+
+    /* This has the R5F boot code until MPU is enabled,  this MUST be at a address < 0x80000000
+     * i.e this cannot be placed in DDR
+     */
+    GROUP {
+        .text.hwi: palign(8)
+        .text.cache: palign(8)
+        .text.mpu: palign(8)
+        .text.boot: palign(8)
+        .text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
+    } > MSRAM
+
+    /* This is rest of code. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .text:   {} palign(8)   /* This is where code resides */
+        .rodata: {} palign(8)   /* This is where const's go */
+    } > MSRAM
+
+    /* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .data:   {} palign(8)   /* This is where initialized globals and static go */
+    } > MSRAM
+
+    /* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .bss:    {} palign(8)   /* This is where uninitialized globals go */
+        RUN_START(__BSS_START)
+        RUN_END(__BSS_END)
+        .sysmem: {} palign(8)   /* This is where the malloc heap goes */
+        .stack:  {} palign(8)   /* This is where the main() stack goes */
+    } > MSRAM
+
+    /* This is where the stacks for different R5F modes go */
+    GROUP {
+        .irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
+        RUN_START(__IRQ_STACK_START)
+        RUN_END(__IRQ_STACK_END)
+        .fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
+        RUN_START(__FIQ_STACK_START)
+        RUN_END(__FIQ_STACK_END)
+        .svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
+        RUN_START(__SVC_STACK_START)
+        RUN_END(__SVC_STACK_END)
+        .abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
+        RUN_START(__ABORT_STACK_START)
+        RUN_END(__ABORT_STACK_END)
+        .undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
+        RUN_START(__UNDEFINED_STACK_START)
+        RUN_END(__UNDEFINED_STACK_END)
+    } > MSRAM
+
+    /* Sections needed for C++ projects */
+    GROUP {
+        .ARM.exidx:  {} palign(8)   /* Needed for C++ exception handling */
+        .init_array: {} palign(8)   /* Contains function pointers called before main */
+        .fini_array: {} palign(8)   /* Contains function pointers called after main */
+    } > MSRAM
+
+    /* General purpose user shared memory, used in some examples */
+    .bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
+    /* this is used when Debug log's to shared memory are enabled, else this is not used */
+    .bss.log_shared_mem  (NOLOAD) : {} > LOG_SHM_MEM
+    /* this is used only when IPC RPMessage is enabled, else this is not used */
+    .bss.ipc_vring_mem   (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
+    /* General purpose non cacheable memory, used in some examples */
+    .bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
+
+    /* TCM used by ICSS PRU to write sdfm sample output */
+    .gSdfmSampleOutput       			: {} align(4) > R5F_TCMB0
+}
+
+/*
+NOTE: Below memory is reserved for DMSC usage
+ - During Boot till security handoff is complete
+   0x701E0000 - 0x701FFFFF (128KB)
+ - After "Security Handoff" is complete (i.e at run time)
+   0x701F4000 - 0x701FFFFF (48KB)
+
+ Security handoff is complete when this message is sent to the DMSC,
+   TISCI_MSG_SEC_HANDOVER
+
+ This should be sent once all cores are loaded and all application
+ specific firewall calls are setup.
+*/
+
+MEMORY
+{
+    R5F_VECS  : ORIGIN = 0x00000000 , LENGTH = 0x00000040
+    R5F_TCMA  : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
+    R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
+
+    /* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
+    NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
+
+    /* when using multi-core application's i.e more than one R5F/M4F active, make sure
+     * this memory does not overlap with other R5F's
+     */
+    MSRAM     : ORIGIN = 0x70080000 , LENGTH = 0x40000
+
+    /* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
+     * other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
+     */
+    FLASH     : ORIGIN = 0x60100000 , LENGTH = 0x80000
+
+    /* shared memory segments */
+    /* On R5F,
+     * - make sure there is a MPU entry which maps below regions as non-cache
+     */
+    USER_SHM_MEM            : ORIGIN = 0x701D0000, LENGTH = 0x180
+    LOG_SHM_MEM             : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
+    RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
+}
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
new file mode 100644
index 0000000..d3b5fae
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -0,0 +1,320 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+include $(MOTOR_CONTROL_SDK_PATH)/devconfig/devconfig.mak
+
+CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
+
+CC=$(CG_TOOL_ROOT)/bin/tiarmclang
+LNK=$(CG_TOOL_ROOT)/bin/tiarmclang
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+PROFILE?=release
+ConfigName:=$(PROFILE)
+
+OUTNAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).out
+
+BOOTIMAGE_PATH=$(abspath .)
+BOOTIMAGE_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage
+BOOTIMAGE_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.signed
+BOOTIMAGE_RPRC_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_tmp
+BOOTIMAGE_NAME_HS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs
+BOOTIMAGE_NAME_HS_FS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
+TARGETS := $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+   TARGETS += $(BOOTIMAGE_NAME_HS)
+endif
+
+FILES_common := \
+	app_sdfm.c \
+	epwm_dc.c \
+	epwm_drv_aux.c \
+	epwm_mod.c \
+	sdfm_example.c \
+	main.c \
+	ti_drivers_config.c \
+	ti_drivers_open_close.c \
+	ti_board_config.c \
+	ti_board_open_close.c \
+	ti_dpl_config.c \
+	ti_pinmux_config.c \
+	ti_power_clock_config.c \
+
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
+	generated \
+
+INCLUDES_common := \
+	-I${CG_TOOL_ROOT}/include/c \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/source \
+	-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/current_sense/sdfm/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
+	-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
+	-Igenerated \
+
+DEFINES_common := \
+	-DSOC_AM243X \
+
+CFLAGS_common := \
+	-mcpu=cortex-r5 \
+	-mfloat-abi=hard \
+	-mfpu=vfpv3-d16 \
+	-mthumb \
+	-Wall \
+	-Werror \
+	-g \
+	-Wno-gnu-variable-sized-type-not-at-end \
+	-Wno-unused-function \
+
+CFLAGS_cpp_common := \
+	-Wno-c99-designator \
+	-Wno-extern-c-compat \
+	-Wno-c++11-narrowing \
+	-Wno-reorder-init-list \
+	-Wno-deprecated-register \
+	-Wno-writable-strings \
+	-Wno-enum-compare \
+	-Wno-reserved-user-defined-literal \
+	-Wno-unused-const-variable \
+	-x c++ \
+
+CFLAGS_debug := \
+	-D_DEBUG_=1 \
+
+CFLAGS_release := \
+	-Os \
+
+LNK_FILES_common = \
+	linker.cmd \
+
+LIBS_PATH_common = \
+	-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	-Wl,-i${CG_TOOL_ROOT}/lib \
+
+LIBS_common = \
+	-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lpruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-llibc.a \
+	-llibsysbm.a \
+
+LFLAGS_common = \
+	-Wl,--diag_suppress=10063 \
+	-Wl,--ram_model \
+	-Wl,--reread_libs \
+
+
+LIBS_NAME = \
+	freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	libc.a \
+	libsysbm.a \
+
+LIBS_PATH_NAME = \
+	${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/current_sense/sdfm/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	${CG_TOOL_ROOT}/lib \
+
+FILES := $(FILES_common) $(FILES_$(PROFILE))
+ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
+FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
+CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
+DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
+INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
+LIBS := $(LIBS_common) $(LIBS_$(PROFILE))
+LIBS_PATH := $(LIBS_PATH_common) $(LIBS_PATH_$(PROFILE))
+LFLAGS := $(LFLAGS_common) $(LFLAGS_$(PROFILE))
+LNKOPTFLAGS := $(LNKOPTFLAGS_common) $(LNKOPTFLAGS_$(PROFILE))
+LNK_FILES := $(LNK_FILES_common) $(LNK_FILES_$(PROFILE))
+
+OBJDIR := obj/$(PROFILE)/
+OBJS := $(FILES:%.c=%.obj)
+OBJS += $(ASMFILES:%.S=%.obj)
+DEPS := $(FILES:%.c=%.d)
+
+vpath %.obj $(OBJDIR)
+vpath %.c $(FILES_PATH)
+vpath %.S $(FILES_PATH)
+vpath %.lib $(LIBS_PATH_NAME)
+vpath %.a $(LIBS_PATH_NAME)
+
+$(OBJDIR)/%.obj %.obj: %.c
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
+	$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
+
+$(OBJDIR)/%.obj %.obj: %.S
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
+	$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
+
+all: $(TARGETS)
+
+SYSCFG_GEN_FILES=generated/ti_drivers_config.c generated/ti_drivers_config.h
+SYSCFG_GEN_FILES+=generated/ti_drivers_open_close.c generated/ti_drivers_open_close.h
+SYSCFG_GEN_FILES+=generated/ti_dpl_config.c generated/ti_dpl_config.h
+SYSCFG_GEN_FILES+=generated/ti_pinmux_config.c generated/ti_power_clock_config.c
+SYSCFG_GEN_FILES+=generated/ti_board_config.c generated/ti_board_config.h
+SYSCFG_GEN_FILES+=generated/ti_board_open_close.c generated/ti_board_open_close.h
+
+$(OUTNAME): syscfg $(SYSCFG_GEN_FILES) $(OBJS) $(LNK_FILES) $(LIBS_NAME)
+	@echo  .
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ ...
+	$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
+	@echo  .
+
+clean:
+	@echo  Cleaning: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
+	$(RMDIR) $(OBJDIR)
+	$(RM) $(OUTNAME)
+	$(RM) $(BOOTIMAGE_NAME)
+	$(RM) $(BOOTIMAGE_NAME_XIP)
+	$(RM) $(BOOTIMAGE_NAME_SIGNED)
+	$(RM) $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
+	$(RMDIR) generated/
+
+scrub:
+	@echo  Scrubing: am243x:r5fss0-0:freertos:ti-arm-clang icss_sdfm_nine_channel_with_continuous_mode ...
+	$(RMDIR) obj
+ifeq ($(OS),Windows_NT)
+	$(RM) \*.out
+	$(RM) \*.map
+	$(RM) \*.appimage*
+	$(RM) \*.rprc*
+	$(RM) \*.tiimage*
+	$(RM) \*.bin
+else
+	$(RM) *.out
+	$(RM) *.map
+	$(RM) *.appimage*
+	$(RM) *.rprc*
+	$(RM) *.tiimage*
+	$(RM) *.bin
+endif
+	$(RMDIR) generated
+
+$(OBJS): | $(OBJDIR)
+
+$(OBJDIR):
+	$(MKDIR) $@
+
+
+.NOTPARALLEL:
+
+.INTERMEDIATE: syscfg
+$(SYSCFG_GEN_FILES): syscfg
+
+syscfg: ../example.syscfg
+	@echo Generating SysConfig files ...
+	$(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 $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+$(BOOTIMAGE_NAME): $(OUTNAME)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
+ifneq ($(OS),Windows_NT)
+	$(CHMOD) a+x $(XIPGEN_CMD)
+endif
+	$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
+	@echo  .
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
+	@echo  .
+
+$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
+	@echo  .
+endif
+-include $(addprefix $(OBJDIR)/, $(DEPS))
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
new file mode 100644
index 0000000..8666cfd
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -0,0 +1,106 @@
+#
+# Auto generated makefile
+#
+
+# Below variables need to be defined outside this file or via command line
+# - MOTOR_CONTROL_SDK_PATH
+# - PROFILE
+# - CG_TOOL_ROOT
+# - OUTNAME
+# - CCS_INSTALL_DIR
+# - CCS_IDE_MODE
+
+CCS_PATH=$(CCS_INSTALL_DIR)
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+OUTFILE=$(PROFILE)/$(OUTNAME).out
+BOOTIMAGE_PATH=$(abspath ${PROFILE})
+BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
+BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
+BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0)  \
+
+all:
+ifeq ($(CCS_IDE_MODE),cloud)
+#	No post build steps
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME)  ...
+	$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
+ifeq ($(DEVICE_TYPE),HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+endif
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
+	@echo  .
+ifeq ($(DEVICE_TYPE),HS)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
+	@echo  .
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
+	@echo  .
+endif
+endif
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
new file mode 100644
index 0000000..ffaa1ea
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
new file mode 100644
index 0000000..d46875e
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/example.syscfg b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/example.syscfg
new file mode 100644
index 0000000..07f1efb
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/example.syscfg
@@ -0,0 +1,145 @@
+/**
+ * These arguments were used when this file was generated. They will be automatically applied on subsequent loads
+ * via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
+ * @cliArgs --device "AM243x_ALX_beta" --package "ALX" --part "ALX" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
+ * @versions {"tool":"1.18.0+3266"}
+ */
+
+/**
+ * Import the modules used in this configuration.
+ */
+const sdfm       = scripting.addModule("/current_sense/sdfm", {}, false);
+const sdfm1      = sdfm.addInstance();
+const epwm       = scripting.addModule("/drivers/epwm/epwm", {}, false);
+const epwm1      = epwm.addInstance();
+const epwm2      = epwm.addInstance();
+const gpio       = scripting.addModule("/drivers/gpio/gpio", {}, false);
+const gpio1      = gpio.addInstance();
+const gpio2      = gpio.addInstance();
+const gpio3      = gpio.addInstance();
+const gpio4      = gpio.addInstance();
+const pruicss    = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
+const pruicss1   = pruicss.addInstance();
+const debug_log  = scripting.addModule("/kernel/dpl/debug_log");
+const mpu_armv7  = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
+const mpu_armv71 = mpu_armv7.addInstance();
+const mpu_armv72 = mpu_armv7.addInstance();
+const mpu_armv73 = mpu_armv7.addInstance();
+const mpu_armv74 = mpu_armv7.addInstance();
+const mpu_armv75 = mpu_armv7.addInstance();
+const pwm        = scripting.addModule("/pru_icssg/pwm", {}, false);
+const pwm1       = pwm.addInstance();
+
+/**
+ * Write custom configuration values to the imported modules.
+ */
+sdfm1.$name     = "CONFIG_SDFM0";
+sdfm1.Channel_3 = true;
+sdfm1.Channel_4 = true;
+sdfm1.Channel_8 = true;
+sdfm1.Channel_7 = true;
+sdfm1.Channel_5 = true;
+sdfm1.Channel_6 = true;
+
+epwm1.$name            = "CONFIG_EPWM0";
+epwm1.EPWM.$assign     = "EHRPWM0";
+epwm1.EPWM.SYNCI.$used = false;
+
+epwm2.$name              = "CONFIG_EPWM1";
+epwm2.EPWM.SYNCO.$assign = "GPMC0_AD1";
+epwm2.EPWM.SYNCO.$used   = false;
+epwm2.EPWM.SYNCI.$used   = false;
+
+gpio1.$name                    = "GPIO_MTR_1_PWM_EN";
+gpio1.pinDir                   = "OUTPUT";
+gpio1.useMcuDomainPeripherals  = true;
+gpio1.MCU_GPIO.gpioPin.$assign = "MCU_UART0_RXD";
+
+gpio2.pinDir               = "OUTPUT";
+gpio2.$name                = "GPIO_ZC_TH_CH0";
+gpio2.GPIO.$assign         = "GPIO0";
+gpio2.GPIO.gpioPin.rx      = false;
+gpio2.GPIO.gpioPin.$assign = "PRG1_PRU0_GPO18";
+
+gpio3.pinDir               = "OUTPUT";
+gpio3.$name                = "GPIO_ZC_TH_CH1";
+gpio3.GPIO.gpioPin.rx      = false;
+gpio3.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO2";
+
+gpio4.pinDir               = "OUTPUT";
+gpio4.$name                = "GPIO_ZC_TH_CH2";
+gpio4.GPIO.gpioPin.rx      = false;
+gpio4.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO1";
+
+pruicss1.$name                                                                    = "CONFIG_PRU_ICSS0";
+pruicss1.coreClk                                                                  = 300000000;
+pruicss1.iepClk                                                                   = 300000000;
+sdfm1.pru                                                                         = pruicss1;
+pruicss1.AdditionalICSSSettings[0].$name                                          = "CONFIG_PRU_ICSS_IO0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO.create(1);
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].$name                             = "CONFIG_PRU_ICSS_ECAP_IO0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.$assign           = "PRU_ICSSG0_ECAP0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$used = true;
+
+debug_log.enableUartLog        = true;
+debug_log.uartLog.$name        = "CONFIG_UART_CONSOLE";
+debug_log.uartLog.UART.$assign = "USART0";
+
+mpu_armv71.$name             = "CONFIG_MPU_REGION0";
+mpu_armv71.size              = 31;
+mpu_armv71.attributes        = "Device";
+mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv71.allowExecute      = false;
+
+mpu_armv72.$name             = "CONFIG_MPU_REGION1";
+mpu_armv72.size              = 15;
+mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv73.$name             = "CONFIG_MPU_REGION2";
+mpu_armv73.baseAddr          = 0x41010000;
+mpu_armv73.size              = 15;
+mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv74.$name             = "CONFIG_MPU_REGION3";
+mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv74.baseAddr          = 0x70000000;
+mpu_armv74.size              = 21;
+
+mpu_armv75.$name             = "CONFIG_MPU_REGION4";
+mpu_armv75.baseAddr          = 0x60000000;
+mpu_armv75.size              = 28;
+mpu_armv75.accessPermissions = "Supervisor RD, User RD";
+
+pwm1.$name                         = "CONFIG_PRU_ICSS_PWM0";
+pwm1.PRU_ICSSG0_PWM.$assign        = "PRU_ICSSG0_PWM0";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$assign = "PRG0_PRU0_GPO19";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$used   = true;
+
+/**
+ * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
+ * version of the tool will not impact the pinmux you originally saw.  These lines can be completely deleted in order to
+ * re-solve from scratch.
+ */
+sdfm1.PRU_ICSSG0_PRU.$suggestSolution                                                        = "PRU_ICSSG0_PRU0";
+sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution                                                  = "PRG0_PRU0_GPO16";
+sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution                                                   = "PRG0_PRU0_GPO1";
+sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution                                                   = "PRG0_PRU0_GPO3";
+sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution                                                   = "PRG0_PRU0_GPO5";
+sdfm1.PRU_ICSSG0_PRU.GPI7.$suggestSolution                                                   = "PRG0_PRU0_GPO7";
+sdfm1.PRU_ICSSG0_PRU.GPI18.$suggestSolution                                                  = "PRG0_PRU0_GPO18";
+sdfm1.PRU_ICSSG0_PRU.GPI17.$suggestSolution                                                  = "PRG0_PRU0_GPO17";
+sdfm1.PRU_ICSSG0_PRU.GPI15.$suggestSolution                                                  = "PRG0_PRU0_GPO15";
+sdfm1.PRU_ICSSG0_PRU.GPI11.$suggestSolution                                                  = "PRG0_PRU0_GPO11";
+sdfm1.PRU_ICSSG0_PRU.GPI13.$suggestSolution                                                  = "PRG0_PRU0_GPO13";
+epwm1.EPWM.A.$suggestSolution                                                                = "GPMC0_AD3";
+epwm1.EPWM.B.$suggestSolution                                                                = "GPMC0_AD4";
+epwm1.EPWM.SYNCO.$suggestSolution                                                            = "GPMC0_AD1";
+epwm2.EPWM.$suggestSolution                                                                  = "EHRPWM1";
+epwm2.EPWM.A.$suggestSolution                                                                = "GPMC0_AD5";
+epwm2.EPWM.B.$suggestSolution                                                                = "GPMC0_AD6";
+gpio1.MCU_GPIO.$suggestSolution                                                              = "MCU_GPIO0";
+gpio3.GPIO.$suggestSolution                                                                  = "GPIO1";
+gpio4.GPIO.$suggestSolution                                                                  = "GPIO1";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$suggestSolution = "PRG0_PRU1_GPO15";
+debug_log.uartLog.UART.RXD.$suggestSolution                                                  = "UART0_RXD";
+debug_log.uartLog.UART.TXD.$suggestSolution                                                  = "UART0_TXD";
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/main.c b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/main.c
new file mode 100644
index 0000000..4268e23
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/main.c
@@ -0,0 +1,84 @@
+/*
+ *  Copyright (C) 2018-2021 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdlib.h>
+#include <kernel/dpl/DebugP.h>
+#include "ti_drivers_config.h"
+#include "ti_board_config.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define MAIN_TASK_PRI  (configMAX_PRIORITIES-1)
+
+#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
+StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
+
+StaticTask_t gMainTaskObj;
+TaskHandle_t gMainTask;
+
+void sdfm_main(void *args);
+
+void freertos_main(void *args)
+{
+    sdfm_main(NULL);
+
+    vTaskDelete(NULL);
+}
+
+
+int main(void)
+{
+    /* init SOC specific modules */
+    System_init();
+    Board_init();
+
+    /* This task is created at highest priority, it should create more tasks and then delete itself */
+    gMainTask = xTaskCreateStatic( freertos_main,   /* Pointer to the function that implements the task. */
+                                  "freertos_main", /* Text name for the task.  This is to facilitate debugging only. */
+                                  MAIN_TASK_SIZE,  /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
+                                  NULL,            /* We are not using the task parameter. */
+                                  MAIN_TASK_PRI,   /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
+                                  gMainTaskStack,  /* pointer to stack base */
+                                  &gMainTaskObj ); /* pointer to statically allocated task object memory */
+    configASSERT(gMainTask != NULL);
+
+    /* Start the scheduler to start the tasks executing. */
+    vTaskStartScheduler();
+
+    /* The following line should never be reached because vTaskStartScheduler()
+    will only return if there was not enough FreeRTOS heap memory available to
+    create the Idle and (if configured) Timer tasks.  Heap management, and
+    techniques for trapping heap exhaustion, are described in the book text. */
+    DebugP_assertNoLog(0);
+
+    return 0;
+}
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
new file mode 100644
index 0000000..c20eafe
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -0,0 +1,128 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="ARM"
+                deviceId="Cortex R.AM2434_ALX"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Icss Sdfm Nine Channel With Continuous Mode"
+        name = "icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        configurations="
+                Release,
+                Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TICLANG"
+        cgtVersion="3.2.0"
+        device="Cortex R.AM2434_ALX"
+        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include/c
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MOTOR_CONTROL_SDK_PATH}/source
+            -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/current_sense/sdfm/include
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
+            -I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
+            -mcpu=cortex-r5
+            -mfloat-abi=hard
+            -mfpu=vfpv3-d16
+            -mthumb
+            -Wall
+            -Werror
+            -g
+            -Wno-gnu-variable-sized-type-not-at-end
+            -Wno-unused-function
+            -DSOC_AM243X
+        "
+        linkerBuildOptions="
+            -i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
+            -i${CG_TOOL_ROOT}/lib
+            -m=icss_sdfm_nine_channel_with_continuous_mode.${ConfigName}.map
+            --diag_suppress=10063
+            --ram_model
+            --reread_libs
+        "
+
+        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=${CCS_IDE_MODE} DEVICE=am243x"
+
+        enableSysConfigTool="true"
+        sysConfigBuildOptions="
+            --context r5fss0-0 --part ALX --package ALX
+        "
+
+        description="A Icss Sdfm Nine Channel With Continuous Mode FREERTOS project">
+
+        <configuration name="Release"
+            compilerBuildOptions="
+                -Os
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.release.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.release.lib
+                -lboard.am243x.r5f.ti-arm-clang.release.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.debug.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.debug.lib
+                -lboard.am243x.r5f.ti-arm-clang.debug.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
+        <file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+        <file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="makefile_ccs_bootimage_gen" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/linker.cmd b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/linker.cmd
new file mode 100644
index 0000000..1e56c6d
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/linker.cmd
@@ -0,0 +1,151 @@
+
+/* This is the stack that is used by code running within main()
+ * In case of NORTOS,
+ * - This means all the code outside of ISR uses this stack
+ * In case of FreeRTOS
+ * - This means all the code until vTaskStartScheduler() is called in main()
+ *   uses this stack.
+ * - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
+ */
+--stack_size=16384
+/* This is the heap size for malloc() API in NORTOS and FreeRTOS
+ * This is also the heap used by pvPortMalloc in FreeRTOS
+ */
+--heap_size=32768
+-e_vectors  /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
+
+/* This is the size of stack when R5 is in IRQ mode
+ * In NORTOS,
+ * - Here interrupt nesting is enabled
+ * - This is the stack used by ISRs registered as type IRQ
+ * In FreeRTOS,
+ * - Here interrupt nesting is disabled
+ * - This is stack that is used initally when a IRQ is received
+ * - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
+ * - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
+ */
+__IRQ_STACK_SIZE = 256;
+/* This is the size of stack when R5 is in IRQ mode
+ * - In both NORTOS and FreeRTOS nesting is disabled for FIQ
+ */
+__FIQ_STACK_SIZE = 256;
+__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
+__ABORT_STACK_SIZE = 256;  /* This is the size of stack when R5 is in ABORT mode */
+__UNDEFINED_STACK_SIZE = 256;  /* This is the size of stack when R5 is in UNDEF mode */
+
+SECTIONS
+{
+    /* This has the R5F entry point and vector table, this MUST be at 0x0 */
+    .vectors:{} palign(8) > R5F_VECS
+
+    /* This has the R5F boot code until MPU is enabled,  this MUST be at a address < 0x80000000
+     * i.e this cannot be placed in DDR
+     */
+    GROUP {
+        .text.hwi: palign(8)
+        .text.cache: palign(8)
+        .text.mpu: palign(8)
+        .text.boot: palign(8)
+        .text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
+    } > MSRAM
+
+    /* This is rest of code. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .text:   {} palign(8)   /* This is where code resides */
+        .rodata: {} palign(8)   /* This is where const's go */
+    } > MSRAM
+
+    /* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .data:   {} palign(8)   /* This is where initialized globals and static go */
+    } > MSRAM
+
+    /* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .bss:    {} palign(8)   /* This is where uninitialized globals go */
+        RUN_START(__BSS_START)
+        RUN_END(__BSS_END)
+        .sysmem: {} palign(8)   /* This is where the malloc heap goes */
+        .stack:  {} palign(8)   /* This is where the main() stack goes */
+    } > MSRAM
+
+    /* This is where the stacks for different R5F modes go */
+    GROUP {
+        .irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
+        RUN_START(__IRQ_STACK_START)
+        RUN_END(__IRQ_STACK_END)
+        .fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
+        RUN_START(__FIQ_STACK_START)
+        RUN_END(__FIQ_STACK_END)
+        .svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
+        RUN_START(__SVC_STACK_START)
+        RUN_END(__SVC_STACK_END)
+        .abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
+        RUN_START(__ABORT_STACK_START)
+        RUN_END(__ABORT_STACK_END)
+        .undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
+        RUN_START(__UNDEFINED_STACK_START)
+        RUN_END(__UNDEFINED_STACK_END)
+    } > MSRAM
+
+    /* Sections needed for C++ projects */
+    GROUP {
+        .ARM.exidx:  {} palign(8)   /* Needed for C++ exception handling */
+        .init_array: {} palign(8)   /* Contains function pointers called before main */
+        .fini_array: {} palign(8)   /* Contains function pointers called after main */
+    } > MSRAM
+
+    /* General purpose user shared memory, used in some examples */
+    .bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
+    /* this is used when Debug log's to shared memory are enabled, else this is not used */
+    .bss.log_shared_mem  (NOLOAD) : {} > LOG_SHM_MEM
+    /* this is used only when IPC RPMessage is enabled, else this is not used */
+    .bss.ipc_vring_mem   (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
+    /* General purpose non cacheable memory, used in some examples */
+    .bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
+
+    /* TCM used by ICSS PRU to write sdfm sample output */
+    .gSdfmSampleOutput       			: {} align(4) > R5F_TCMB0
+}
+
+/*
+NOTE: Below memory is reserved for DMSC usage
+ - During Boot till security handoff is complete
+   0x701E0000 - 0x701FFFFF (128KB)
+ - After "Security Handoff" is complete (i.e at run time)
+   0x701F4000 - 0x701FFFFF (48KB)
+
+ Security handoff is complete when this message is sent to the DMSC,
+   TISCI_MSG_SEC_HANDOVER
+
+ This should be sent once all cores are loaded and all application
+ specific firewall calls are setup.
+*/
+
+MEMORY
+{
+    R5F_VECS  : ORIGIN = 0x00000000 , LENGTH = 0x00000040
+    R5F_TCMA  : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
+    R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
+
+    /* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
+    NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
+
+    /* when using multi-core application's i.e more than one R5F/M4F active, make sure
+     * this memory does not overlap with other R5F's
+     */
+    MSRAM     : ORIGIN = 0x70080000 , LENGTH = 0x40000
+
+    /* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
+     * other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
+     */
+    FLASH     : ORIGIN = 0x60100000 , LENGTH = 0x80000
+
+    /* shared memory segments */
+    /* On R5F,
+     * - make sure there is a MPU entry which maps below regions as non-cache
+     */
+    USER_SHM_MEM            : ORIGIN = 0x701D0000, LENGTH = 0x180
+    LOG_SHM_MEM             : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
+    RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
+}
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
new file mode 100644
index 0000000..87fab3e
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -0,0 +1,320 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+include $(MOTOR_CONTROL_SDK_PATH)/devconfig/devconfig.mak
+
+CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
+
+CC=$(CG_TOOL_ROOT)/bin/tiarmclang
+LNK=$(CG_TOOL_ROOT)/bin/tiarmclang
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+PROFILE?=release
+ConfigName:=$(PROFILE)
+
+OUTNAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).out
+
+BOOTIMAGE_PATH=$(abspath .)
+BOOTIMAGE_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage
+BOOTIMAGE_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.signed
+BOOTIMAGE_RPRC_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_tmp
+BOOTIMAGE_NAME_HS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs
+BOOTIMAGE_NAME_HS_FS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
+TARGETS := $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+   TARGETS += $(BOOTIMAGE_NAME_HS)
+endif
+
+FILES_common := \
+	app_sdfm.c \
+	epwm_dc.c \
+	epwm_drv_aux.c \
+	epwm_mod.c \
+	sdfm_example.c \
+	main.c \
+	ti_drivers_config.c \
+	ti_drivers_open_close.c \
+	ti_board_config.c \
+	ti_board_open_close.c \
+	ti_dpl_config.c \
+	ti_pinmux_config.c \
+	ti_power_clock_config.c \
+
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
+	generated \
+
+INCLUDES_common := \
+	-I${CG_TOOL_ROOT}/include/c \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/source \
+	-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/current_sense/sdfm/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
+	-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
+	-Igenerated \
+
+DEFINES_common := \
+	-DSOC_AM243X \
+
+CFLAGS_common := \
+	-mcpu=cortex-r5 \
+	-mfloat-abi=hard \
+	-mfpu=vfpv3-d16 \
+	-mthumb \
+	-Wall \
+	-Werror \
+	-g \
+	-Wno-gnu-variable-sized-type-not-at-end \
+	-Wno-unused-function \
+
+CFLAGS_cpp_common := \
+	-Wno-c99-designator \
+	-Wno-extern-c-compat \
+	-Wno-c++11-narrowing \
+	-Wno-reorder-init-list \
+	-Wno-deprecated-register \
+	-Wno-writable-strings \
+	-Wno-enum-compare \
+	-Wno-reserved-user-defined-literal \
+	-Wno-unused-const-variable \
+	-x c++ \
+
+CFLAGS_debug := \
+	-D_DEBUG_=1 \
+
+CFLAGS_release := \
+	-Os \
+
+LNK_FILES_common = \
+	linker.cmd \
+
+LIBS_PATH_common = \
+	-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	-Wl,-i${CG_TOOL_ROOT}/lib \
+
+LIBS_common = \
+	-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lpruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-llibc.a \
+	-llibsysbm.a \
+
+LFLAGS_common = \
+	-Wl,--diag_suppress=10063 \
+	-Wl,--ram_model \
+	-Wl,--reread_libs \
+
+
+LIBS_NAME = \
+	freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	libc.a \
+	libsysbm.a \
+
+LIBS_PATH_NAME = \
+	${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/current_sense/sdfm/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	${CG_TOOL_ROOT}/lib \
+
+FILES := $(FILES_common) $(FILES_$(PROFILE))
+ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
+FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
+CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
+DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
+INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
+LIBS := $(LIBS_common) $(LIBS_$(PROFILE))
+LIBS_PATH := $(LIBS_PATH_common) $(LIBS_PATH_$(PROFILE))
+LFLAGS := $(LFLAGS_common) $(LFLAGS_$(PROFILE))
+LNKOPTFLAGS := $(LNKOPTFLAGS_common) $(LNKOPTFLAGS_$(PROFILE))
+LNK_FILES := $(LNK_FILES_common) $(LNK_FILES_$(PROFILE))
+
+OBJDIR := obj/$(PROFILE)/
+OBJS := $(FILES:%.c=%.obj)
+OBJS += $(ASMFILES:%.S=%.obj)
+DEPS := $(FILES:%.c=%.d)
+
+vpath %.obj $(OBJDIR)
+vpath %.c $(FILES_PATH)
+vpath %.S $(FILES_PATH)
+vpath %.lib $(LIBS_PATH_NAME)
+vpath %.a $(LIBS_PATH_NAME)
+
+$(OBJDIR)/%.obj %.obj: %.c
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
+	$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
+
+$(OBJDIR)/%.obj %.obj: %.S
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
+	$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
+
+all: $(TARGETS)
+
+SYSCFG_GEN_FILES=generated/ti_drivers_config.c generated/ti_drivers_config.h
+SYSCFG_GEN_FILES+=generated/ti_drivers_open_close.c generated/ti_drivers_open_close.h
+SYSCFG_GEN_FILES+=generated/ti_dpl_config.c generated/ti_dpl_config.h
+SYSCFG_GEN_FILES+=generated/ti_pinmux_config.c generated/ti_power_clock_config.c
+SYSCFG_GEN_FILES+=generated/ti_board_config.c generated/ti_board_config.h
+SYSCFG_GEN_FILES+=generated/ti_board_open_close.c generated/ti_board_open_close.h
+
+$(OUTNAME): syscfg $(SYSCFG_GEN_FILES) $(OBJS) $(LNK_FILES) $(LIBS_NAME)
+	@echo  .
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ ...
+	$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
+	@echo  .
+
+clean:
+	@echo  Cleaning: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
+	$(RMDIR) $(OBJDIR)
+	$(RM) $(OUTNAME)
+	$(RM) $(BOOTIMAGE_NAME)
+	$(RM) $(BOOTIMAGE_NAME_XIP)
+	$(RM) $(BOOTIMAGE_NAME_SIGNED)
+	$(RM) $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
+	$(RMDIR) generated/
+
+scrub:
+	@echo  Scrubing: am243x:r5fss0-0:freertos:ti-arm-clang icss_sdfm_nine_channel_with_continuous_mode ...
+	$(RMDIR) obj
+ifeq ($(OS),Windows_NT)
+	$(RM) \*.out
+	$(RM) \*.map
+	$(RM) \*.appimage*
+	$(RM) \*.rprc*
+	$(RM) \*.tiimage*
+	$(RM) \*.bin
+else
+	$(RM) *.out
+	$(RM) *.map
+	$(RM) *.appimage*
+	$(RM) *.rprc*
+	$(RM) *.tiimage*
+	$(RM) *.bin
+endif
+	$(RMDIR) generated
+
+$(OBJS): | $(OBJDIR)
+
+$(OBJDIR):
+	$(MKDIR) $@
+
+
+.NOTPARALLEL:
+
+.INTERMEDIATE: syscfg
+$(SYSCFG_GEN_FILES): syscfg
+
+syscfg: ../example.syscfg
+	@echo Generating SysConfig files ...
+	$(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 $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+$(BOOTIMAGE_NAME): $(OUTNAME)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
+ifneq ($(OS),Windows_NT)
+	$(CHMOD) a+x $(XIPGEN_CMD)
+endif
+	$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
+	@echo  .
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
+	@echo  .
+
+$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
+	@echo  .
+endif
+-include $(addprefix $(OBJDIR)/, $(DEPS))
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
new file mode 100644
index 0000000..8666cfd
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -0,0 +1,106 @@
+#
+# Auto generated makefile
+#
+
+# Below variables need to be defined outside this file or via command line
+# - MOTOR_CONTROL_SDK_PATH
+# - PROFILE
+# - CG_TOOL_ROOT
+# - OUTNAME
+# - CCS_INSTALL_DIR
+# - CCS_IDE_MODE
+
+CCS_PATH=$(CCS_INSTALL_DIR)
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+OUTFILE=$(PROFILE)/$(OUTNAME).out
+BOOTIMAGE_PATH=$(abspath ${PROFILE})
+BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
+BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
+BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0)  \
+
+all:
+ifeq ($(CCS_IDE_MODE),cloud)
+#	No post build steps
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME)  ...
+	$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
+ifeq ($(DEVICE_TYPE),HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+endif
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
+	@echo  .
+ifeq ($(DEVICE_TYPE),HS)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
+	@echo  .
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
+	@echo  .
+endif
+endif
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
new file mode 100644
index 0000000..3623f37
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
new file mode 100644
index 0000000..d46875e
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/app_sdfm.c b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/app_sdfm.c
new file mode 100644
index 0000000..977f04c
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/app_sdfm.c
@@ -0,0 +1,565 @@
+/*
+ *  Copyright (C) 2023 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdio.h>
+#include <kernel/dpl/DebugP.h>
+#include <kernel/dpl/AddrTranslateP.h>
+#include <kernel/dpl/HwiP.h>
+#include <drivers/epwm.h>
+#include "ti_drivers_config.h"
+#include "ti_drivers_open_close.h"
+#include "ti_board_open_close.h"
+
+#include "epwm_dc.h"
+#include "sdfm_example.h"
+
+/*EPWM1 configuration for sigma delta clock generation: */
+#define APP_EPWM1_ENABLE  0 /*make sure EPWM1 is added in sysconfig before making true this macro */
+/* Output channel - A or B */
+#define APP_EPWM_OUT_CH_EN              ( 0x1 ) /* ChA enabled */
+
+/* EPWM functional clock */
+/* Functional clock is the same for all EPWMs */
+#define APP_EPWM_FCLK                   ( CONFIG_EPWM0_FCLK )
+
+/* EPWM functional clock dividers */
+#define APP_EPWM_FCLK_HSPCLKDIV         ( 0x0 ) /* EPWM_TBCTL:HSPCLKDIV, High-Speed Time-base Clock Prescale Bits */
+#define APP_EPWM_FCLK_CLKDIV            ( 0x0 ) /* EPWM_TBCTL:CLKDIV, Time-base Clock Prescale Bits */
+
+#if (APP_EPWM_FCLK_HSPCLKDIV != 0x0)
+/* EPWM Time Base clock -- all EPWM TB clocks set the same */
+#define APP_EPWM_TB_FREQ               ( APP_EPWM_FCLK / ( 2*APP_EPWM_FCLK_HSPCLKDIV * (1 << APP_EPWM_FCLK_CLKDIV)))
+#else
+/* EPWM Time Base clock -- all EPWM TB clocks set the same */
+#define APP_EPWM_TB_FREQ               ( APP_EPWM_FCLK / ( 1 * (1 << APP_EPWM_FCLK_CLKDIV)))
+#endif
+
+/* Initial Duty Cycle of PWM output signal in %, 0 to 100 */
+#define APP_EPWM0_DUTY_CYCLE            ( 50U )
+
+/* Frequency of PWM output signal in Hz */
+#define APP_EPWM_OUTPUT_FREQ_4K         ( 1U * 4000U )
+#define APP_EPWM_OUTPUT_FREQ_8K         ( 1U * 8000U )
+#define APP_EPWM_OUTPUT_FREQ_16K        ( 1U * 16000U )
+#define APP_EPWM_OUTPUT_FREQ_20K        ( 1U * 20000U )
+#define APP_EPWM_OUTPUT_FREQ            ( APP_EPWM_OUTPUT_FREQ_8K ) /* init freq */
+
+/*sample Read time */
+#define FIRST_SAMPLE_TRIGGER_TIME                ((float)((float)1000000/(4*APP_EPWM_OUTPUT_FREQ))) /*sample trigger time for Single Update */
+
+#define SECOND_SAMPLE_TRIGGER_TIME               ((float)((float)3000000/(4*APP_EPWM_OUTPUT_FREQ))) /*Sample trigger time for double update*/
+
+/* PWM count direction (Up, Down, Up/Down) */
+#define APP_EPWM_TB_COUNTER_DIR         ( EPWM_TB_COUNTER_DIR_UP_DOWN )
+
+/* Test ICSSG instance ID */
+#define TEST_ICSSG_INST_ID              ( CONFIG_PRU_ICSS0 )
+/* Test ICSSG slice ID */
+#define TEST_ICSSG_SLICE_ID             ( ICSSG_SLICE_ID_0 )
+
+/* R5F interrupt settings for ICSSG */
+#define ICSSG_PRU_SDFM_INT_NUM          ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_3 )  /* VIM interrupt number */
+#define ICSSG_RTUPRU_SDFM_INT_NUM       ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_4 )  /* VIM interrupt number */
+#define ICSSG_TXPRU_SDFM_INT_NUM        ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_5 )
+/*Load share macro*/
+#define ICSSG_PRU_LOAD_SHARE_MODE       ( 1 )
+
+#if ICSSG_PRU_LOAD_SHARE_MODE
+#define  NUM_CH_SUPPORTED      ( 9 )
+#else
+#define  NUM_CH_SUPPORTED      ( 3 )
+#endif
+
+/* EPWM0 IRQ handler */
+static void epwmIrqHandler(void *handle);
+
+/* EPWM1 IRQ handler */
+static void epwmIrqHandler1(void *handle);
+
+/* HWI global variables */
+static HwiP_Object gIcssgPruSdfmHwiObject;  /* ICSSG PRU SDFM FW HWI */
+
+#if APP_EPWM1_ENABLE
+#define APP_EPWM_OUTPUT_FREQ1            (1U*20000000 )
+static HwiP_Object gIcssgRtuSDFMHwiObject;  /* ICSSG RTU SDFM FW HWI */
+
+static HwiP_Object gEpwm1HwiObject;         /* EPWM1 HWI */
+
+uint32_t gEpwm1BaseAddr;    /* EPWM1 base address */
+EPwmObj_t gEpwm1Obj;        /* EPWM1 object */
+Epwm_Handle hEpwm1;         /* EPWM1 handle */
+
+volatile uint32_t gEpwmOutFreq1 = APP_EPWM_OUTPUT_FREQ1; /*EPWM1 output freq. */
+
+#endif
+
+static HwiP_Object gEpwm0HwiObject;         /* EPWM0 HWI */
+
+/* EPWM global variables */
+uint32_t gEpwm0BaseAddr;    /* EPWM0 base address */
+EPwmObj_t gEpwm0Obj;        /* EPWM0 object */
+Epwm_Handle hEpwm0;         /* EPWM0 handle */
+
+
+
+volatile uint32_t gEpwmOutFreq = APP_EPWM_OUTPUT_FREQ; /* EPWM output frequency */
+
+
+/* ICSSG PRU SDFM FW IRQ handler */
+static void pruSdfmIrqHandler(void *handle);
+static void rtuPruSdfmIrqHandler(void *handle);
+static void txPruSdfmIrqHandler(void *handle);
+
+/* Test ICSSG handle */
+PRUICSS_Handle gPruIcssHandle;
+
+/* Test Sdfm handles */
+sdfm_handle gHPruSdfm;
+
+
+/* Sdfm output samples, written by PRU cores */
+__attribute__((section(".gSdfmSampleOutput"))) uint32_t gSdfm_sampleOutput[NUM_CH_SUPPORTED];
+
+/* Test Sdfm parameters */
+SdfmPrms gTestSdfmPrms = {
+    ICSSG_PRU_LOAD_SHARE_MODE,
+    TEST_ICSSG_SLICE_ID,
+    PRUICSS_PRU0,
+    300000000,
+    {300000000,0},  /*index[0]= IEP0 clock for G0, index[1] = reserved */
+    20000000,    /*Value of SD clock (It should be exact equal to sd clock value)*/
+    0,                        /*enable double update*/
+    FIRST_SAMPLE_TRIGGER_TIME,       /*first sample  trigger time*/
+    SECOND_SAMPLE_TRIGGER_TIME,       /*second sample trigger time*/
+    APP_EPWM_OUTPUT_FREQ,     /*PWM output frequency*/
+    {{3500, 1000,0},    /*threshold parameters(High, low & reserevd)*/
+    {3500, 1000,0},
+    {3500, 1000,0}},
+    {{0,0},                /*clock sourse & clock inversion for all channels*/
+    {0,0},
+    {0,0}},
+    15,   /*Over current osr: The effect count is OSR + 1*/
+    128,   /*Normal current osr */
+    0,   /*comparator enable*/
+    (uint32_t)&gSdfm_sampleOutput, /*Output samples base address*/
+    0,
+    {{4, 18, 2},
+    {4, 18, 2},
+    {4, 18, 2}
+    },   /*Fast detect fields {Window size, zero count max, zero count min}*/
+    0,  /*enable Phase delay measurment */
+    0,   /*Enable zero cross*/
+    {1700, 1700, 1700}, /*Zero cross threshold*/
+    1, /*enable continuous mode*/
+};
+
+#define PRUICSS_G_MUX_EN    ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
+
+/* GPIO enable signal for EPWM0-2 on 3-axis breakout board */
+uint32_t gMtr1PwnEnGpioBaseAddr = GPIO_MTR_1_PWM_EN_BASE_ADDR;
+uint32_t gMtr1PwnEnGpioPin      = GPIO_MTR_1_PWM_EN_PIN;
+uint32_t gMtr1PwnEnGpioPinDir   = GPIO_MTR_1_PWM_EN_DIR;
+
+/* Flag for continuing to execute test */
+volatile Bool gRunFlag = TRUE;
+
+
+/* ICSS SDFM Output sample for Channel 0 */
+/*Sample size*/
+#define MAX_SAMPLES (128)
+
+/* ICSS SDFM Output samples */
+uint32_t sdfm_ch_samples[NUM_CH_SUPPORTED][MAX_SAMPLES] = {0};
+uint32_t sdfmPruIdxCnt = 0;
+uint32_t sdfmRtuIdxCnt = 0;
+uint32_t sdfmTxPruIdxCnt = 0;
+
+/* IRQ counters */
+volatile uint32_t gPruSdfmIrqCnt=0; /* PRU ICSS SDFM FW IRQ count */
+volatile uint32_t gRtuPruSdfmIrqCnt=0; /* RTU PRU ICSS SDFM FW IRQ count */
+volatile uint32_t gTxPruSdfmIrqCnt=0; /* TX PRU ICSS SDFM FW IRQ count */
+volatile uint32_t gEpwmIsrCnt=0;    /* EPWM0 IRQ count */
+volatile uint32_t gEpwmIsrCnt1=0;
+/*PWM Parameters*/
+HwiP_Params hwiPrms;
+HwiP_Params hwiPrms1;
+EPwmCfgPrms_t epwmCfgPrms;
+EPwmCfgPrms_t epwm1CfgPrms;
+
+void init_pwm()
+{
+    int32_t status;
+    /* Initialize EPWM0 base address, perform address translation */
+    gEpwm0BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM0_BASE_ADDR);
+
+    /* Register & enable EPWM0 interrupt */
+    HwiP_Params_init(&hwiPrms);
+    hwiPrms.intNum      = CONFIG_EPWM0_INTR;
+    hwiPrms.callback    = &epwmIrqHandler;
+    hwiPrms.args        = 0;
+    hwiPrms.isPulse     = CONFIG_EPWM0_INTR_IS_PULSE;
+    hwiPrms.isFIQ       = FALSE;
+    status              = HwiP_construct(&gEpwm0HwiObject, &hwiPrms);
+    DebugP_assert(status == SystemP_SUCCESS);
+
+    /* Configure EPWM0 */
+    epwmCfgPrms.epwmId = EPWM_ID_0;
+    epwmCfgPrms.epwmBaseAddr = gEpwm0BaseAddr;
+    epwmCfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
+    epwmCfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
+    epwmCfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
+    epwmCfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
+    epwmCfgPrms.epwmOutFreq = gEpwmOutFreq;
+    epwmCfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
+    epwmCfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
+    epwmCfgPrms.cfgTbSyncIn = TRUE;
+    epwmCfgPrms.tbPhsValue = 0;
+    epwmCfgPrms.tbSyncInCounterDir = EPWM_TB_COUNTER_DIR_UP;
+    epwmCfgPrms.cfgTbSyncOut = TRUE;
+    epwmCfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.cfgDb = FALSE;
+    epwmCfgPrms.cfgEt = TRUE;
+    epwmCfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
+    epwmCfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
+    hEpwm0 = epwmInit(&epwmCfgPrms, &gEpwm0Obj);
+    DebugP_assert(hEpwm0 != NULL);
+
+#if APP_EPWM1_ENABLE  // DEBUG code for SDFM clock generation from EPWM1
+    /* EPWM1 for SD clock generation */
+    /* Initialize EPWM1 base address, perform address translation */
+    gEpwm1BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM1_BASE_ADDR);
+    /* Register & enable EPWM0 interrupt */
+    HwiP_Params_init(&hwiPrms1);
+    hwiPrms1.intNum      = CONFIG_EPWM1_INTR;
+    hwiPrms1.callback    = &epwmIrqHandler1;
+    hwiPrms1.args        = 0;
+    hwiPrms1.isPulse     = CONFIG_EPWM1_INTR_IS_PULSE;
+    hwiPrms1.isFIQ       = FALSE;
+    status              = HwiP_construct(&gEpwm1HwiObject, &hwiPrms1);
+    DebugP_assert(status == SystemP_SUCCESS);
+    /* Configure EPWM0 */
+    epwm1CfgPrms.epwmId = EPWM_ID_1;
+    epwm1CfgPrms.epwmBaseAddr = gEpwm1BaseAddr;
+    epwm1CfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
+    epwm1CfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
+    epwm1CfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
+    epwm1CfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
+    epwm1CfgPrms.epwmOutFreq = gEpwmOutFreq1;
+    epwm1CfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
+    epwm1CfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
+    epwm1CfgPrms.cfgTbSyncIn = FALSE;
+    epwm1CfgPrms.tbPhsValue = 0;
+    epwm1CfgPrms.cfgTbSyncOut = FALSE;
+    epwm1CfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.cfgDb = FALSE;
+    epwm1CfgPrms.cfgEt = FALSE;
+    epwm1CfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
+    epwm1CfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
+    hEpwm1 = epwmInit(&epwm1CfgPrms, &gEpwm1Obj);
+    DebugP_assert(hEpwm1 != NULL);
+#endif 
+}
+
+void init_sdfm()
+{
+    int32_t status;
+    /* Initialize ICSSG */
+    status = initIcss(TEST_ICSSG_INST_ID, TEST_ICSSG_SLICE_ID, PRUICSS_G_MUX_EN, ICSSG_PRU_LOAD_SHARE_MODE, &gPruIcssHandle);
+    if (status != SDFM_ERR_NERR) {
+        DebugP_log("Error: initIcss() fail.\r\n");
+        return;
+    }
+     
+    gTestSdfmPrms.loadShare = ICSSG_PRU_LOAD_SHARE_MODE;
+    /* Register & enable ICSSG PRU SDFM FW interrupt */
+    HwiP_Params_init(&hwiPrms);
+    hwiPrms.intNum      = ICSSG_PRU_SDFM_INT_NUM;
+    hwiPrms.callback    = &pruSdfmIrqHandler;
+    hwiPrms.args        = 0;
+    hwiPrms.isPulse     = FALSE;
+    hwiPrms.isFIQ       = FALSE;
+    status              = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
+    DebugP_assert(status == SystemP_SUCCESS);
+
+#if ICSSG_PRU_LOAD_SHARE_MODE
+    /* Register & enable ICSSG  RTU PRU0 SDFM FW interrupt */
+    HwiP_Params_init(&hwiPrms);
+    hwiPrms.intNum      = ICSSG_RTUPRU_SDFM_INT_NUM;
+    hwiPrms.callback    = &rtuPruSdfmIrqHandler;
+    hwiPrms.args        = 0;
+    hwiPrms.isPulse     = FALSE;
+    hwiPrms.isFIQ       = FALSE;
+    status              = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
+    DebugP_assert(status == SystemP_SUCCESS);
+
+     /* Register & enable ICSSG  TX PRU SDFM FW interrupt */
+    HwiP_Params_init(&hwiPrms);
+    hwiPrms.intNum      = ICSSG_TXPRU_SDFM_INT_NUM;
+    hwiPrms.callback    = &txPruSdfmIrqHandler;
+    hwiPrms.args        = 0;
+    hwiPrms.isPulse     = FALSE;
+    hwiPrms.isFIQ       = FALSE;
+    status              = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
+    DebugP_assert(status == SystemP_SUCCESS);
+
+#endif
+    /* Initialize PRU cores for SDFM */
+    status = initPruSdfm(gPruIcssHandle, PRUICSS_PRU0, &gTestSdfmPrms, &gHPruSdfm);
+    if (status != SDFM_ERR_NERR) 
+    {
+        DebugP_log("Error: initPruSdfm() fail.\r\n");
+        return;
+    }
+
+#if ICSSG_PRU_LOAD_SHARE_MODE
+   /*Update sdfm prams*/
+   gTestSdfmPrms.pruInsId = PRUICSS_RTU_PRU0 ;
+   gTestSdfmPrms.samplesBaseAddress = (uint32_t)&gSdfm_sampleOutput + 12;
+   /* Initialize RTU PRU cores for SDFM */
+   status = initPruSdfm(gPruIcssHandle, PRUICSS_RTU_PRU0, &gTestSdfmPrms, &gHPruSdfm);
+    if (status != SDFM_ERR_NERR) 
+    {
+        DebugP_log("Error: initPruSdfm() fail.\r\n");
+        return;
+    } 
+   /*Update sdfm prams */
+   gTestSdfmPrms.pruInsId = PRUICSS_TX_PRU0;
+   gTestSdfmPrms.samplesBaseAddress = (uint32_t)&gSdfm_sampleOutput + 24 ;
+   /* Initialize TX PRU cores for SDFM */
+   status = initPruSdfm(gPruIcssHandle, PRUICSS_TX_PRU0, &gTestSdfmPrms, &gHPruSdfm);
+    if (status != SDFM_ERR_NERR) 
+    {
+        DebugP_log("Error: initPruSdfm() fail.\r\n");
+        return;
+    } 
+
+#endif
+}
+void sdfm_main(void *args)
+{
+
+    /* Open drivers to open the UART driver for console */
+    Drivers_open();
+    Board_driversOpen();
+
+    DebugP_log("Sample SDFM example running!...\r\n");
+
+    /* Output build time */
+    DebugP_log("Build timestamp      : %s %s\r\n", __DATE__, __TIME__);
+
+
+    /* Enable EPWM0-2 on 3-axis Breakout Board */
+    GPIO_setDirMode(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin, gMtr1PwnEnGpioPinDir);
+    GPIO_pinWriteHigh(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
+    GPIO_pinWriteLow(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
+
+    /*
+     *  Configure EPWM0
+     */
+    init_pwm();
+    DebugP_log("EPWM Configured!\r\n");
+   
+    /* Configure SDFM */
+    init_sdfm();
+    DebugP_log("SDFM Configured!\r\n");
+    
+    /* Start EPWM0 clock */
+    CSL_REG32_WR(CSL_CTRL_MMR0_CFG0_BASE + CSL_MAIN_CTRL_MMR_CFG0_EPWM_TB_CLKEN, 1);
+
+    /* Force SW sync for EPWM0 */
+    EPWM_tbTriggerSwSync(gEpwm0BaseAddr);
+
+    while(gRunFlag == TRUE)
+    {
+        ;
+    }
+
+    /* Disable and clear interrupts for EPWM0 */
+    EPWM_etIntrDisable(gEpwm0BaseAddr); /* Disable interrupts */
+    EPWM_etIntrClear(gEpwm0BaseAddr);   /* Clear pending interrupts */
+
+    /* Destroy EPWM0 HWI */
+    HwiP_destruct(&gEpwm0HwiObject);
+
+    /* Destroy PRU SDFM HWI */
+    HwiP_destruct(&gIcssgPruSdfmHwiObject);
+
+    DebugP_log("All tests have passed!!\r\n");
+
+    Board_driversClose();
+    Drivers_close();
+}
+
+/* PRU SDFM FW IRQ handler */
+void pruSdfmIrqHandler(void *args)
+{
+    /* debug, inncrement PRU SDFM IRQ count */
+    gPruSdfmIrqCnt++;
+    /* Clear interrupt at source */
+    /* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
+        Firmware:   TRIGGER_HOST_SDFM_IRQ defined as 18
+        18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
+    */
+    PRUICSS_clearEvent(gPruIcssHandle, PRU_TRIGGER_HOST_SDFM_EVT);
+
+    if(sdfmPruIdxCnt >= MAX_SAMPLES)
+    {
+        sdfmPruIdxCnt = 0;      
+    }
+
+#if ICSSG_PRU_LOAD_SHARE_MODE
+    /*Select core */
+    gHPruSdfm->sampleOutputInterface =  (SDFM_SampleOutInterface *)((uint32_t)&gSdfm_sampleOutput);
+    /* SDFM Output sample for Channel 3 */
+    sdfm_ch_samples[SDFM_CH3][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
+    /* SDFM Output sample for Channel 4 */
+    sdfm_ch_samples[SDFM_CH4][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
+    /* SDFM Output sample for Channel 5 */
+    sdfm_ch_samples[SDFM_CH5][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
+
+#else
+    /* SDFM Output sample for Channel 0 */
+    sdfm_ch_samples[SDFM_CH0][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
+    /* SDFM Output sample for Channel 1 */
+    sdfm_ch_samples[SDFM_CH1][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
+    /* SDFM Output sample for Channel 2 */
+    sdfm_ch_samples[SDFM_CH2][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
+#endif
+
+    sdfmPruIdxCnt++;
+}
+
+/* RTU PRU SDFM FW IRQ handler */
+void rtuPruSdfmIrqHandler(void *args)
+{
+    /* debug, inncrement PRU SDFM IRQ count */
+    gRtuPruSdfmIrqCnt++;
+    /* Clear interrupt at source */
+    /* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
+        Firmware:   TRIGGER_HOST_SDFM_IRQ defined as 18
+        18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
+    */
+    PRUICSS_clearEvent(gPruIcssHandle, RTU_TRIGGER_HOST_SDFM_EVT);
+
+    if(sdfmRtuIdxCnt >= MAX_SAMPLES)
+    {
+        sdfmRtuIdxCnt = 0;
+    }
+    
+    /*Select core */
+    gHPruSdfm->sampleOutputInterface =  (SDFM_SampleOutInterface *)((uint32_t)&gSdfm_sampleOutput + 12);
+   /* SDFM Output sample for Channel 0 */
+    sdfm_ch_samples[SDFM_CH0][sdfmRtuIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
+    /* SDFM Output sample for Channel 1 */
+    sdfm_ch_samples[SDFM_CH1][sdfmRtuIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
+    /* SDFM Output sample for Channel 2 */
+    sdfm_ch_samples[SDFM_CH2][sdfmRtuIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
+    
+    sdfmRtuIdxCnt++;
+
+}
+
+/* PRU SDFM FW IRQ handler */
+void txPruSdfmIrqHandler(void *args)
+{
+    /* debug, inncrement PRU SDFM IRQ count */
+    gTxPruSdfmIrqCnt++;
+    /* Clear interrupt at source */
+    /* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
+        Firmware:   TRIGGER_HOST_SDFM_IRQ defined as 18
+        18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
+    */
+    PRUICSS_clearEvent(gPruIcssHandle, TXPRU_TRIGGER_HOST_SDFM_EVT);
+
+    if(sdfmTxPruIdxCnt >= MAX_SAMPLES)
+    {
+        sdfmTxPruIdxCnt = 0;
+    }
+   
+   /*Select core */
+    gHPruSdfm->sampleOutputInterface = (SDFM_SampleOutInterface *)((uint32_t)&gSdfm_sampleOutput + 24);
+
+   /* SDFM Output sample for Channel 6 */
+    sdfm_ch_samples[SDFM_CH6][sdfmTxPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
+    /* SDFM Output sample for Channel 7 */
+    sdfm_ch_samples[SDFM_CH7][sdfmTxPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
+    /* SDFM Output sample for Channel 8 */
+    sdfm_ch_samples[SDFM_CH8][sdfmTxPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
+
+    sdfmTxPruIdxCnt++;
+}
+
+/* EPWM0 IRQ handler */
+static void epwmIrqHandler(void *args)
+{
+    volatile uint16_t status;
+
+    /* debug, inncrement EPWM0 IRQ count */
+    gEpwmIsrCnt++;
+
+    status = EPWM_etIntrStatus(gEpwm0BaseAddr);
+    if (status & EPWM_ETFLG_INT_MASK) 
+    {
+        EPWM_etIntrClear(gEpwm0BaseAddr);
+    }
+    return;
+}
+
+#if APP_EPWM1_ENABLE //DEBUG code for EPWM1
+/* EPWM0 IRQ handler */
+static void epwmIrqHandler1(void *args)
+{
+    volatile uint16_t status;
+
+    /* debug, inncrement EPWM0 IRQ count */
+    gEpwmIsrCnt1++;
+
+    status = EPWM_etIntrStatus(gEpwm1BaseAddr);
+    if (status & EPWM_ETFLG_INT_MASK) 
+    {
+        EPWM_etIntrClear(gEpwm0BaseAddr);
+    }
+    return;
+}
+#endif
diff --git a/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/app_sdfm.c b/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/app_sdfm.c
index 197d421..4719278 100644
--- a/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/app_sdfm.c
+++ b/examples/current_sense/icss_sdfm_three_channel_single_pru_mode/app_sdfm.c
@@ -169,6 +169,7 @@ SdfmPrms gTestSdfmPrms = {
     0,   /*reserved for phase delay*/
     0,   /*Enable zero cross*/
     {1700, 1700, 1700}, /*Zero cross threshold*/
+    0, /*enable continuous mode*/
 };
 
 #define PRUICSS_G_MUX_EN    ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project.js b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project.js
new file mode 100644
index 0000000..f6c2d16
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project.js
@@ -0,0 +1,14 @@
+function getComponentProperty(device)
+{
+    return require(`./project_${device}`).getComponentProperty();
+};
+
+function getComponentBuildProperty(buildOption)
+{
+    return require(`./project_${buildOption.device}`).getComponentBuildProperty(buildOption);
+};
+
+module.exports = {
+    getComponentProperty,
+    getComponentBuildProperty,
+};
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project_am243x.js b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project_am243x.js
new file mode 100644
index 0000000..f88c3b7
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project_am243x.js
@@ -0,0 +1,125 @@
+let path = require('path');
+
+let device = "am243x";
+
+const files = {
+    common: [
+        "app_sdfm.c",
+        "epwm_dc.c",
+        "epwm_drv_aux.c",
+        "epwm_mod.c",
+        "sdfm_example.c",
+        "main.c",
+    ],
+};
+
+/* Relative to where the makefile will be generated
+ * Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
+ */
+const filedirs = {
+    common: [
+        "..",       /* core_os_combo base */
+        "../../..",      
+        "../../../..",      
+    ],
+};
+
+const libdirs_freertos = {
+    common: [
+        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
+        "${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/current_sense/sdfm/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib",
+    ],
+};
+
+const includes_freertos_r5f = {
+    common: [
+        "${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",
+        "${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/include",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode",
+        "${MOTOR_CONTROL_SDK_PATH}/examples/current_sense",
+        "${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include"
+    ],
+};
+
+const libs_freertos_r5f = {
+    common: [
+        "freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+        "pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
+    ],
+};
+
+
+const lnkfiles = {
+    common: [
+        "linker.cmd",
+    ]
+};
+
+const syscfgfile = "../example.syscfg";
+
+const readmeDoxygenPageTag = "EXAMPLE_MOTORCONTROL_SDFM";
+
+const templates_freertos_r5f =
+[
+    {
+        input: ".project/templates/am243x/freertos/main_freertos.c.xdt",
+        output: "../main.c",
+        options: {
+            entryFunction: "sdfm_main",
+        },
+    }
+];
+
+const buildOptionCombos = [
+    { device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "freertos"},
+    { device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "freertos"},
+];
+
+function getComponentProperty() {
+    let property = {};
+
+    property.dirPath = path.resolve(__dirname, "..");
+    property.type = "executable";
+    property.name = "icss_sdfm_three_channel_with_continuous_mode";
+    property.isInternal = false;
+    property.buildOptionCombos = buildOptionCombos;
+    property.isSkipTopLevelBuild = false;
+
+    return property;
+}
+
+function getComponentBuildProperty(buildOption) {
+    let build_property = {};
+
+    build_property.files = files;
+    build_property.filedirs = filedirs;
+    build_property.lnkfiles = lnkfiles;
+    build_property.syscfgfile = syscfgfile;
+    build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
+
+    if(buildOption.cpu.match(/r5f*/)) {
+        if(buildOption.os.match(/freertos*/) )
+        {
+            build_property.includes = includes_freertos_r5f;
+            build_property.libdirs = libdirs_freertos;
+            build_property.libs = libs_freertos_r5f;
+            build_property.templates = templates_freertos_r5f;
+
+        }
+    }
+
+    return build_property;
+}
+
+module.exports = {
+    getComponentProperty,
+    getComponentBuildProperty,
+};
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/example.syscfg b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/example.syscfg
new file mode 100644
index 0000000..3e05d5a
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/example.syscfg
@@ -0,0 +1,131 @@
+/**
+ * These arguments were used when this file was generated. They will be automatically applied on subsequent loads
+ * via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
+ * @cliArgs --device "AM243x_ALV_beta" --package "ALV" --part "ALV" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
+ * @versions {"tool":"1.18.0+3266"}
+ */
+
+/**
+ * Import the modules used in this configuration.
+ */
+const sdfm       = scripting.addModule("/current_sense/sdfm", {}, false);
+const sdfm1      = sdfm.addInstance();
+const epwm       = scripting.addModule("/drivers/epwm/epwm", {}, false);
+const epwm1      = epwm.addInstance();
+const gpio       = scripting.addModule("/drivers/gpio/gpio", {}, false);
+const gpio1      = gpio.addInstance();
+const gpio2      = gpio.addInstance();
+const gpio3      = gpio.addInstance();
+const gpio4      = gpio.addInstance();
+const pruicss    = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
+const pruicss1   = pruicss.addInstance();
+const debug_log  = scripting.addModule("/kernel/dpl/debug_log");
+const mpu_armv7  = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
+const mpu_armv71 = mpu_armv7.addInstance();
+const mpu_armv72 = mpu_armv7.addInstance();
+const mpu_armv73 = mpu_armv7.addInstance();
+const mpu_armv74 = mpu_armv7.addInstance();
+const mpu_armv75 = mpu_armv7.addInstance();
+const mpu_armv76 = mpu_armv7.addInstance();
+const pwm        = scripting.addModule("/pru_icssg/pwm", {}, false);
+const pwm1       = pwm.addInstance();
+
+/**
+ * Write custom configuration values to the imported modules.
+ */
+sdfm1.$name = "CONFIG_SDFM0";
+
+epwm1.$name              = "CONFIG_EPWM0";
+epwm1.EPWM.$assign       = "EHRPWM0";
+epwm1.EPWM.A.$assign     = "GPMC0_AD3";
+epwm1.EPWM.B.$assign     = "GPMC0_AD4";
+epwm1.EPWM.SYNCO.$assign = "GPMC0_AD1";
+epwm1.EPWM.SYNCI.$used   = false;
+
+gpio1.$name                = "GPIO_MTR_1_PWM_EN";
+gpio1.pinDir               = "OUTPUT";
+gpio1.GPIO.$assign         = "GPIO0";
+gpio1.GPIO.gpioPin.rx      = false;
+gpio1.GPIO.gpioPin.$assign = "GPMC0_AD15";
+
+gpio2.pinDir                   = "OUTPUT";
+gpio2.useMcuDomainPeripherals  = true;
+gpio2.$name                    = "GPIO_ZC_TH_CH0";
+gpio2.MCU_GPIO.$assign         = "MCU_GPIO0";
+gpio2.MCU_GPIO.gpioPin.rx      = false;
+gpio2.MCU_GPIO.gpioPin.$assign = "MCU_SPI0_D1";
+
+gpio3.pinDir                   = "OUTPUT";
+gpio3.useMcuDomainPeripherals  = true;
+gpio3.$name                    = "GPIO_ZC_TH_CH1";
+gpio3.MCU_GPIO.gpioPin.rx      = false;
+gpio3.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_CS0";
+
+gpio4.pinDir                   = "OUTPUT";
+gpio4.useMcuDomainPeripherals  = true;
+gpio4.$name                    = "GPIO_ZC_TH_CH2";
+gpio4.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_D1";
+
+pruicss1.$name                                                                    = "CONFIG_PRU_ICSS0";
+pruicss1.coreClk                                                                  = 300000000;
+pruicss1.iepClk                                                                   = 300000000;
+sdfm1.pru                                                                         = pruicss1;
+pruicss1.AdditionalICSSSettings[0].$name                                          = "CONFIG_PRU_ICSS_IO0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO.create(1);
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].$name                             = "CONFIG_PRU_ICSS_ECAP_IO0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$used = true;
+
+debug_log.enableUartLog        = true;
+debug_log.uartLog.$name        = "CONFIG_UART_CONSOLE";
+debug_log.uartLog.UART.$assign = "USART0";
+
+mpu_armv71.$name             = "CONFIG_MPU_REGION0";
+mpu_armv71.size              = 31;
+mpu_armv71.attributes        = "Device";
+mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv71.allowExecute      = false;
+
+mpu_armv72.$name             = "CONFIG_MPU_REGION1";
+mpu_armv72.size              = 15;
+mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv73.$name             = "CONFIG_MPU_REGION2";
+mpu_armv73.baseAddr          = 0x41010000;
+mpu_armv73.size              = 15;
+mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv74.$name             = "CONFIG_MPU_REGION3";
+mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv74.baseAddr          = 0x70000000;
+mpu_armv74.size              = 21;
+
+mpu_armv75.$name             = "CONFIG_MPU_REGION4";
+mpu_armv75.baseAddr          = 0x60000000;
+mpu_armv75.size              = 28;
+mpu_armv75.accessPermissions = "Supervisor RD, User RD";
+
+mpu_armv76.$name    = "CONFIG_MPU_REGION5";
+mpu_armv76.baseAddr = 0x80000000;
+mpu_armv76.size     = 31;
+
+pwm1.$name                       = "CONFIG_PRU_ICSS_PWM0";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$used = true;
+
+/**
+ * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
+ * version of the tool will not impact the pinmux you originally saw.  These lines can be completely deleted in order to
+ * re-solve from scratch.
+ */
+sdfm1.PRU_ICSSG0_PRU.$suggestSolution                                                        = "PRU_ICSSG0_PRU0";
+sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution                                                  = "PRG0_PRU0_GPO16";
+sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution                                                   = "PRG0_PRU0_GPO1";
+sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution                                                   = "PRG0_PRU0_GPO3";
+sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution                                                   = "PRG0_PRU0_GPO5";
+gpio3.MCU_GPIO.$suggestSolution                                                              = "MCU_GPIO0";
+gpio4.MCU_GPIO.$suggestSolution                                                              = "MCU_GPIO0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.$suggestSolution             = "PRU_ICSSG0_ECAP0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$suggestSolution = "PRG0_PRU1_GPO15";
+debug_log.uartLog.UART.RXD.$suggestSolution                                                  = "UART0_RXD";
+debug_log.uartLog.UART.TXD.$suggestSolution                                                  = "UART0_TXD";
+pwm1.PRU_ICSSG0_PWM.$suggestSolution                                                         = "PRU_ICSSG0_PWM0";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution                                                  = "PRG0_PRU0_GPO19";
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/main.c b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/main.c
new file mode 100644
index 0000000..4268e23
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/main.c
@@ -0,0 +1,84 @@
+/*
+ *  Copyright (C) 2018-2021 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdlib.h>
+#include <kernel/dpl/DebugP.h>
+#include "ti_drivers_config.h"
+#include "ti_board_config.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define MAIN_TASK_PRI  (configMAX_PRIORITIES-1)
+
+#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
+StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
+
+StaticTask_t gMainTaskObj;
+TaskHandle_t gMainTask;
+
+void sdfm_main(void *args);
+
+void freertos_main(void *args)
+{
+    sdfm_main(NULL);
+
+    vTaskDelete(NULL);
+}
+
+
+int main(void)
+{
+    /* init SOC specific modules */
+    System_init();
+    Board_init();
+
+    /* This task is created at highest priority, it should create more tasks and then delete itself */
+    gMainTask = xTaskCreateStatic( freertos_main,   /* Pointer to the function that implements the task. */
+                                  "freertos_main", /* Text name for the task.  This is to facilitate debugging only. */
+                                  MAIN_TASK_SIZE,  /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
+                                  NULL,            /* We are not using the task parameter. */
+                                  MAIN_TASK_PRI,   /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
+                                  gMainTaskStack,  /* pointer to stack base */
+                                  &gMainTaskObj ); /* pointer to statically allocated task object memory */
+    configASSERT(gMainTask != NULL);
+
+    /* Start the scheduler to start the tasks executing. */
+    vTaskStartScheduler();
+
+    /* The following line should never be reached because vTaskStartScheduler()
+    will only return if there was not enough FreeRTOS heap memory available to
+    create the Idle and (if configured) Timer tasks.  Heap management, and
+    techniques for trapping heap exhaustion, are described in the book text. */
+    DebugP_assertNoLog(0);
+
+    return 0;
+}
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
new file mode 100644
index 0000000..98abd14
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -0,0 +1,128 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="ARM"
+                deviceId="Cortex R.AM2434_ALV"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Icss Sdfm Three Channel With Continuous Mode"
+        name = "icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        configurations="
+                Release,
+                Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TICLANG"
+        cgtVersion="3.2.0"
+        device="Cortex R.AM2434_ALV"
+        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include/c
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MOTOR_CONTROL_SDK_PATH}/source
+            -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/current_sense/sdfm/include
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
+            -I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
+            -mcpu=cortex-r5
+            -mfloat-abi=hard
+            -mfpu=vfpv3-d16
+            -mthumb
+            -Wall
+            -Werror
+            -g
+            -Wno-gnu-variable-sized-type-not-at-end
+            -Wno-unused-function
+            -DSOC_AM243X
+        "
+        linkerBuildOptions="
+            -i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
+            -i${CG_TOOL_ROOT}/lib
+            -m=icss_sdfm_three_channel_with_continuous_mode.${ConfigName}.map
+            --diag_suppress=10063
+            --ram_model
+            --reread_libs
+        "
+
+        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=${CCS_IDE_MODE} DEVICE=am243x"
+
+        enableSysConfigTool="true"
+        sysConfigBuildOptions="
+            --context r5fss0-0 --part ALV --package ALV
+        "
+
+        description="A Icss Sdfm Three Channel With Continuous Mode FREERTOS project">
+
+        <configuration name="Release"
+            compilerBuildOptions="
+                -Os
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.release.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.release.lib
+                -lboard.am243x.r5f.ti-arm-clang.release.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.debug.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.debug.lib
+                -lboard.am243x.r5f.ti-arm-clang.debug.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
+        <file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+        <file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="makefile_ccs_bootimage_gen" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
new file mode 100644
index 0000000..1e56c6d
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
@@ -0,0 +1,151 @@
+
+/* This is the stack that is used by code running within main()
+ * In case of NORTOS,
+ * - This means all the code outside of ISR uses this stack
+ * In case of FreeRTOS
+ * - This means all the code until vTaskStartScheduler() is called in main()
+ *   uses this stack.
+ * - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
+ */
+--stack_size=16384
+/* This is the heap size for malloc() API in NORTOS and FreeRTOS
+ * This is also the heap used by pvPortMalloc in FreeRTOS
+ */
+--heap_size=32768
+-e_vectors  /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
+
+/* This is the size of stack when R5 is in IRQ mode
+ * In NORTOS,
+ * - Here interrupt nesting is enabled
+ * - This is the stack used by ISRs registered as type IRQ
+ * In FreeRTOS,
+ * - Here interrupt nesting is disabled
+ * - This is stack that is used initally when a IRQ is received
+ * - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
+ * - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
+ */
+__IRQ_STACK_SIZE = 256;
+/* This is the size of stack when R5 is in IRQ mode
+ * - In both NORTOS and FreeRTOS nesting is disabled for FIQ
+ */
+__FIQ_STACK_SIZE = 256;
+__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
+__ABORT_STACK_SIZE = 256;  /* This is the size of stack when R5 is in ABORT mode */
+__UNDEFINED_STACK_SIZE = 256;  /* This is the size of stack when R5 is in UNDEF mode */
+
+SECTIONS
+{
+    /* This has the R5F entry point and vector table, this MUST be at 0x0 */
+    .vectors:{} palign(8) > R5F_VECS
+
+    /* This has the R5F boot code until MPU is enabled,  this MUST be at a address < 0x80000000
+     * i.e this cannot be placed in DDR
+     */
+    GROUP {
+        .text.hwi: palign(8)
+        .text.cache: palign(8)
+        .text.mpu: palign(8)
+        .text.boot: palign(8)
+        .text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
+    } > MSRAM
+
+    /* This is rest of code. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .text:   {} palign(8)   /* This is where code resides */
+        .rodata: {} palign(8)   /* This is where const's go */
+    } > MSRAM
+
+    /* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .data:   {} palign(8)   /* This is where initialized globals and static go */
+    } > MSRAM
+
+    /* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .bss:    {} palign(8)   /* This is where uninitialized globals go */
+        RUN_START(__BSS_START)
+        RUN_END(__BSS_END)
+        .sysmem: {} palign(8)   /* This is where the malloc heap goes */
+        .stack:  {} palign(8)   /* This is where the main() stack goes */
+    } > MSRAM
+
+    /* This is where the stacks for different R5F modes go */
+    GROUP {
+        .irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
+        RUN_START(__IRQ_STACK_START)
+        RUN_END(__IRQ_STACK_END)
+        .fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
+        RUN_START(__FIQ_STACK_START)
+        RUN_END(__FIQ_STACK_END)
+        .svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
+        RUN_START(__SVC_STACK_START)
+        RUN_END(__SVC_STACK_END)
+        .abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
+        RUN_START(__ABORT_STACK_START)
+        RUN_END(__ABORT_STACK_END)
+        .undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
+        RUN_START(__UNDEFINED_STACK_START)
+        RUN_END(__UNDEFINED_STACK_END)
+    } > MSRAM
+
+    /* Sections needed for C++ projects */
+    GROUP {
+        .ARM.exidx:  {} palign(8)   /* Needed for C++ exception handling */
+        .init_array: {} palign(8)   /* Contains function pointers called before main */
+        .fini_array: {} palign(8)   /* Contains function pointers called after main */
+    } > MSRAM
+
+    /* General purpose user shared memory, used in some examples */
+    .bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
+    /* this is used when Debug log's to shared memory are enabled, else this is not used */
+    .bss.log_shared_mem  (NOLOAD) : {} > LOG_SHM_MEM
+    /* this is used only when IPC RPMessage is enabled, else this is not used */
+    .bss.ipc_vring_mem   (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
+    /* General purpose non cacheable memory, used in some examples */
+    .bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
+
+    /* TCM used by ICSS PRU to write sdfm sample output */
+    .gSdfmSampleOutput       			: {} align(4) > R5F_TCMB0
+}
+
+/*
+NOTE: Below memory is reserved for DMSC usage
+ - During Boot till security handoff is complete
+   0x701E0000 - 0x701FFFFF (128KB)
+ - After "Security Handoff" is complete (i.e at run time)
+   0x701F4000 - 0x701FFFFF (48KB)
+
+ Security handoff is complete when this message is sent to the DMSC,
+   TISCI_MSG_SEC_HANDOVER
+
+ This should be sent once all cores are loaded and all application
+ specific firewall calls are setup.
+*/
+
+MEMORY
+{
+    R5F_VECS  : ORIGIN = 0x00000000 , LENGTH = 0x00000040
+    R5F_TCMA  : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
+    R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
+
+    /* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
+    NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
+
+    /* when using multi-core application's i.e more than one R5F/M4F active, make sure
+     * this memory does not overlap with other R5F's
+     */
+    MSRAM     : ORIGIN = 0x70080000 , LENGTH = 0x40000
+
+    /* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
+     * other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
+     */
+    FLASH     : ORIGIN = 0x60100000 , LENGTH = 0x80000
+
+    /* shared memory segments */
+    /* On R5F,
+     * - make sure there is a MPU entry which maps below regions as non-cache
+     */
+    USER_SHM_MEM            : ORIGIN = 0x701D0000, LENGTH = 0x180
+    LOG_SHM_MEM             : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
+    RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
+}
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
new file mode 100644
index 0000000..f5f06aa
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -0,0 +1,320 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+include $(MOTOR_CONTROL_SDK_PATH)/devconfig/devconfig.mak
+
+CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
+
+CC=$(CG_TOOL_ROOT)/bin/tiarmclang
+LNK=$(CG_TOOL_ROOT)/bin/tiarmclang
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+PROFILE?=release
+ConfigName:=$(PROFILE)
+
+OUTNAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).out
+
+BOOTIMAGE_PATH=$(abspath .)
+BOOTIMAGE_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage
+BOOTIMAGE_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.signed
+BOOTIMAGE_RPRC_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_tmp
+BOOTIMAGE_NAME_HS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs
+BOOTIMAGE_NAME_HS_FS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
+TARGETS := $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+   TARGETS += $(BOOTIMAGE_NAME_HS)
+endif
+
+FILES_common := \
+	app_sdfm.c \
+	epwm_dc.c \
+	epwm_drv_aux.c \
+	epwm_mod.c \
+	sdfm_example.c \
+	main.c \
+	ti_drivers_config.c \
+	ti_drivers_open_close.c \
+	ti_board_config.c \
+	ti_board_open_close.c \
+	ti_dpl_config.c \
+	ti_pinmux_config.c \
+	ti_power_clock_config.c \
+
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
+	generated \
+
+INCLUDES_common := \
+	-I${CG_TOOL_ROOT}/include/c \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/source \
+	-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/current_sense/sdfm/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
+	-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
+	-Igenerated \
+
+DEFINES_common := \
+	-DSOC_AM243X \
+
+CFLAGS_common := \
+	-mcpu=cortex-r5 \
+	-mfloat-abi=hard \
+	-mfpu=vfpv3-d16 \
+	-mthumb \
+	-Wall \
+	-Werror \
+	-g \
+	-Wno-gnu-variable-sized-type-not-at-end \
+	-Wno-unused-function \
+
+CFLAGS_cpp_common := \
+	-Wno-c99-designator \
+	-Wno-extern-c-compat \
+	-Wno-c++11-narrowing \
+	-Wno-reorder-init-list \
+	-Wno-deprecated-register \
+	-Wno-writable-strings \
+	-Wno-enum-compare \
+	-Wno-reserved-user-defined-literal \
+	-Wno-unused-const-variable \
+	-x c++ \
+
+CFLAGS_debug := \
+	-D_DEBUG_=1 \
+
+CFLAGS_release := \
+	-Os \
+
+LNK_FILES_common = \
+	linker.cmd \
+
+LIBS_PATH_common = \
+	-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	-Wl,-i${CG_TOOL_ROOT}/lib \
+
+LIBS_common = \
+	-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lpruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-llibc.a \
+	-llibsysbm.a \
+
+LFLAGS_common = \
+	-Wl,--diag_suppress=10063 \
+	-Wl,--ram_model \
+	-Wl,--reread_libs \
+
+
+LIBS_NAME = \
+	freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	libc.a \
+	libsysbm.a \
+
+LIBS_PATH_NAME = \
+	${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/current_sense/sdfm/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	${CG_TOOL_ROOT}/lib \
+
+FILES := $(FILES_common) $(FILES_$(PROFILE))
+ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
+FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
+CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
+DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
+INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
+LIBS := $(LIBS_common) $(LIBS_$(PROFILE))
+LIBS_PATH := $(LIBS_PATH_common) $(LIBS_PATH_$(PROFILE))
+LFLAGS := $(LFLAGS_common) $(LFLAGS_$(PROFILE))
+LNKOPTFLAGS := $(LNKOPTFLAGS_common) $(LNKOPTFLAGS_$(PROFILE))
+LNK_FILES := $(LNK_FILES_common) $(LNK_FILES_$(PROFILE))
+
+OBJDIR := obj/$(PROFILE)/
+OBJS := $(FILES:%.c=%.obj)
+OBJS += $(ASMFILES:%.S=%.obj)
+DEPS := $(FILES:%.c=%.d)
+
+vpath %.obj $(OBJDIR)
+vpath %.c $(FILES_PATH)
+vpath %.S $(FILES_PATH)
+vpath %.lib $(LIBS_PATH_NAME)
+vpath %.a $(LIBS_PATH_NAME)
+
+$(OBJDIR)/%.obj %.obj: %.c
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
+	$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
+
+$(OBJDIR)/%.obj %.obj: %.S
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
+	$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
+
+all: $(TARGETS)
+
+SYSCFG_GEN_FILES=generated/ti_drivers_config.c generated/ti_drivers_config.h
+SYSCFG_GEN_FILES+=generated/ti_drivers_open_close.c generated/ti_drivers_open_close.h
+SYSCFG_GEN_FILES+=generated/ti_dpl_config.c generated/ti_dpl_config.h
+SYSCFG_GEN_FILES+=generated/ti_pinmux_config.c generated/ti_power_clock_config.c
+SYSCFG_GEN_FILES+=generated/ti_board_config.c generated/ti_board_config.h
+SYSCFG_GEN_FILES+=generated/ti_board_open_close.c generated/ti_board_open_close.h
+
+$(OUTNAME): syscfg $(SYSCFG_GEN_FILES) $(OBJS) $(LNK_FILES) $(LIBS_NAME)
+	@echo  .
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ ...
+	$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
+	@echo  .
+
+clean:
+	@echo  Cleaning: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
+	$(RMDIR) $(OBJDIR)
+	$(RM) $(OUTNAME)
+	$(RM) $(BOOTIMAGE_NAME)
+	$(RM) $(BOOTIMAGE_NAME_XIP)
+	$(RM) $(BOOTIMAGE_NAME_SIGNED)
+	$(RM) $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
+	$(RMDIR) generated/
+
+scrub:
+	@echo  Scrubing: am243x:r5fss0-0:freertos:ti-arm-clang icss_sdfm_three_channel_with_continuous_mode ...
+	$(RMDIR) obj
+ifeq ($(OS),Windows_NT)
+	$(RM) \*.out
+	$(RM) \*.map
+	$(RM) \*.appimage*
+	$(RM) \*.rprc*
+	$(RM) \*.tiimage*
+	$(RM) \*.bin
+else
+	$(RM) *.out
+	$(RM) *.map
+	$(RM) *.appimage*
+	$(RM) *.rprc*
+	$(RM) *.tiimage*
+	$(RM) *.bin
+endif
+	$(RMDIR) generated
+
+$(OBJS): | $(OBJDIR)
+
+$(OBJDIR):
+	$(MKDIR) $@
+
+
+.NOTPARALLEL:
+
+.INTERMEDIATE: syscfg
+$(SYSCFG_GEN_FILES): syscfg
+
+syscfg: ../example.syscfg
+	@echo Generating SysConfig files ...
+	$(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 $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+$(BOOTIMAGE_NAME): $(OUTNAME)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
+ifneq ($(OS),Windows_NT)
+	$(CHMOD) a+x $(XIPGEN_CMD)
+endif
+	$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
+	@echo  .
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
+	@echo  .
+
+$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
+	@echo  .
+endif
+-include $(addprefix $(OBJDIR)/, $(DEPS))
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
new file mode 100644
index 0000000..8666cfd
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -0,0 +1,106 @@
+#
+# Auto generated makefile
+#
+
+# Below variables need to be defined outside this file or via command line
+# - MOTOR_CONTROL_SDK_PATH
+# - PROFILE
+# - CG_TOOL_ROOT
+# - OUTNAME
+# - CCS_INSTALL_DIR
+# - CCS_IDE_MODE
+
+CCS_PATH=$(CCS_INSTALL_DIR)
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+OUTFILE=$(PROFILE)/$(OUTNAME).out
+BOOTIMAGE_PATH=$(abspath ${PROFILE})
+BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
+BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
+BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0)  \
+
+all:
+ifeq ($(CCS_IDE_MODE),cloud)
+#	No post build steps
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME)  ...
+	$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
+ifeq ($(DEVICE_TYPE),HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+endif
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
+	@echo  .
+ifeq ($(DEVICE_TYPE),HS)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
+	@echo  .
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
+	@echo  .
+endif
+endif
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
new file mode 100644
index 0000000..dce325d
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
new file mode 100644
index 0000000..d46875e
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/example.syscfg b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/example.syscfg
new file mode 100644
index 0000000..dc22fa5
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/example.syscfg
@@ -0,0 +1,133 @@
+/**
+ * These arguments were used when this file was generated. They will be automatically applied on subsequent loads
+ * via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
+ * @cliArgs --device "AM243x_ALX_beta" --package "ALX" --part "ALX" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
+ * @versions {"tool":"1.18.0+3266"}
+ */
+
+/**
+ * Import the modules used in this configuration.
+ */
+const sdfm       = scripting.addModule("/current_sense/sdfm", {}, false);
+const sdfm1      = sdfm.addInstance();
+const epwm       = scripting.addModule("/drivers/epwm/epwm", {}, false);
+const epwm1      = epwm.addInstance();
+const epwm2      = epwm.addInstance();
+const gpio       = scripting.addModule("/drivers/gpio/gpio", {}, false);
+const gpio1      = gpio.addInstance();
+const gpio2      = gpio.addInstance();
+const gpio3      = gpio.addInstance();
+const gpio4      = gpio.addInstance();
+const pruicss    = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
+const pruicss1   = pruicss.addInstance();
+const debug_log  = scripting.addModule("/kernel/dpl/debug_log");
+const mpu_armv7  = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
+const mpu_armv71 = mpu_armv7.addInstance();
+const mpu_armv72 = mpu_armv7.addInstance();
+const mpu_armv73 = mpu_armv7.addInstance();
+const mpu_armv74 = mpu_armv7.addInstance();
+const mpu_armv75 = mpu_armv7.addInstance();
+const pwm        = scripting.addModule("/pru_icssg/pwm", {}, false);
+const pwm1       = pwm.addInstance();
+
+/**
+ * Write custom configuration values to the imported modules.
+ */
+sdfm1.$name = "CONFIG_SDFM0";
+
+epwm1.$name            = "CONFIG_EPWM0";
+epwm1.EPWM.$assign     = "EHRPWM0";
+epwm1.EPWM.SYNCI.$used = false;
+
+epwm2.$name              = "CONFIG_EPWM1";
+epwm2.EPWM.SYNCO.$assign = "GPMC0_AD1";
+epwm2.EPWM.SYNCO.$used   = false;
+epwm2.EPWM.SYNCI.$used   = false;
+
+gpio1.$name                    = "GPIO_MTR_1_PWM_EN";
+gpio1.pinDir                   = "OUTPUT";
+gpio1.useMcuDomainPeripherals  = true;
+gpio1.MCU_GPIO.gpioPin.$assign = "MCU_UART0_RXD";
+
+gpio2.pinDir               = "OUTPUT";
+gpio2.$name                = "GPIO_ZC_TH_CH0";
+gpio2.GPIO.$assign         = "GPIO0";
+gpio2.GPIO.gpioPin.rx      = false;
+gpio2.GPIO.gpioPin.$assign = "PRG1_PRU0_GPO18";
+
+gpio3.pinDir               = "OUTPUT";
+gpio3.$name                = "GPIO_ZC_TH_CH1";
+gpio3.GPIO.gpioPin.rx      = false;
+gpio3.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO2";
+
+gpio4.pinDir               = "OUTPUT";
+gpio4.$name                = "GPIO_ZC_TH_CH2";
+gpio4.GPIO.gpioPin.rx      = false;
+gpio4.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO1";
+
+pruicss1.$name                                                                    = "CONFIG_PRU_ICSS0";
+pruicss1.coreClk                                                                  = 300000000;
+pruicss1.iepClk                                                                   = 300000000;
+sdfm1.pru                                                                         = pruicss1;
+pruicss1.AdditionalICSSSettings[0].$name                                          = "CONFIG_PRU_ICSS_IO0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO.create(1);
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].$name                             = "CONFIG_PRU_ICSS_ECAP_IO0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$used = true;
+
+debug_log.enableUartLog        = true;
+debug_log.uartLog.$name        = "CONFIG_UART_CONSOLE";
+debug_log.uartLog.UART.$assign = "USART0";
+
+mpu_armv71.$name             = "CONFIG_MPU_REGION0";
+mpu_armv71.size              = 31;
+mpu_armv71.attributes        = "Device";
+mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv71.allowExecute      = false;
+
+mpu_armv72.$name             = "CONFIG_MPU_REGION1";
+mpu_armv72.size              = 15;
+mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv73.$name             = "CONFIG_MPU_REGION2";
+mpu_armv73.baseAddr          = 0x41010000;
+mpu_armv73.size              = 15;
+mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
+
+mpu_armv74.$name             = "CONFIG_MPU_REGION3";
+mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
+mpu_armv74.baseAddr          = 0x70000000;
+mpu_armv74.size              = 21;
+
+mpu_armv75.$name             = "CONFIG_MPU_REGION4";
+mpu_armv75.baseAddr          = 0x60000000;
+mpu_armv75.size              = 28;
+mpu_armv75.accessPermissions = "Supervisor RD, User RD";
+
+pwm1.$name                       = "CONFIG_PRU_ICSS_PWM0";
+pwm1.PRU_ICSSG0_PWM.$assign      = "PRU_ICSSG0_PWM0";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$used = true;
+
+/**
+ * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
+ * version of the tool will not impact the pinmux you originally saw.  These lines can be completely deleted in order to
+ * re-solve from scratch.
+ */
+sdfm1.PRU_ICSSG0_PRU.$suggestSolution                                                        = "PRU_ICSSG0_PRU0";
+sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution                                                  = "PRG0_PRU0_GPO16";
+sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution                                                   = "PRG0_PRU0_GPO1";
+sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution                                                   = "PRG0_PRU0_GPO3";
+sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution                                                   = "PRG0_PRU0_GPO5";
+epwm1.EPWM.A.$suggestSolution                                                                = "GPMC0_AD3";
+epwm1.EPWM.B.$suggestSolution                                                                = "GPMC0_AD4";
+epwm1.EPWM.SYNCO.$suggestSolution                                                            = "GPMC0_AD1";
+epwm2.EPWM.$suggestSolution                                                                  = "EHRPWM1";
+epwm2.EPWM.A.$suggestSolution                                                                = "GPMC0_AD5";
+epwm2.EPWM.B.$suggestSolution                                                                = "GPMC0_AD6";
+gpio1.MCU_GPIO.$suggestSolution                                                              = "MCU_GPIO0";
+gpio3.GPIO.$suggestSolution                                                                  = "GPIO1";
+gpio4.GPIO.$suggestSolution                                                                  = "GPIO1";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.$suggestSolution             = "PRU_ICSSG0_ECAP0";
+pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$suggestSolution = "PRG0_PRU1_GPO15";
+debug_log.uartLog.UART.RXD.$suggestSolution                                                  = "UART0_RXD";
+debug_log.uartLog.UART.TXD.$suggestSolution                                                  = "UART0_TXD";
+pwm1.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution                                                  = "PRG0_PRU0_GPO19";
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/main.c b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/main.c
new file mode 100644
index 0000000..4268e23
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/main.c
@@ -0,0 +1,84 @@
+/*
+ *  Copyright (C) 2018-2021 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdlib.h>
+#include <kernel/dpl/DebugP.h>
+#include "ti_drivers_config.h"
+#include "ti_board_config.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define MAIN_TASK_PRI  (configMAX_PRIORITIES-1)
+
+#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
+StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
+
+StaticTask_t gMainTaskObj;
+TaskHandle_t gMainTask;
+
+void sdfm_main(void *args);
+
+void freertos_main(void *args)
+{
+    sdfm_main(NULL);
+
+    vTaskDelete(NULL);
+}
+
+
+int main(void)
+{
+    /* init SOC specific modules */
+    System_init();
+    Board_init();
+
+    /* This task is created at highest priority, it should create more tasks and then delete itself */
+    gMainTask = xTaskCreateStatic( freertos_main,   /* Pointer to the function that implements the task. */
+                                  "freertos_main", /* Text name for the task.  This is to facilitate debugging only. */
+                                  MAIN_TASK_SIZE,  /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
+                                  NULL,            /* We are not using the task parameter. */
+                                  MAIN_TASK_PRI,   /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
+                                  gMainTaskStack,  /* pointer to stack base */
+                                  &gMainTaskObj ); /* pointer to statically allocated task object memory */
+    configASSERT(gMainTask != NULL);
+
+    /* Start the scheduler to start the tasks executing. */
+    vTaskStartScheduler();
+
+    /* The following line should never be reached because vTaskStartScheduler()
+    will only return if there was not enough FreeRTOS heap memory available to
+    create the Idle and (if configured) Timer tasks.  Heap management, and
+    techniques for trapping heap exhaustion, are described in the book text. */
+    DebugP_assertNoLog(0);
+
+    return 0;
+}
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
new file mode 100644
index 0000000..9df9b45
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@@ -0,0 +1,128 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="ARM"
+                deviceId="Cortex R.AM2434_ALX"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Icss Sdfm Three Channel With Continuous Mode"
+        name = "icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        configurations="
+                Release,
+                Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TICLANG"
+        cgtVersion="3.2.0"
+        device="Cortex R.AM2434_ALX"
+        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include/c
+            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MOTOR_CONTROL_SDK_PATH}/source
+            -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/current_sense/sdfm/include
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode
+            -I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
+            -I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
+            -mcpu=cortex-r5
+            -mfloat-abi=hard
+            -mfpu=vfpv3-d16
+            -mthumb
+            -Wall
+            -Werror
+            -g
+            -Wno-gnu-variable-sized-type-not-at-end
+            -Wno-unused-function
+            -DSOC_AM243X
+        "
+        linkerBuildOptions="
+            -i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
+            -i${CG_TOOL_ROOT}/lib
+            -m=icss_sdfm_three_channel_with_continuous_mode.${ConfigName}.map
+            --diag_suppress=10063
+            --ram_model
+            --reread_libs
+        "
+
+        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=${CCS_IDE_MODE} DEVICE=am243x"
+
+        enableSysConfigTool="true"
+        sysConfigBuildOptions="
+            --context r5fss0-0 --part ALX --package ALX
+        "
+
+        description="A Icss Sdfm Three Channel With Continuous Mode FREERTOS project">
+
+        <configuration name="Release"
+            compilerBuildOptions="
+                -Os
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.release.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.release.lib
+                -lboard.am243x.r5f.ti-arm-clang.release.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+                -lfreertos.am243x.r5f.ti-arm-clang.debug.lib
+                -ldrivers.am243x.r5f.ti-arm-clang.debug.lib
+                -lboard.am243x.r5f.ti-arm-clang.debug.lib
+                -lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
+                -lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
+                -llibc.a
+                -llibsysbm.a
+            "
+        ></configuration>
+        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
+        <file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+        <file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="makefile_ccs_bootimage_gen" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/linker.cmd b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/linker.cmd
new file mode 100644
index 0000000..1e56c6d
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/linker.cmd
@@ -0,0 +1,151 @@
+
+/* This is the stack that is used by code running within main()
+ * In case of NORTOS,
+ * - This means all the code outside of ISR uses this stack
+ * In case of FreeRTOS
+ * - This means all the code until vTaskStartScheduler() is called in main()
+ *   uses this stack.
+ * - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
+ */
+--stack_size=16384
+/* This is the heap size for malloc() API in NORTOS and FreeRTOS
+ * This is also the heap used by pvPortMalloc in FreeRTOS
+ */
+--heap_size=32768
+-e_vectors  /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
+
+/* This is the size of stack when R5 is in IRQ mode
+ * In NORTOS,
+ * - Here interrupt nesting is enabled
+ * - This is the stack used by ISRs registered as type IRQ
+ * In FreeRTOS,
+ * - Here interrupt nesting is disabled
+ * - This is stack that is used initally when a IRQ is received
+ * - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
+ * - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
+ */
+__IRQ_STACK_SIZE = 256;
+/* This is the size of stack when R5 is in IRQ mode
+ * - In both NORTOS and FreeRTOS nesting is disabled for FIQ
+ */
+__FIQ_STACK_SIZE = 256;
+__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
+__ABORT_STACK_SIZE = 256;  /* This is the size of stack when R5 is in ABORT mode */
+__UNDEFINED_STACK_SIZE = 256;  /* This is the size of stack when R5 is in UNDEF mode */
+
+SECTIONS
+{
+    /* This has the R5F entry point and vector table, this MUST be at 0x0 */
+    .vectors:{} palign(8) > R5F_VECS
+
+    /* This has the R5F boot code until MPU is enabled,  this MUST be at a address < 0x80000000
+     * i.e this cannot be placed in DDR
+     */
+    GROUP {
+        .text.hwi: palign(8)
+        .text.cache: palign(8)
+        .text.mpu: palign(8)
+        .text.boot: palign(8)
+        .text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
+    } > MSRAM
+
+    /* This is rest of code. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .text:   {} palign(8)   /* This is where code resides */
+        .rodata: {} palign(8)   /* This is where const's go */
+    } > MSRAM
+
+    /* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .data:   {} palign(8)   /* This is where initialized globals and static go */
+    } > MSRAM
+
+    /* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
+    GROUP {
+        .bss:    {} palign(8)   /* This is where uninitialized globals go */
+        RUN_START(__BSS_START)
+        RUN_END(__BSS_END)
+        .sysmem: {} palign(8)   /* This is where the malloc heap goes */
+        .stack:  {} palign(8)   /* This is where the main() stack goes */
+    } > MSRAM
+
+    /* This is where the stacks for different R5F modes go */
+    GROUP {
+        .irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
+        RUN_START(__IRQ_STACK_START)
+        RUN_END(__IRQ_STACK_END)
+        .fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
+        RUN_START(__FIQ_STACK_START)
+        RUN_END(__FIQ_STACK_END)
+        .svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
+        RUN_START(__SVC_STACK_START)
+        RUN_END(__SVC_STACK_END)
+        .abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
+        RUN_START(__ABORT_STACK_START)
+        RUN_END(__ABORT_STACK_END)
+        .undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
+        RUN_START(__UNDEFINED_STACK_START)
+        RUN_END(__UNDEFINED_STACK_END)
+    } > MSRAM
+
+    /* Sections needed for C++ projects */
+    GROUP {
+        .ARM.exidx:  {} palign(8)   /* Needed for C++ exception handling */
+        .init_array: {} palign(8)   /* Contains function pointers called before main */
+        .fini_array: {} palign(8)   /* Contains function pointers called after main */
+    } > MSRAM
+
+    /* General purpose user shared memory, used in some examples */
+    .bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
+    /* this is used when Debug log's to shared memory are enabled, else this is not used */
+    .bss.log_shared_mem  (NOLOAD) : {} > LOG_SHM_MEM
+    /* this is used only when IPC RPMessage is enabled, else this is not used */
+    .bss.ipc_vring_mem   (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
+    /* General purpose non cacheable memory, used in some examples */
+    .bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
+
+    /* TCM used by ICSS PRU to write sdfm sample output */
+    .gSdfmSampleOutput       			: {} align(4) > R5F_TCMB0
+}
+
+/*
+NOTE: Below memory is reserved for DMSC usage
+ - During Boot till security handoff is complete
+   0x701E0000 - 0x701FFFFF (128KB)
+ - After "Security Handoff" is complete (i.e at run time)
+   0x701F4000 - 0x701FFFFF (48KB)
+
+ Security handoff is complete when this message is sent to the DMSC,
+   TISCI_MSG_SEC_HANDOVER
+
+ This should be sent once all cores are loaded and all application
+ specific firewall calls are setup.
+*/
+
+MEMORY
+{
+    R5F_VECS  : ORIGIN = 0x00000000 , LENGTH = 0x00000040
+    R5F_TCMA  : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
+    R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
+
+    /* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
+    NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
+
+    /* when using multi-core application's i.e more than one R5F/M4F active, make sure
+     * this memory does not overlap with other R5F's
+     */
+    MSRAM     : ORIGIN = 0x70080000 , LENGTH = 0x40000
+
+    /* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
+     * other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
+     */
+    FLASH     : ORIGIN = 0x60100000 , LENGTH = 0x80000
+
+    /* shared memory segments */
+    /* On R5F,
+     * - make sure there is a MPU entry which maps below regions as non-cache
+     */
+    USER_SHM_MEM            : ORIGIN = 0x701D0000, LENGTH = 0x180
+    LOG_SHM_MEM             : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
+    RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
+}
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
new file mode 100644
index 0000000..8f2720f
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@@ -0,0 +1,320 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+include $(MOTOR_CONTROL_SDK_PATH)/devconfig/devconfig.mak
+
+CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
+
+CC=$(CG_TOOL_ROOT)/bin/tiarmclang
+LNK=$(CG_TOOL_ROOT)/bin/tiarmclang
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+PROFILE?=release
+ConfigName:=$(PROFILE)
+
+OUTNAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).out
+
+BOOTIMAGE_PATH=$(abspath .)
+BOOTIMAGE_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage
+BOOTIMAGE_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.signed
+BOOTIMAGE_RPRC_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_tmp
+BOOTIMAGE_NAME_HS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs
+BOOTIMAGE_NAME_HS_FS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
+TARGETS := $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+   TARGETS += $(BOOTIMAGE_NAME_HS)
+endif
+
+FILES_common := \
+	app_sdfm.c \
+	epwm_dc.c \
+	epwm_drv_aux.c \
+	epwm_mod.c \
+	sdfm_example.c \
+	main.c \
+	ti_drivers_config.c \
+	ti_drivers_open_close.c \
+	ti_board_config.c \
+	ti_board_open_close.c \
+	ti_dpl_config.c \
+	ti_pinmux_config.c \
+	ti_power_clock_config.c \
+
+FILES_PATH_common = \
+	.. \
+	../../.. \
+	../../../.. \
+	generated \
+
+INCLUDES_common := \
+	-I${CG_TOOL_ROOT}/include/c \
+	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MOTOR_CONTROL_SDK_PATH}/source \
+	-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/current_sense/sdfm/include \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode \
+	-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
+	-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
+	-Igenerated \
+
+DEFINES_common := \
+	-DSOC_AM243X \
+
+CFLAGS_common := \
+	-mcpu=cortex-r5 \
+	-mfloat-abi=hard \
+	-mfpu=vfpv3-d16 \
+	-mthumb \
+	-Wall \
+	-Werror \
+	-g \
+	-Wno-gnu-variable-sized-type-not-at-end \
+	-Wno-unused-function \
+
+CFLAGS_cpp_common := \
+	-Wno-c99-designator \
+	-Wno-extern-c-compat \
+	-Wno-c++11-narrowing \
+	-Wno-reorder-init-list \
+	-Wno-deprecated-register \
+	-Wno-writable-strings \
+	-Wno-enum-compare \
+	-Wno-reserved-user-defined-literal \
+	-Wno-unused-const-variable \
+	-x c++ \
+
+CFLAGS_debug := \
+	-D_DEBUG_=1 \
+
+CFLAGS_release := \
+	-Os \
+
+LNK_FILES_common = \
+	linker.cmd \
+
+LIBS_PATH_common = \
+	-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	-Wl,-i${CG_TOOL_ROOT}/lib \
+
+LIBS_common = \
+	-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-lpruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	-llibc.a \
+	-llibsysbm.a \
+
+LFLAGS_common = \
+	-Wl,--diag_suppress=10063 \
+	-Wl,--ram_model \
+	-Wl,--reread_libs \
+
+
+LIBS_NAME = \
+	freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
+	libc.a \
+	libsysbm.a \
+
+LIBS_PATH_NAME = \
+	${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/current_sense/sdfm/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
+	${CG_TOOL_ROOT}/lib \
+
+FILES := $(FILES_common) $(FILES_$(PROFILE))
+ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
+FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
+CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
+DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
+INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
+LIBS := $(LIBS_common) $(LIBS_$(PROFILE))
+LIBS_PATH := $(LIBS_PATH_common) $(LIBS_PATH_$(PROFILE))
+LFLAGS := $(LFLAGS_common) $(LFLAGS_$(PROFILE))
+LNKOPTFLAGS := $(LNKOPTFLAGS_common) $(LNKOPTFLAGS_$(PROFILE))
+LNK_FILES := $(LNK_FILES_common) $(LNK_FILES_$(PROFILE))
+
+OBJDIR := obj/$(PROFILE)/
+OBJS := $(FILES:%.c=%.obj)
+OBJS += $(ASMFILES:%.S=%.obj)
+DEPS := $(FILES:%.c=%.d)
+
+vpath %.obj $(OBJDIR)
+vpath %.c $(FILES_PATH)
+vpath %.S $(FILES_PATH)
+vpath %.lib $(LIBS_PATH_NAME)
+vpath %.a $(LIBS_PATH_NAME)
+
+$(OBJDIR)/%.obj %.obj: %.c
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
+	$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
+
+$(OBJDIR)/%.obj %.obj: %.S
+	@echo  Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
+	$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
+
+all: $(TARGETS)
+
+SYSCFG_GEN_FILES=generated/ti_drivers_config.c generated/ti_drivers_config.h
+SYSCFG_GEN_FILES+=generated/ti_drivers_open_close.c generated/ti_drivers_open_close.h
+SYSCFG_GEN_FILES+=generated/ti_dpl_config.c generated/ti_dpl_config.h
+SYSCFG_GEN_FILES+=generated/ti_pinmux_config.c generated/ti_power_clock_config.c
+SYSCFG_GEN_FILES+=generated/ti_board_config.c generated/ti_board_config.h
+SYSCFG_GEN_FILES+=generated/ti_board_open_close.c generated/ti_board_open_close.h
+
+$(OUTNAME): syscfg $(SYSCFG_GEN_FILES) $(OBJS) $(LNK_FILES) $(LIBS_NAME)
+	@echo  .
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ ...
+	$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
+	@echo  Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
+	@echo  .
+
+clean:
+	@echo  Cleaning: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
+	$(RMDIR) $(OBJDIR)
+	$(RM) $(OUTNAME)
+	$(RM) $(BOOTIMAGE_NAME)
+	$(RM) $(BOOTIMAGE_NAME_XIP)
+	$(RM) $(BOOTIMAGE_NAME_SIGNED)
+	$(RM) $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
+	$(RMDIR) generated/
+
+scrub:
+	@echo  Scrubing: am243x:r5fss0-0:freertos:ti-arm-clang icss_sdfm_three_channel_with_continuous_mode ...
+	$(RMDIR) obj
+ifeq ($(OS),Windows_NT)
+	$(RM) \*.out
+	$(RM) \*.map
+	$(RM) \*.appimage*
+	$(RM) \*.rprc*
+	$(RM) \*.tiimage*
+	$(RM) \*.bin
+else
+	$(RM) *.out
+	$(RM) *.map
+	$(RM) *.appimage*
+	$(RM) *.rprc*
+	$(RM) *.tiimage*
+	$(RM) *.bin
+endif
+	$(RMDIR) generated
+
+$(OBJS): | $(OBJDIR)
+
+$(OBJDIR):
+	$(MKDIR) $@
+
+
+.NOTPARALLEL:
+
+.INTERMEDIATE: syscfg
+$(SYSCFG_GEN_FILES): syscfg
+
+syscfg: ../example.syscfg
+	@echo Generating SysConfig files ...
+	$(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 $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+$(BOOTIMAGE_NAME): $(OUTNAME)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
+ifneq ($(OS),Windows_NT)
+	$(CHMOD) a+x $(XIPGEN_CMD)
+endif
+	$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
+	@echo  .
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
+	@echo  .
+
+$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
+ifeq ($(DEVICE_TYPE), HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
+	@echo  .
+endif
+-include $(addprefix $(OBJDIR)/, $(DEPS))
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
new file mode 100644
index 0000000..8666cfd
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@@ -0,0 +1,106 @@
+#
+# Auto generated makefile
+#
+
+# Below variables need to be defined outside this file or via command line
+# - MOTOR_CONTROL_SDK_PATH
+# - PROFILE
+# - CG_TOOL_ROOT
+# - OUTNAME
+# - CCS_INSTALL_DIR
+# - CCS_IDE_MODE
+
+CCS_PATH=$(CCS_INSTALL_DIR)
+include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+
+STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
+OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
+ifeq ($(OS), Windows_NT)
+	PYTHON=python
+else
+	PYTHON=python3
+endif
+
+OUTFILE=$(PROFILE)/$(OUTNAME).out
+BOOTIMAGE_PATH=$(abspath ${PROFILE})
+BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
+BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
+BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
+BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
+BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
+BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
+
+#
+# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
+#
+ifeq ($(OS),Windows_NT)
+EXE_EXT=.exe
+endif
+ifeq ($(OS),Windows_NT)
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+else
+  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+endif
+BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
+
+BOOTIMAGE_CORE_ID_r5fss0-0 = 4
+BOOTIMAGE_CORE_ID_r5fss0-1 = 5
+BOOTIMAGE_CORE_ID_r5fss1-0 = 6
+BOOTIMAGE_CORE_ID_r5fss1-1 = 7
+BOOTIMAGE_CORE_ID_m4fss0-0 = 14
+SBL_RUN_ADDRESS=0x70000000
+SBL_DEV_ID=55
+
+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=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+else
+  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+endif
+
+MULTI_CORE_IMAGE_PARAMS = \
+	$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
+
+MULTI_CORE_IMAGE_PARAMS_XIP = \
+	$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0)  \
+
+all:
+ifeq ($(CCS_IDE_MODE),cloud)
+#	No post build steps
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME)  ...
+	$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
+	$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
+	$(RM) $(BOOTIMAGE_RPRC_NAME)
+	$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+	$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
+# Sign the appimage for HS-FS using appimage signing script
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
+ifeq ($(DEVICE_TYPE),HS)
+# Sign the appimage using appimage signing script
+ifeq ($(ENC_ENABLED),no)
+	@echo Boot image signing: Encryption is disabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
+else
+	@echo Boot image signing: Encryption is enabled.
+	$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
+	$(RM) $(BOOTIMAGE_NAME)-enc
+endif
+endif
+	$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
+	@echo  .
+ifeq ($(DEVICE_TYPE),HS)
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
+	@echo  .
+else
+	@echo  Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
+	@echo  .
+endif
+endif
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
new file mode 100644
index 0000000..b072742
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
+include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
new file mode 100644
index 0000000..d46875e
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/app_sdfm.c b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/app_sdfm.c
new file mode 100644
index 0000000..a2e3ee8
--- /dev/null
+++ b/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/app_sdfm.c
@@ -0,0 +1,433 @@
+/*
+ *  Copyright (C) 2023 Texas Instruments Incorporated
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdio.h>
+#include <kernel/dpl/DebugP.h>
+#include <kernel/dpl/AddrTranslateP.h>
+#include <kernel/dpl/HwiP.h>
+#include <drivers/epwm.h>
+#include "ti_drivers_config.h"
+#include "ti_drivers_open_close.h"
+#include "ti_board_open_close.h"
+
+#include "epwm_dc.h"
+#include "sdfm_example.h"
+
+/*EPWM1 configuration for sigma delta clock generation: */
+#define APP_EPWM1_ENABLE  0 /*make sure EPWM1 is added in sysconfig before making true this macro */
+/* Output channel - A or B */
+#define APP_EPWM_OUT_CH_EN              ( 0x1 ) /* ChA enabled */
+
+#define  NUM_CH_SUPPORTED          ( 3 )
+#define ICSSG_PRU_LOAD_SHARE_MODE  ( 0 )
+/* EPWM functional clock */
+/* Functional clock is the same for all EPWMs */
+#define APP_EPWM_FCLK                   ( CONFIG_EPWM0_FCLK )
+
+/* EPWM functional clock dividers */
+#define APP_EPWM_FCLK_HSPCLKDIV         ( 0x0 ) /* EPWM_TBCTL:HSPCLKDIV, High-Speed Time-base Clock Prescale Bits */
+#define APP_EPWM_FCLK_CLKDIV            ( 0x0 ) /* EPWM_TBCTL:CLKDIV, Time-base Clock Prescale Bits */
+
+#if (APP_EPWM_FCLK_HSPCLKDIV != 0x0)
+/* EPWM Time Base clock -- all EPWM TB clocks set the same */
+#define APP_EPWM_TB_FREQ               ( APP_EPWM_FCLK / ( 2*APP_EPWM_FCLK_HSPCLKDIV * (1 << APP_EPWM_FCLK_CLKDIV)))
+#else
+/* EPWM Time Base clock -- all EPWM TB clocks set the same */
+#define APP_EPWM_TB_FREQ               ( APP_EPWM_FCLK / ( 1 * (1 << APP_EPWM_FCLK_CLKDIV)))
+#endif
+
+/* Initial Duty Cycle of PWM output signal in %, 0 to 100 */
+#define APP_EPWM0_DUTY_CYCLE            ( 50U )
+
+/* Frequency of PWM output signal in Hz */
+#define APP_EPWM_OUTPUT_FREQ_4K         ( 1U * 4000U )
+#define APP_EPWM_OUTPUT_FREQ_8K         ( 1U * 8000U )
+#define APP_EPWM_OUTPUT_FREQ_16K        ( 1U * 16000U )
+#define APP_EPWM_OUTPUT_FREQ_20K        ( 1U * 20000U )
+#define APP_EPWM_OUTPUT_FREQ            ( APP_EPWM_OUTPUT_FREQ_8K ) /* init freq */
+
+/*sample Read time */
+#define FIRST_SAMPLE_TRIGGER_TIME                ((float)((float)1000000/(4*APP_EPWM_OUTPUT_FREQ))) /*sample trigger time for Single Update */
+
+#define SECOND_SAMPLE_TRIGGER_TIME               ((float)((float)3000000/(4*APP_EPWM_OUTPUT_FREQ))) /*Sample trigger time for double update*/
+
+/* PWM count direction (Up, Down, Up/Down) */
+#define APP_EPWM_TB_COUNTER_DIR         ( EPWM_TB_COUNTER_DIR_UP_DOWN )
+
+/* Test ICSSG instance ID */
+#define TEST_ICSSG_INST_ID              ( CONFIG_PRU_ICSS0 )
+/* Test ICSSG slice ID */
+#define TEST_ICSSG_SLICE_ID             ( ICSSG_SLICE_ID_0 )
+
+/* R5F interrupt settings for ICSSG */
+#define ICSSG_PRU_SDFM_INT_NUM          ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_3 )  /* VIM interrupt number */
+
+/* EPWM0 IRQ handler */
+static void epwmIrqHandler(void *handle);
+
+/* EPWM1 IRQ handler */
+static void epwmIrqHandler1(void *handle);
+
+/* HWI global variables */
+static HwiP_Object gIcssgPruSdfmHwiObject;  /* ICSSG PRU SDFM FW HWI */
+
+#if APP_EPWM1_ENABLE
+#define APP_EPWM_OUTPUT_FREQ1            (1U*20000000 )
+static HwiP_Object gIcssgRtuSDFMHwiObject;  /* ICSSG RTU SDFM FW HWI */
+
+static HwiP_Object gEpwm1HwiObject;         /* EPWM1 HWI */
+
+uint32_t gEpwm1BaseAddr;    /* EPWM1 base address */
+EPwmObj_t gEpwm1Obj;        /* EPWM1 object */
+Epwm_Handle hEpwm1;         /* EPWM1 handle */
+
+volatile uint32_t gEpwmOutFreq1 = APP_EPWM_OUTPUT_FREQ1; /*EPWM1 output freq. */
+
+#endif
+
+static HwiP_Object gEpwm0HwiObject;         /* EPWM0 HWI */
+
+/* EPWM global variables */
+uint32_t gEpwm0BaseAddr;    /* EPWM0 base address */
+EPwmObj_t gEpwm0Obj;        /* EPWM0 object */
+Epwm_Handle hEpwm0;         /* EPWM0 handle */
+
+
+
+volatile uint32_t gEpwmOutFreq = APP_EPWM_OUTPUT_FREQ; /* EPWM output frequency */
+
+
+/* ICSSG PRU SDFM FW IRQ handler */
+static void pruSdfmIrqHandler(void *handle);
+
+
+/* Test ICSSG handle */
+PRUICSS_Handle gPruIcssHandle;
+
+/* Test Sdfm handles */
+sdfm_handle gHPruSdfm;
+
+/* Sdfm output samples, written by PRU cores */
+__attribute__((section(".gSdfmSampleOutput"))) uint32_t gSdfm_sampleOutput[NUM_CH_SUPPORTED];
+
+/* Test Sdfm parameters */
+SdfmPrms gTestSdfmPrms = {
+    0, /*Load share enable*/
+    PRUICSS_PRU0,
+    TEST_ICSSG_SLICE_ID,
+    300000000,   /*PRU core clock*/
+    {300000000, 0},   /*Value of G0IEP0,  second index reserved for G1IEP0 */
+    20000000,    /*Value of SD clock (It should be exact equal to sd clock value)*/
+    0,                        /*enable double update*/
+    FIRST_SAMPLE_TRIGGER_TIME,       /*first sample  trigger time*/
+    SECOND_SAMPLE_TRIGGER_TIME,       /*second sample trigger time*/
+    APP_EPWM_OUTPUT_FREQ,     /*PWM output frequency*/
+    {{3500, 1000,0},    /*threshold parameters(High, low & reserevd)*/
+    {3500, 1000,0},
+    {3500, 1000,0}},
+    {{0,0},                /*clock sourse & clock inversion for all channels*/
+    {0,0},
+    {0,0}},
+    15,   /*Over current osr: The effect count is OSR + 1*/
+    128,   /*Normal current osr */
+    1,   /*comparator enable*/
+    (uint32_t)&gSdfm_sampleOutput, /*Output samples base address*/
+    0,    /*Fast Detect enable */
+    {{4, 18, 2},
+    {4, 18, 2},
+    {4, 18, 2}
+    },   /*Fast detect fields {Window size, zero count max, zero count min}*/
+    0,   /*reserved for phase delay*/
+    0,   /*Enable zero cross*/
+    {1700, 1700, 1700}, /*Zero cross threshold*/
+    1, /*enable continuous mode*/
+};
+
+#define PRUICSS_G_MUX_EN    ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
+
+/* GPIO enable signal for EPWM0-2 on 3-axis breakout board */
+uint32_t gMtr1PwnEnGpioBaseAddr = GPIO_MTR_1_PWM_EN_BASE_ADDR;
+uint32_t gMtr1PwnEnGpioPin      = GPIO_MTR_1_PWM_EN_PIN;
+uint32_t gMtr1PwnEnGpioPinDir   = GPIO_MTR_1_PWM_EN_DIR;
+
+/* Flag for continuing to execute test */
+volatile Bool gRunFlag = TRUE;
+
+
+/* ICSS SDFM Output sample for Channel 0 */
+/*Sample size*/
+#define MAX_SAMPLES (128)
+
+/* ICSS SDFM Output samples */
+uint32_t sdfm_ch_samples[NUM_CH_SUPPORTED][MAX_SAMPLES] = {0};
+uint32_t sdfmPruIdxCnt = 0;
+
+/* IRQ counters */
+volatile uint32_t gPruSdfmIrqCnt=0; /* PRU ICSS SDFM FW IRQ count */
+
+volatile uint32_t gEpwmIsrCnt=0;    /* EPWM0 IRQ count */
+volatile uint32_t gEpwmIsrCnt1=0;
+/*PWM Parameters*/
+HwiP_Params hwiPrms;
+HwiP_Params hwiPrms1;
+EPwmCfgPrms_t epwmCfgPrms;
+EPwmCfgPrms_t epwm1CfgPrms;
+
+void init_pwm()
+{
+    int32_t status;
+    /* Initialize EPWM0 base address, perform address translation */
+    gEpwm0BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM0_BASE_ADDR);
+
+    /* Register & enable EPWM0 interrupt */
+    HwiP_Params_init(&hwiPrms);
+    hwiPrms.intNum      = CONFIG_EPWM0_INTR;
+    hwiPrms.callback    = &epwmIrqHandler;
+    hwiPrms.args        = 0;
+    hwiPrms.isPulse     = CONFIG_EPWM0_INTR_IS_PULSE;
+    hwiPrms.isFIQ       = FALSE;
+    status              = HwiP_construct(&gEpwm0HwiObject, &hwiPrms);
+    DebugP_assert(status == SystemP_SUCCESS);
+
+    /* Configure EPWM0 */
+    epwmCfgPrms.epwmId = EPWM_ID_0;
+    epwmCfgPrms.epwmBaseAddr = gEpwm0BaseAddr;
+    epwmCfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
+    epwmCfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
+    epwmCfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
+    epwmCfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
+    epwmCfgPrms.epwmOutFreq = gEpwmOutFreq;
+    epwmCfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
+    epwmCfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
+    epwmCfgPrms.cfgTbSyncIn = TRUE;
+    epwmCfgPrms.tbPhsValue = 0;
+    epwmCfgPrms.tbSyncInCounterDir = EPWM_TB_COUNTER_DIR_UP;
+    epwmCfgPrms.cfgTbSyncOut = TRUE;
+    epwmCfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
+    epwmCfgPrms.cfgDb = FALSE;
+    epwmCfgPrms.cfgEt = TRUE;
+    epwmCfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
+    epwmCfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
+    hEpwm0 = epwmInit(&epwmCfgPrms, &gEpwm0Obj);
+    DebugP_assert(hEpwm0 != NULL);
+
+#if APP_EPWM1_ENABLE  // DEBUG code for SDFM clock generation from EPWM1
+    /* EPWM1 for SD clock generation */
+    /* Initialize EPWM1 base address, perform address translation */
+    gEpwm1BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM1_BASE_ADDR);
+    /* Register & enable EPWM0 interrupt */
+    HwiP_Params_init(&hwiPrms1);
+    hwiPrms1.intNum      = CONFIG_EPWM1_INTR;
+    hwiPrms1.callback    = &epwmIrqHandler1;
+    hwiPrms1.args        = 0;
+    hwiPrms1.isPulse     = CONFIG_EPWM1_INTR_IS_PULSE;
+    hwiPrms1.isFIQ       = FALSE;
+    status              = HwiP_construct(&gEpwm1HwiObject, &hwiPrms1);
+    DebugP_assert(status == SystemP_SUCCESS);
+    /* Configure EPWM0 */
+    epwm1CfgPrms.epwmId = EPWM_ID_1;
+    epwm1CfgPrms.epwmBaseAddr = gEpwm1BaseAddr;
+    epwm1CfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
+    epwm1CfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
+    epwm1CfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
+    epwm1CfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
+    epwm1CfgPrms.epwmOutFreq = gEpwmOutFreq1;
+    epwm1CfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
+    epwm1CfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
+    epwm1CfgPrms.cfgTbSyncIn = FALSE;
+    epwm1CfgPrms.tbPhsValue = 0;
+    epwm1CfgPrms.cfgTbSyncOut = FALSE;
+    epwm1CfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
+    epwm1CfgPrms.cfgDb = FALSE;
+    epwm1CfgPrms.cfgEt = FALSE;
+    epwm1CfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
+    epwm1CfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
+    hEpwm1 = epwmInit(&epwm1CfgPrms, &gEpwm1Obj);
+    DebugP_assert(hEpwm1 != NULL);
+#endif 
+}
+
+void init_sdfm()
+{
+    int32_t status;
+    /* Initialize ICSSG */
+    status = initIcss(TEST_ICSSG_INST_ID, TEST_ICSSG_SLICE_ID, PRUICSS_G_MUX_EN, ICSSG_PRU_LOAD_SHARE_MODE, &gPruIcssHandle);
+    if (status != SDFM_ERR_NERR) {
+        DebugP_log("Error: initIcss() fail.\r\n");
+        return;
+    }
+     
+    /* Register & enable ICSSG PRU SDFM FW interrupt */
+    HwiP_Params_init(&hwiPrms);
+    hwiPrms.intNum      = ICSSG_PRU_SDFM_INT_NUM;
+    hwiPrms.callback    = &pruSdfmIrqHandler;
+    hwiPrms.args        = 0;
+    hwiPrms.isPulse     = FALSE;
+    hwiPrms.isFIQ       = FALSE;
+    status              = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
+    DebugP_assert(status == SystemP_SUCCESS);
+
+    /* Initialize PRU cores for SDFM */
+    status = initPruSdfm(gPruIcssHandle, PRUICSS_PRU0, &gTestSdfmPrms, &gHPruSdfm);
+    if (status != SDFM_ERR_NERR) 
+    {
+        DebugP_log("Error: initPruSdfm() fail.\r\n");
+        return;
+    }
+}
+void sdfm_main(void *args)
+{
+
+    /* Open drivers to open the UART driver for console */
+    Drivers_open();
+    Board_driversOpen();
+
+    DebugP_log("Sample SDFM example running!...\r\n");
+
+    /* Output build time */
+    DebugP_log("Build timestamp      : %s %s\r\n", __DATE__, __TIME__);
+
+
+    /* Enable EPWM0-2 on 3-axis Breakout Board */
+    GPIO_setDirMode(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin, gMtr1PwnEnGpioPinDir);
+    GPIO_pinWriteHigh(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
+    GPIO_pinWriteLow(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
+
+    /*
+     *  Configure EPWM0
+     */
+    init_pwm();
+    DebugP_log("EPWM Configured!\r\n");
+    
+    /* Configure SDFM */
+    init_sdfm();
+    DebugP_log("SDFM Configured!\r\n");
+    
+    /* Start EPWM0 clock */
+    CSL_REG32_WR(CSL_CTRL_MMR0_CFG0_BASE + CSL_MAIN_CTRL_MMR_CFG0_EPWM_TB_CLKEN, 1);
+
+    /* Force SW sync for EPWM0 */
+    EPWM_tbTriggerSwSync(gEpwm0BaseAddr);
+
+    while(gRunFlag == TRUE)
+    {
+        ;
+    }
+
+    /* Disable and clear interrupts for EPWM0 */
+    EPWM_etIntrDisable(gEpwm0BaseAddr); /* Disable interrupts */
+    EPWM_etIntrClear(gEpwm0BaseAddr);   /* Clear pending interrupts */
+
+    /* Destroy EPWM0 HWI */
+    HwiP_destruct(&gEpwm0HwiObject);
+
+    /* Destroy PRU SDFM HWI */
+    HwiP_destruct(&gIcssgPruSdfmHwiObject);
+
+    DebugP_log("All tests have passed!!\r\n");
+
+    Board_driversClose();
+    Drivers_close();
+}
+
+/* PRU SDFM FW IRQ handler */
+void pruSdfmIrqHandler(void *args)
+{
+    /* debug, inncrement PRU SDFM IRQ count */
+    gPruSdfmIrqCnt++;
+    /* Clear interrupt at source */
+    /* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
+        Firmware:   TRIGGER_HOST_SDFM_IRQ defined as 18
+        18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
+    */
+    PRUICSS_clearEvent(gPruIcssHandle, PRU_TRIGGER_HOST_SDFM_EVT);
+
+    if(sdfmPruIdxCnt >= MAX_SAMPLES)
+    {
+        sdfmPruIdxCnt = 0;      
+    }
+
+    /* SDFM Output sample for Channel 0 */
+    sdfm_ch_samples[SDFM_CH0][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
+    /* SDFM Output sample for Channel 1 */
+    sdfm_ch_samples[SDFM_CH1][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
+    /* SDFM Output sample for Channel 2 */
+    sdfm_ch_samples[SDFM_CH2][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
+
+    sdfmPruIdxCnt++;
+}
+
+/* EPWM0 IRQ handler */
+static void epwmIrqHandler(void *args)
+{
+    volatile uint16_t status;
+
+    /* debug, inncrement EPWM0 IRQ count */
+    gEpwmIsrCnt++;
+
+    status = EPWM_etIntrStatus(gEpwm0BaseAddr);
+    if(status & EPWM_ETFLG_INT_MASK) 
+    {
+        EPWM_etIntrClear(gEpwm0BaseAddr);
+    }
+    return;
+}
+
+#if APP_EPWM1_ENABLE //DEBUG code for EPWM1
+/* EPWM0 IRQ handler */
+static void epwmIrqHandler1(void *args)
+{
+    volatile uint16_t status;
+
+    /* debug, inncrement EPWM0 IRQ count */
+    gEpwmIsrCnt1++;
+
+    status = EPWM_etIntrStatus(gEpwm1BaseAddr);
+    if (status & EPWM_ETFLG_INT_MASK) 
+    {
+        EPWM_etIntrClear(gEpwm0BaseAddr);
+    }
+    return;
+}
+#endif
diff --git a/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/app_sdfm.c b/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/app_sdfm.c
index e738940..5ba77e7 100644
--- a/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/app_sdfm.c
+++ b/examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/app_sdfm.c
@@ -171,6 +171,7 @@ SdfmPrms gTestSdfmPrms = {
     1, /*Phase delay enable*/
     0,   /*Enable zero cross*/
     {1700, 1700, 1700}, /*Zero cross threshold*/
+    0, /*enable continuous mode*/
 };
 
 #define PRUICSS_G_MUX_EN    ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
diff --git a/examples/current_sense/sdfm_example.c b/examples/current_sense/sdfm_example.c
index b01dc88..c8a007e 100644
--- a/examples/current_sense/sdfm_example.c
+++ b/examples/current_sense/sdfm_example.c
@@ -320,6 +320,12 @@ int32_t initSdfmFw(uint8_t pruId, SdfmPrms *pSdfmPrms, sdfm_handle *pHSdfm,  PRU
 
     /*set Noraml current OSR */
     SDFM_setFilterOverSamplingRatio(hSdfm, pSdfmPrms->filterOsr);
+
+    /*Enable Continuous mode*/
+    if(pSdfmPrms->enableContinuousMode)
+    {
+        SDFM_enableContinuousNormalCurrent(hSdfm);
+    }
      
     /*below configuration for all three channel*/
     for(SDFM_CH = 0; SDFM_CH < NUM_CH_SUPPORTED_PER_AXIS; SDFM_CH++)
diff --git a/examples/current_sense/sdfm_example.h b/examples/current_sense/sdfm_example.h
index 7fd28e3..7dfb588 100644
--- a/examples/current_sense/sdfm_example.h
+++ b/examples/current_sense/sdfm_example.h
@@ -177,6 +177,8 @@ typedef struct SdfmPrms_s
     uint8_t enZeroCross;
     /**<Zero cross threshold*/
     uint32_t zcThr[NUM_CH_SUPPORTED_PER_AXIS];
+    /**<enable NC continuous mode*/
+    uint8_t  enableContinuousMode;
 } SdfmPrms;
 
 
diff --git a/makefile.am243x b/makefile.am243x
index 1694f05..4e88379 100644
--- a/makefile.am243x
+++ b/makefile.am243x
@@ -80,8 +80,12 @@ help:
 	@echo  $(MAKE) -s -C examples/position_sense/bissc_diagnostic/multi_channel_single_pru/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
 	@echo  $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@@ -264,8 +268,12 @@ BUILD_COMBO_EXAMPLE_ALL += bissc_diagnostic_multi_channel_load_share_am243x-lp_r
 BUILD_COMBO_EXAMPLE_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang
 BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
 BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
+BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
+BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
 BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
 BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
+BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
+BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
 BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang
 BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang
 BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang
@@ -395,12 +403,24 @@ examples-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_ALL)
  icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
 	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
 
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
+
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
+
  icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
 
  icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
 
+ icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
+
+ icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
+
  icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
 
@@ -521,8 +541,12 @@ BUILD_COMBO_EXAMPLE_CLEAN_ALL += bissc_diagnostic_multi_channel_load_share_am243
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
@@ -652,12 +676,24 @@ examples-private-clean: $(BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL)
  icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
 
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
+
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
+
  icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
 
  icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
 
+ icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
+
+ icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
+
  icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
 
@@ -778,8 +814,12 @@ BUILD_COMBO_EXAMPLE_SCRUB_ALL += bissc_diagnostic_multi_channel_load_share_am243
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
+BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
+BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
+BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
+BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
 BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
@@ -909,12 +949,24 @@ examples-scrub-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL)
  icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
 	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
 
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
+
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
+
  icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
 
  icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
 
+ icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
+
+ icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
+
  icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
 
diff --git a/makefile_projectspec.am243x b/makefile_projectspec.am243x
index cc0e5be..baa6b1e 100644
--- a/makefile_projectspec.am243x
+++ b/makefile_projectspec.am243x
@@ -37,8 +37,12 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += bissc_diagnostic_multi_channel_load
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
@@ -168,12 +172,24 @@ all-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL)
  icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
 	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
 
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
+
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
+
  icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
 
  icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
 
+ icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
+
+ icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
+
  icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
 
@@ -295,8 +311,12 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += bissc_diagnostic_multi_channel_load
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
@@ -426,12 +446,24 @@ clean-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL)
  icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
 
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
+
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
+
  icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
 
  icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
 
+ icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
+
+ icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
+
  icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
 
@@ -553,8 +585,12 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += bissc_diagnostic_multi_channel_loa
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
+BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
 BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
@@ -684,12 +720,24 @@ export-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL)
  icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
 	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
 
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
+
+ icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
+	$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
+
  icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
 
  icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
 
+ icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
+
+ icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
+	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
+
  icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
 	$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
 
@@ -836,8 +884,12 @@ help:
 	@echo  $(MAKE) -s -C examples/position_sense/bissc_diagnostic/multi_channel_single_pru/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
+	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
 	@echo  $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
diff --git a/source/current_sense/sdfm/firmware/firmware_version.h b/source/current_sense/sdfm/firmware/firmware_version.h
index 6c3c353..f022a45 100644
--- a/source/current_sense/sdfm/firmware/firmware_version.h
+++ b/source/current_sense/sdfm/firmware/firmware_version.h
@@ -62,7 +62,7 @@ FIRMWARE_VERSION_REVISION	.set		0x01
 ;  bit23..16		major number
 FIRMWARE_VERSION_MAJOR	.set			0x01
 ;  bit15..0		minor number
-FIRMWARE_VERSION_MINOR	.set			0x0001
+FIRMWARE_VERSION_MINOR	.set			0x0002
 
 ICSS_FIRMWARE_RELEASE_1	.set	((FIRMWARE_DEVICE_AM64x_AM243x << 8) | (FIRMWARE_PROTOCOL_TYPE_SDFM << 0))
 ICSS_FIRMWARE_RELEASE_2	.set ((FIRMWARE_VERSION_RELEASE << 31) | (FIRMWARE_VERSION_REVISION << 24) | (FIRMWARE_VERSION_MAJOR << 16) | (FIRMWARE_VERSION_MINOR << 0))
diff --git a/source/current_sense/sdfm/firmware/sdfm.asm b/source/current_sense/sdfm/firmware/sdfm.asm
index e16a36f..9176264 100644
--- a/source/current_sense/sdfm/firmware/sdfm.asm
+++ b/source/current_sense/sdfm/firmware/sdfm.asm
@@ -159,9 +159,6 @@ INIT_SDFM:
     ;Enable Task Manager
     M_PRU_TM_ENABLE  
 
-    ;Initialize IEP0
-    JAL     RET_ADDR_REG, FN_IEP0_INIT
-   
     .if $isdefed("SDFM_PRU_CORE")
     ;Initialize SD mode
     LDI32   TEMP_REG1, PR1_PRUn_GP_MUX_SEL_VAL<<PR1_PRUn_GP_MUX_SEL_SHIFT
@@ -238,6 +235,9 @@ INIT_SDFM_CONT:
     OR    TEMP_REG0.w2, TEMP_REG0.w2, TEMP_REG0.w0
     MOV   ZERO_CROSS_EN, TEMP_REG0.w2
 
+    ;Initialize IEP0
+    JAL     RET_ADDR_REG, FN_IEP0_INIT
+
     .if $isdefed("SDFM_PRU_CORE") 
     ; Start IEP
     LBCO    &TEMP_REG0.b0, CT_PRU_ICSSG_IEP0, ICSSG_IEP_GLOBAL_CFG_REG, 1
diff --git a/source/current_sense/sdfm/firmware/sdfm_bin.h b/source/current_sense/sdfm/firmware/sdfm_bin.h
index 92145fc..81ddcfb 100644
--- a/source/current_sense/sdfm/firmware/sdfm_bin.h
+++ b/source/current_sense/sdfm/firmware/sdfm_bin.h
@@ -57,7 +57,7 @@ const uint32_t SDFM_PRU0_image_0[] = {
 0x240000c1,
 0x24020981,
 0x240101c2,
-0x24000082,
+0x24000282,
 0xe1c07781,
 0x32000000,
 0x240fff81,
@@ -81,7 +81,6 @@ const uint32_t SDFM_PRU0_image_0[] = {
 0xe1011701,
 0x23017099,
 0x32800000,
-0x23017799,
 0x240c00c2,
 0x24000082,
 0xf1021701,
@@ -132,6 +131,7 @@ const uint32_t SDFM_PRU0_image_0[] = {
 0x09020101,
 0x1281c1c1,
 0x10c1c1da,
+0x23017799,
 0x91001a01,
 0x1f00e1e1,
 0x81001a01,
diff --git a/source/current_sense/sdfm/firmware/sdfm_pru_bin.h b/source/current_sense/sdfm/firmware/sdfm_pru_bin.h
index e801de7..c8dd80b 100644
--- a/source/current_sense/sdfm/firmware/sdfm_pru_bin.h
+++ b/source/current_sense/sdfm/firmware/sdfm_pru_bin.h
@@ -57,7 +57,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x240000c1,
 0x24020981,
 0x240101c2,
-0x24000082,
+0x24000282,
 0xe1c07781,
 0x32000000,
 0x240fff81,
@@ -81,7 +81,6 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0xe1011701,
 0x23017099,
 0x32800000,
-0x23017799,
 0x240c00c2,
 0x24000082,
 0xf1021701,
@@ -132,6 +131,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x09020101,
 0x1281c1c1,
 0x10c1c1da,
+0x23017799,
 0x91001a01,
 0x1f00e1e1,
 0x81001a01,
diff --git a/source/current_sense/sdfm/firmware/sdfm_rtu_bin.h b/source/current_sense/sdfm/firmware/sdfm_rtu_bin.h
index f202046..0c7d1ed 100644
--- a/source/current_sense/sdfm/firmware/sdfm_rtu_bin.h
+++ b/source/current_sense/sdfm/firmware/sdfm_rtu_bin.h
@@ -57,7 +57,7 @@ const uint32_t pru_SDFM_RTU0_image_0[] = {
 0x240000c1,
 0x24020981,
 0x240101c2,
-0x24000082,
+0x24000282,
 0xe1c07781,
 0x32000000,
 0x240fff81,
@@ -81,7 +81,6 @@ const uint32_t pru_SDFM_RTU0_image_0[] = {
 0xe1011701,
 0x23016599,
 0x32800000,
-0x23016c99,
 0xf1021701,
 0x51010104,
 0x240002d8,
@@ -124,6 +123,7 @@ const uint32_t pru_SDFM_RTU0_image_0[] = {
 0x09020101,
 0x1281c1c1,
 0x10c1c1da,
+0x23016c99,
 0xf114179a,
 0xd1009a02,
 0x21004a00,
diff --git a/source/current_sense/sdfm/firmware/sdfm_txpru_bin.h b/source/current_sense/sdfm/firmware/sdfm_txpru_bin.h
index 1aca903..725c3f7 100644
--- a/source/current_sense/sdfm/firmware/sdfm_txpru_bin.h
+++ b/source/current_sense/sdfm/firmware/sdfm_txpru_bin.h
@@ -57,7 +57,7 @@ const uint32_t pru_SDFM_TXPRU0_image_0[] = {
 0x240000c1,
 0x24020981,
 0x240101c2,
-0x24000082,
+0x24000282,
 0xe1c07781,
 0x32000000,
 0x240fff81,
@@ -81,7 +81,6 @@ const uint32_t pru_SDFM_TXPRU0_image_0[] = {
 0xe1011701,
 0x23016599,
 0x32800000,
-0x23016c99,
 0xf1021701,
 0x51010104,
 0x240002d8,
@@ -124,6 +123,7 @@ const uint32_t pru_SDFM_TXPRU0_image_0[] = {
 0x09020101,
 0x1281c1c1,
 0x10c1c1da,
+0x23016c99,
 0xf114179a,
 0xd1009a02,
 0x21004a00,