501 changed files with 4457 additions and 3562 deletions
--- a/.gitignore
+++ b/.gitignore
@ -55,15 +55,13 @@ source/dsplib_c66x_3_4_0_0/
 docs/industrial_protocol_docs
 mcusdk_tagfile
 __pycache__/
-source/position_sense/hdsl/firmware/*.lst
-source/position_sense/hdsl/firmware/*.obj
-source/position_sense/hdsl/firmware/*.b00
-source/position_sense/hdsl/firmware/*.xml
+source/motor_control/position_sense/hdsl/firmware/*.lst
+source/motor_control/position_sense/hdsl/firmware/*.obj
+source/motor_control/position_sense/hdsl/firmware/*.b00
+source/motor_control/position_sense/hdsl/firmware/*.xml
 source/networking/mbedtls_library/mbedtls
-source/position_sense/endat/firmware/*.lst
-source/position_sense/endat/firmware/*.obj
-source/position_sense/endat/firmware/*.b00
-source/position_sense/endat/firmware/*.xml
+source/motor_control/position_sense/endat/firmware/*.lst
+source/motor_control/position_sense/endat/firmware/*.obj
+source/motor_control/position_sense/endat/firmware/*.b00
+source/motor_control/position_sense/endat/firmware/*.xml
 !*boardcfg_*.bin
-mcu_plus_sdk
-ind_comms_sdk
--- a/.metadata/.tirex/am243x.content.tirex.json
+++ b/.metadata/.tirex/am243x.content.tirex.json
@ -9,7 +9,7 @@
        ],
        "description": "A Endat Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "endat_diagnostic_single_channel",
-        "location": "../../examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -20,7 +20,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "endat_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -42,7 +42,7 @@
        ],
        "description": "A Endat Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "endat_diagnostic_single_channel",
-        "location": "../../examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_LAUNCHPAD"
        ],
@ -53,7 +53,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "endat_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -75,7 +75,7 @@
        ],
        "description": "A Endat Diagnostic Multi Channel Load Share Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "endat_diagnostic_multi_channel_load_share",
-        "location": "../../examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -86,7 +86,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "endat_diagnostic",
            "multi_channel_load_share",
            "r5fss0-0_freertos"
@ -108,7 +108,7 @@
        ],
        "description": "A Endat Diagnostic Multi Channel Single Pru Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "endat_diagnostic_multi_channel_single_pru",
-        "location": "../../examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -119,7 +119,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "endat_diagnostic",
            "multi_channel_single_pru",
            "r5fss0-0_freertos"
@ -141,7 +141,7 @@
        ],
        "description": "A Hdsl Diagnostic Multi Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "hdsl_diagnostic_multi_channel",
-        "location": "../../examples/position_sense/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/hdsl_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -152,7 +152,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "hdsl_diagnostic",
            "multi_channel",
            "r5fss0-0_freertos"
@ -174,7 +174,7 @@
        ],
        "description": "A Hdsl Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "hdsl_diagnostic_single_channel",
-        "location": "../../examples/position_sense/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/hdsl_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -185,7 +185,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "hdsl_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -207,7 +207,7 @@
        ],
        "description": "A Hdsl Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "hdsl_diagnostic_single_channel",
-        "location": "../../examples/position_sense/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/hdsl_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_LAUNCHPAD"
        ],
@ -218,7 +218,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "hdsl_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -240,7 +240,7 @@
        ],
        "description": "A Hdsl Diagnostic Ddr Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "hdsl_diagnostic_ddr",
-        "location": "../../examples/position_sense/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/hdsl_diagnostic_with_traces/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -251,7 +251,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "hdsl_diagnostic_with_traces",
            "r5fss0-0_freertos"
        ],
@ -272,7 +272,7 @@
        ],
        "description": "A Tamagawa Diagnostic Multi Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "tamagawa_diagnostic_multi_channel",
-        "location": "../../examples/position_sense/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/tamagawa_diagnostic/multi_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -283,7 +283,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "tamagawa_diagnostic",
            "multi_channel",
            "r5fss0-0_freertos"
@ -305,7 +305,7 @@
        ],
        "description": "A Tamagawa Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "tamagawa_diagnostic_single_channel",
-        "location": "../../examples/position_sense/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/tamagawa_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -316,7 +316,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "tamagawa_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -338,7 +338,7 @@
        ],
        "description": "A Tamagawa Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "tamagawa_diagnostic_single_channel",
-        "location": "../../examples/position_sense/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/tamagawa_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_LAUNCHPAD"
        ],
@ -349,7 +349,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "tamagawa_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -371,7 +371,7 @@
        ],
        "description": "A Icss Sdfm Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "icss_sdfm",
-        "location": "../../examples/current_sense/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM243x_GP_EVM"
        ],
@ -382,7 +382,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "current_sense",
+            "motor_control",
            "icss_sdfm",
            "r5fss0-0_freertos"
        ],
--- a/.metadata/.tirex/am263x.content.tirex.json
+++ b/.metadata/.tirex/am263x.content.tirex.json
@ -9,7 +9,7 @@
        ],
        "description": "An Example of tamagawa single channel with soc uart CPU is R5FSS0-0 running FREERTOS.",
        "name": "tamagawa_diagnostic_soc_uart",
-        "location": "../../examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "LP-AM263"
        ],
@ -20,7 +20,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "tamagawa_diagnostic_over_soc_uart",
            "r5fss0-0_freertos"
        ],
--- a/.metadata/.tirex/am64x.content.tirex.json
+++ b/.metadata/.tirex/am64x.content.tirex.json
@ -9,7 +9,7 @@
        ],
        "description": "A Endat Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "endat_diagnostic_single_channel",
-        "location": "../../examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -20,7 +20,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "endat_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -42,7 +42,7 @@
        ],
        "description": "A Endat Diagnostic Multi Channel Load Share Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "endat_diagnostic_multi_channel_load_share",
-        "location": "../../examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -53,7 +53,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "endat_diagnostic",
            "multi_channel_load_share",
            "r5fss0-0_freertos"
@ -75,7 +75,7 @@
        ],
        "description": "A Endat Diagnostic Multi Channel Single Pru Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "endat_diagnostic_multi_channel_single_pru",
-        "location": "../../examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -86,7 +86,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "endat_diagnostic",
            "multi_channel_single_pru",
            "r5fss0-0_freertos"
@ -108,7 +108,7 @@
        ],
        "description": "A Hdsl Diagnostic Multi Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "hdsl_diagnostic_multi_channel",
-        "location": "../../examples/position_sense/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/hdsl_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -119,7 +119,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "hdsl_diagnostic",
            "multi_channel",
            "r5fss0-0_freertos"
@ -141,7 +141,7 @@
        ],
        "description": "A Hdsl Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "hdsl_diagnostic_single_channel",
-        "location": "../../examples/position_sense/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/hdsl_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -152,7 +152,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "hdsl_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -174,7 +174,7 @@
        ],
        "description": "A Hdsl Diagnostic Ddr Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "hdsl_diagnostic_ddr",
-        "location": "../../examples/position_sense/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/hdsl_diagnostic_with_traces/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -185,7 +185,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "hdsl_diagnostic_with_traces",
            "r5fss0-0_freertos"
        ],
@ -206,7 +206,7 @@
        ],
        "description": "A Tamagawa Diagnostic Multi Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "tamagawa_diagnostic_multi_channel",
-        "location": "../../examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -217,7 +217,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "tamagawa_diagnostic",
            "multi_channel",
            "r5fss0-0_freertos"
@ -239,7 +239,7 @@
        ],
        "description": "A Tamagawa Diagnostic Single Channel Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "tamagawa_diagnostic_single_channel",
-        "location": "../../examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -250,7 +250,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "position_sense",
+            "motor_control",
            "tamagawa_diagnostic",
            "single_channel",
            "r5fss0-0_freertos"
@ -272,7 +272,7 @@
        ],
        "description": "A Icss Sdfm Example. CPU is R5FSS0-0 running FREERTOS.",
        "name": "icss_sdfm",
-        "location": "../../examples/current_sense/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
+        "location": "../../examples/motor_control/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
        "devtools": [
            "AM64x_GP_EVM"
        ],
@ -283,7 +283,7 @@
            "ticlang"
        ],
        "subCategories": [
-            "current_sense",
+            "motor_control",
            "icss_sdfm",
            "r5fss0-0_freertos"
        ],
--- a/.metadata/.tirex/package.tirex.json
+++ b/.metadata/.tirex/package.tirex.json
@ -12,8 +12,8 @@
        "tags": ["SDK", "Baremetal", "FreeRTOS"],
        "description": "Welcome to MOTOR CONTROL SDK for AMXXX. This SDK contains examples, libraries and tools to develop RTOS and no-RTOS based applications for ARM R5F, ARM M4F CPUs and related peripherals.",
        "dependencies": [
-            { "packageId": "sysconfig", "version": "1.17.0", "require": "mandatory" },
-            { "packageId": "ti_cgt_tiarmclang", "version": "2.1.3", "require": "mandatory" },
+            { "packageId": "sysconfig", "version": "1.14.0", "require": "mandatory" },
+            { "packageId": "ti_cgt_tiarmclang", "version": "2.1.2", "require": "mandatory" },
            { "packageId": "arm.gnu.aarch64-none", "version": "9.2.1", "require": "mandatory" }
        ]
    }
--- a/.metadata/product.json
+++ b/.metadata/product.json
@ -5,27 +5,21 @@
    "documentationPath": "../docs",
    "includePaths": [
        "../source",
-        "../mcu_plus_sdk/source",
    ],
    "components": [
-        "/motor_control",
-        "/kernel/dpl",
-        "/drivers/drivers",
-        "/board/board",
-        "/fs/fs",
-        "/networking/networking",
-        "/security/security",
-        "/usb/usb",
-        "/pru_io/pru_io",
+        "/motor_control/motor_control",
    ],
    "devices": [
-        "AM64x",
+        "AM64x_beta",
        "AM243x_ALV_beta",
        "AM243x_ALX_beta",
+        "AM273x",
+        "AWR294X",
        "AM263x_beta",
+        "AM62x",
    ],
    "contexts": {
-        "AM64x": [
+        "AM64x_beta": [
            "r5fss0-0",
            "r5fss0-1",
            "r5fss1-0",
@ -47,6 +41,18 @@
            "r5fss1-1",
            "m4fss0-0",
        ],
+        "AM273x": [
+            "r5fss0-0",
+            "r5fss0-1",
+            "c66ss0",
+            "hsm0-0",
+        ],
+        "AWR294X": [
+            "r5fss0-0",
+            "r5fss0-1",
+            "c66ss0",
+            "hsm0-0",
+        ],
        "AM263x_beta": [
            "r5fss0-0",
            "r5fss0-1",
@ -54,6 +60,9 @@
            "r5fss1-1",
            "hsm0-0",
        ],
+        "AM62x": [
+            "m4fss0-0",
+        ],
    },
    "pinmuxUIOptions": {
        "group": "merged",
@ -62,5 +71,5 @@
        "showSignals": true,
        "showUsed": true
    },
-    "minToolVersion" : "1.17.0"
+    "minToolVersion" : "1.14.0"
 }
--- a/.project/cgt/cgt_gcc-aarch64.js
+++ b/.project/cgt/cgt_gcc-aarch64.js
@ -25,7 +25,7 @@ const cgt_common = {

    includes: {
        common: [
-            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
+            "${MCU_PLUS_SDK_PATH}/source",
            "${MOTOR_CONTROL_SDK_PATH}/source",
        ],
    },
--- a/.project/cgt/cgt_gcc-armv7.js
+++ b/.project/cgt/cgt_gcc-armv7.js
@ -30,7 +30,7 @@ const cgt_common = {

    includes: {
        common: [
-            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
+            "${MCU_PLUS_SDK_PATH}/source",
            "${MOTOR_CONTROL_SDK_PATH}/source",
        ],
    },
--- a/.project/cgt/cgt_ti-arm-clang.js
+++ b/.project/cgt/cgt_ti-arm-clang.js
@ -42,7 +42,7 @@ const cgt_common = {
    includes: {
        common: [
            "${CG_TOOL_ROOT}/include/c",
-            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
+            "${MCU_PLUS_SDK_PATH}/source",
            "${MOTOR_CONTROL_SDK_PATH}/source",
        ],
    },
--- a/.project/cgt/cgt_ti-arm.js
+++ b/.project/cgt/cgt_ti-arm.js
@ -7,9 +7,8 @@ const cgt = {
        common: [
            "$(CGT_TI_ARM_PATH)/include",
            ".",
-            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source"
+            "$(MCU_PLUS_SDK_PATH)/source"],
            "${MOTOR_CONTROL_SDK_PATH}/source",
-        ]
    },
    cflags: {
        common: [
--- a/.project/cgt/cgt_ti-c6000.js
+++ b/.project/cgt/cgt_ti-c6000.js
@ -12,7 +12,7 @@ const cgt_common = {
    includes: {
        common: [
            "${CG_TOOL_ROOT}/include",
-            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
+            "${MCU_PLUS_SDK_PATH}/source",
            "${MOTOR_CONTROL_SDK_PATH}/source",
        ],
    },
@ -74,7 +74,7 @@ const cgt_common_awr294x = {
    includes: {
        common: [
            "${CG_TOOL_ROOT}/include",
-            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
+            "${MCU_PLUS_SDK_PATH}/source",
            "${MOTOR_CONTROL_SDK_PATH}/source",
        ],
    },
--- a/.project/cgt/cgt_ti-pru-cgt.js
+++ b/.project/cgt/cgt_ti-pru-cgt.js
@ -77,7 +77,7 @@ const cgt_common = {
    includes: {
        common: [
            "${CG_TOOL_ROOT}/include",
-            "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source",
+            "${MCU_PLUS_SDK_PATH}/source",
            "${MOTOR_CONTROL_SDK_PATH}/source",
        ],
    },
--- a/.project/device/project_am243x.js
+++ b/.project/device/project_am243x.js
@ -1,10 +1,10 @@
 const common = require("../common.js");

 const component_file_list = [
-    "source/current_sense/sdfm/.project/project.js",
-    "source/position_sense/endat/.project/project.js",
-    "source/position_sense/hdsl/.project/project.js",
-    "source/position_sense/tamagawa/.project/project.js",
+    "source/motor_control/current_sense/sdfm/.project/project.js",
+    "source/motor_control/position_sense/endat/.project/project.js",
+    "source/motor_control/position_sense/hdsl/.project/project.js",
+    "source/motor_control/position_sense/tamagawa/.project/project.js",
 ];

 const device_defines = {
@ -14,26 +14,26 @@ const device_defines = {
 };

 const example_file_list = [
-    "examples/position_sense/endat_diagnostic/single_channel/.project/project.js",
-    "examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project.js",
-    "examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project.js",
-    "examples/position_sense/hdsl_diagnostic/multi_channel/.project/project.js",
-    "examples/position_sense/hdsl_diagnostic/single_channel/.project/project.js",
-    "examples/position_sense/hdsl_diagnostic_with_traces/.project/project.js",
-    "examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project.js",
-    "examples/position_sense/tamagawa_diagnostic/single_channel/.project/project.js",
-    "examples/current_sense/icss_sdfm/.project/project.js",
-    "source/current_sense/sdfm/firmware/.project/project.js",
-    "source/position_sense/endat/firmware/multi_channel_load_share/.project/project.js",
-    "source/position_sense/endat/firmware/single_channel/.project/project.js",
-    "source/position_sense/endat/firmware/multi_channel_single_pru/.project/project.js",
-    "source/position_sense/hdsl/firmware/freerun_225_mhz/.project/project.js",
-    "source/position_sense/hdsl/firmware/freerun_300_mhz/.project/project.js",
-    "source/position_sense/hdsl/firmware/multichannel_ch0/.project/project.js",
-    "source/position_sense/hdsl/firmware/multichannel_ch1/.project/project.js",
-    "source/position_sense/hdsl/firmware/sync_225_mhz/.project/project.js",
-    "source/position_sense/tamagawa/firmware/multi_channel/.project/project.js",
-    "source/position_sense/tamagawa/firmware/single_channel/.project/project.js",
+    "examples/motor_control/endat_diagnostic/single_channel/.project/project.js",
+    "examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project.js",
+    "examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project.js",
+    "examples/motor_control/hdsl_diagnostic/multi_channel/.project/project.js",
+    "examples/motor_control/hdsl_diagnostic/single_channel/.project/project.js",
+    "examples/motor_control/hdsl_diagnostic_with_traces/.project/project.js",
+    "examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project.js",
+    "examples/motor_control/tamagawa_diagnostic/single_channel/.project/project.js",
+    "examples/motor_control/icss_sdfm/.project/project.js",
+    "source/motor_control/current_sense/sdfm/firmware/.project/project.js",
+    "source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project.js",
+    "source/motor_control/position_sense/endat/firmware/single_channel/.project/project.js",
+    "source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project.js",
+    "source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project.js",
+    "source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project.js",
 ];

 function getProjectSpecCpu(cpu) {
@ -154,6 +154,10 @@ function getProductNameProjectSpec() {
    return "MOTOR_CONTROL_SDK_AM243X";
 }

+function getDependentProductNameProjectSpec() {
+    return "MCU_PLUS_SDK_AM243X";
+}
+
 function getFlashAddr() {
    return 0x60000000;
 }
@ -171,5 +175,6 @@ module.exports = {
    getProperty,
    getLinuxFwName,
    getProductNameProjectSpec,
+    getDependentProductNameProjectSpec,
    getFlashAddr,
 };
--- a/.project/device/project_am263x.js
+++ b/.project/device/project_am263x.js
@ -1,7 +1,7 @@
 const common = require("../common.js");

 const component_file_list = [
-    "source/position_sense/tamagawa_over_soc_uart/.project/project.js",
+    "source/motor_control/position_sense/tamagawa_over_soc_uart/.project/project.js",
 ];

 const device_defines = {
@ -11,7 +11,7 @@ const device_defines = {
 };

 const example_file_list = [
-    "examples/position_sense/tamagawa_diagnostic_over_soc_uart/.project/project.js",
+    "examples/motor_control/tamagawa_diagnostic_over_soc_uart/.project/project.js",
 ];

 function getProjectSpecCpu(cpu) {
@ -116,7 +116,7 @@ function getLinuxFwName(cpu) {
 }

 function getProductNameProjectSpec() {
-    return "MOTOR_CONTROL_SDK_AM263X";
+    return "MCU_PLUS_SDK_AM263X";
 }

 function getFlashAddr() {
@ -135,5 +135,6 @@ module.exports = {
    getDevToolTirex,
    getProperty,
    getLinuxFwName,
+    getProductNameProjectSpec,
    getFlashAddr,
 };
--- a/.project/device/project_am64x.js
+++ b/.project/device/project_am64x.js
@ -1,10 +1,10 @@
 const common = require("../common.js");

 const component_file_list = [
-    "source/current_sense/sdfm/.project/project.js",
-    "source/position_sense/endat/.project/project.js",
-    "source/position_sense/hdsl/.project/project.js",
-    "source/position_sense/tamagawa/.project/project.js",
+    "source/motor_control/current_sense/sdfm/.project/project.js",
+    "source/motor_control/position_sense/endat/.project/project.js",
+    "source/motor_control/position_sense/hdsl/.project/project.js",
+    "source/motor_control/position_sense/tamagawa/.project/project.js",
 ];

 const device_defines = {
@ -14,26 +14,26 @@ const device_defines = {
 };

 const example_file_list = [
-    "examples/position_sense/endat_diagnostic/single_channel/.project/project.js",
-    "examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project.js",
-    "examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project.js",
-    "examples/position_sense/hdsl_diagnostic/multi_channel/.project/project.js",
-    "examples/position_sense/hdsl_diagnostic/single_channel/.project/project.js",
-    "examples/position_sense/hdsl_diagnostic_with_traces/.project/project.js",
-    "examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project.js",
-    "examples/position_sense/tamagawa_diagnostic/single_channel/.project/project.js",
-    "examples/current_sense/icss_sdfm/.project/project.js",
-    "source/current_sense/sdfm/firmware/.project/project.js",
-    "source/position_sense/endat/firmware/multi_channel_load_share/.project/project.js",
-    "source/position_sense/endat/firmware/single_channel/.project/project.js",
-    "source/position_sense/endat/firmware/multi_channel_single_pru/.project/project.js",
-    "source/position_sense/hdsl/firmware/freerun_225_mhz/.project/project.js",
-    "source/position_sense/hdsl/firmware/freerun_300_mhz/.project/project.js",
-    "source/position_sense/hdsl/firmware/multichannel_ch0/.project/project.js",
-    "source/position_sense/hdsl/firmware/multichannel_ch1/.project/project.js",
-    "source/position_sense/hdsl/firmware/sync_225_mhz/.project/project.js",
-    "source/position_sense/tamagawa/firmware/multi_channel/.project/project.js",
-    "source/position_sense/tamagawa/firmware/single_channel/.project/project.js",
+    "examples/motor_control/endat_diagnostic/single_channel/.project/project.js",
+    "examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project.js",
+    "examples/motor_control/endat_diagnostic/multi_channel_single_pru/.project/project.js",
+    "examples/motor_control/hdsl_diagnostic/multi_channel/.project/project.js",
+    "examples/motor_control/hdsl_diagnostic/single_channel/.project/project.js",
+    "examples/motor_control/hdsl_diagnostic_with_traces/.project/project.js",
+    "examples/motor_control/tamagawa_diagnostic/multi_channel/.project/project.js",
+    "examples/motor_control/tamagawa_diagnostic/single_channel/.project/project.js",
+    "examples/motor_control/icss_sdfm/.project/project.js",
+    "source/motor_control/current_sense/sdfm/firmware/.project/project.js",
+    "source/motor_control/position_sense/endat/firmware/multi_channel_load_share/.project/project.js",
+    "source/motor_control/position_sense/endat/firmware/single_channel/.project/project.js",
+    "source/motor_control/position_sense/endat/firmware/multi_channel_single_pru/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/freerun_225_mhz/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/freerun_300_mhz/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/multichannel_ch0/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/multichannel_ch1/.project/project.js",
+    "source/motor_control/position_sense/hdsl/firmware/sync_225_mhz/.project/project.js",
+    "source/motor_control/position_sense/tamagawa/firmware/multi_channel/.project/project.js",
+    "source/motor_control/position_sense/tamagawa/firmware/single_channel/.project/project.js",
 ];

 function getProjectSpecCpu(cpu) {
@ -71,7 +71,7 @@ function getExampleList() {
 }

 function getSysCfgDevice(board) {
-    return "AM64x";
+    return "AM64x_beta";
 }

 function getProjectSpecDevice(board) {
@ -129,6 +129,10 @@ function getProductNameProjectSpec() {
    return "MOTOR_CONTROL_SDK_AM64X";
 }

+function getDependentProductNameProjectSpec() {
+    return "MCU_PLUS_SDK_AM64X";
+}
+
 function getFlashAddr() {
    return 0x60000000;
 }
@ -146,5 +150,6 @@ module.exports = {
    getProperty,
    getLinuxFwName,
    getProductNameProjectSpec,
+    getDependentProductNameProjectSpec,
    getFlashAddr,
 };
--- a/.project/genProjectSpec.js
+++ b/.project/genProjectSpec.js
@ -143,6 +143,13 @@ const utils = {
        return require(`./device/project_${device}`).getProductNameProjectSpec();
    },
 	
+    getDependentProductNameProjectSpec: (device) => {
+
+        if(common.isDevelopmentMode())
+            return "MCU_PLUS_SDK_AMXXX"
+
+        return require(`./device/project_${device}`).getDependentProductNameProjectSpec();
+    },
    /* default action for files in project spec, i.e copy or link */
    getDefaultActionProjectSpec: () => {

@ -156,7 +163,7 @@ const utils = {

        switch(cgt) {
            case 'ti-arm-clang':
-                toolchainVersion = '2.1.3'
+                toolchainVersion = '2.1.2'
                break;
            case 'gcc-aarch64':
                toolchainVersion = '9.2'
@ -176,15 +183,15 @@ const utils = {
    },

    getSysCfgVersionProjectSpec: () => {
-        return "1.17.0";
+        return "1.14.0";
    },

    getCCSVersionProjectSpec: () => {
-        return "1240";
+        return "1210";
    },

    getTiClangVersionProjectSpec: () => {
-        return "2.1.3";
+        return "2.1.2";
    },

    getGCCAarch64NoneVersionProjectSpec: () => {
--- a/.project/templates/imports.mak.xdt
+++ b/.project/templates/imports.mak.xdt
@ -7,7 +7,7 @@ DEVICE ?= am64x

 ifeq ($(OS),Windows_NT)
    TOOLS_PATH?=C:/ti
-    CCS_PATH?=$(TOOLS_PATH)/ccs1240/ccs
+    CCS_PATH?=$(TOOLS_PATH)/ccs1210/ccs
    CCS_ECLIPSE=$(CCS_PATH)/eclipse/eclipsec
    CYGWIN_PATH?=$(CCS_PATH)/utils/cygwin
    MKDIR=$(CYGWIN_PATH)/mkdir -p
@ -27,7 +27,7 @@ else
    UNAME_S := $(shell uname -s)
    ifeq ($(UNAME_S),Linux)
        export TOOLS_PATH?=$(HOME)/ti
-        export CCS_PATH?=$(TOOLS_PATH)/ccs1240/ccs
+        export CCS_PATH?=$(TOOLS_PATH)/ccs1210/ccs
        export CCS_ECLIPSE=$(CCS_PATH)/eclipse/eclipse
        export MKDIR=mkdir -p
        export RMDIR=rm -rf
@ -44,19 +44,23 @@ else
    endif
 endif

+# Variable pointing to location of MCU+ SDK
+export MCU_PLUS_SDK_PATH?=./mcu_plus_sdk
+
 CGT_TI_PRU_PATH=$(TOOLS_PATH)/ti-cgt-pru_2.3.3
 CGT_TI_SMART_PLACEMENT_TOOL_PATH=$(TOOLS_PATH)/ti-cgt-armllvm_3.0.0.STS
-CGT_TI_ARM_CLANG_PATH=$(CCS_PATH)/tools/compiler/ti-cgt-armllvm_2.1.3.LTS
+CGT_TI_ARM_CLANG_PATH=$(CCS_PATH)/tools/compiler/ti-cgt-armllvm_2.1.2.LTS
 ifeq ($(wildcard $(CGT_TI_ARM_CLANG_PATH)),)
-    CGT_TI_ARM_CLANG_PATH=$(TOOLS_PATH)/ti-cgt-armllvm_2.1.3.LTS
+    CGT_TI_ARM_CLANG_PATH=$(TOOLS_PATH)/ti-cgt-armllvm_2.1.2.LTS
 endif
 % if((args.device == "am273x") || (args.device == "awr294x") || (isDevelopmentMode)) {
 CGT_TI_C6000_PATH=$(CCS_PATH)/tools/compiler/ti-cgt-c6000_8.3.12
-DSPLIB_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/dsplib_c66x_3_4_0_0
+DSPLIB_PATH=$(MCU_PLUS_SDK_PATH)/source/dsplib_c66x_3_4_0_0
 % }
 CCS_NODE = $(CCS_PATH)/tools/node/node
-SYSCFG_PATH ?= $(TOOLS_PATH)/sysconfig_1.17.0
+SYSCFG_PATH ?= $(TOOLS_PATH)/sysconfig_1.14.0
 SYSCFG_CLI_PATH ?= $(SYSCFG_PATH)
 SYSCFG_NODE = $(SYSCFG_PATH)/nodejs/node
 SYSCFG_NWJS = $(SYSCFG_PATH)/nw/nw
 SYSCFG_SDKPRODUCT=$(MOTOR_CONTROL_SDK_PATH)/.metadata/product.json
+SYSCFG_MCUPLUSSDKPRODUCT=$(MCU_PLUS_SDK_PATH)/.metadata/product.json
--- a/.project/templates/makefile_ccs_bootimage_gen.xdt
+++ b/.project/templates/makefile_ccs_bootimage_gen.xdt
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,9 +11,9 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
 % if (["am243x", "am64x", "am263x", "am273x"].includes(args.project.device)) {
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak
 % }

 STRIP=$(CG_TOOL_ROOT)/bin/`args.cgtOptions.strip`
@ -65,30 +65,30 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

 % if (args.project.isBootLoader) {
 % if ((args.project.device == "am64x") || (args.project.device == "am243x")) {
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/rom_image_gen.py
-SYSFW_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/soc/am64x_am243x
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/rom_image_gen.py
+SYSFW_PATH=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/soc/am64x_am243x
 SYSFW_LOAD_ADDR=0x44000
 BOARDCFG_LOAD_ADDR=0x7B000
 % if (args.project.name.includes("linux")) {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
 % }
 % } else {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
 % }
 % }
 % }
@ -96,9 +96,9 @@ BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sc
 ifeq ($(DEVICE_TYPE),HS)
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
 else
-BOOTIMAGE_CERT_KEY=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_gpkey.pem
+BOOTIMAGE_CERT_KEY=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_gpkey.pem
 endif
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_rom_image_gen.py
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_rom_image_gen.py
 % }

 % if ((args.project.device == "am273x") || (args.project.device == "awr294x")) {
@ -109,7 +109,7 @@ SBL_RUN_ADDRESS=0x70002000
 SBL_RUN_ADDRESS=0x70000000
 % }

-SBL_PREBUILT_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/sbl_prebuilt/`args.project.board`
+SBL_PREBUILT_PATH=$(MCU_PLUS_SDK_PATH)/tools/boot/sbl_prebuilt/`args.project.board`

 all:
 ifeq ($(CCS_IDE_MODE),cloud)
@ -197,7 +197,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@ -213,16 +213,16 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
 % if (((args.project.device == "am243x") || (args.project.device == "am64x")) && (!args.project.isPartOfSystemProject)) {
-APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/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
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/.project/templates/makefile_device_projectspec_top.xdt
+++ b/.project/templates/makefile_device_projectspec_top.xdt
@ -147,7 +147,7 @@ $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL) $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_
 # Same CCS workspace used by the examples is used here.
 import_extra_components:
 	$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
-	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR)
+	$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.common.core.initialize -ccs.productDiscoveryPath $(COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR) -ccs.productDiscoveryPath $(COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR)
 % }

 help:
--- a/.project/templates/makefile_executable.xdt
+++ b/.project/templates/makefile_executable.xdt
@ -439,10 +439,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: `args.project.syscfgfile`
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/ `args.project.syscfgfile`
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/ `args.project.syscfgfile`

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device `args.syscfg.device` --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/  `args.project.syscfgfile`
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device `args.syscfg.device` --context `args.syscfg.cpu` --part `args.syscfg.part` --package `args.syscfg.pkg` --output generated/  `args.project.syscfgfile`
 % }

 % if (args.project.isBootLoader) {
@ -458,9 +458,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -471,21 +471,21 @@ BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
 % if (args.project.isBootLoader) {
 % if ((args.project.device == "am64x") || (args.project.device == "am243x")) {
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/rom_image_gen.py
-SYSFW_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/soc/am64x_am243x
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/rom_image_gen.py
+SYSFW_PATH=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/soc/am64x_am243x
 SYSFW_LOAD_ADDR=0x44000
 BOARDCFG_LOAD_ADDR=0x7B000
 % if (args.project.name.includes("linux")) {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob_linux.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob_linux.bin
 % }
 % } else {
 % if (args.project.device == "am64x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin
 % } else if (args.project.device == "am243x") {
-BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
+BOARDCFG_BLOB=$(MCU_PLUS_SDK_PATH)/source/drivers/sciclient/sciclient_default_boardcfg/am243x/boardcfg_blob.bin
 % }
 % }
 % }
@ -494,9 +494,9 @@ BOARDCFG_BLOB=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/sciclient/sc
 ifeq ($(DEVICE_TYPE),HS)
 BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
 else
-BOOTIMAGE_CERT_KEY=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_gpkey.pem
+BOOTIMAGE_CERT_KEY=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_gpkey.pem
 endif
-BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/mcu_rom_image_gen.py
+BOOTIMAGE_CERT_GEN_CMD=$(PYTHON) $(MCU_PLUS_SDK_PATH)/tools/boot/signing/mcu_rom_image_gen.py
 % }

 % if ((args.project.device == "am273x") || (args.project.device == "awr294x")) {
@ -507,7 +507,7 @@ SBL_RUN_ADDRESS=0x70002000
 SBL_RUN_ADDRESS=0x70000000
 % }

-SBL_PREBUILT_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/sbl_prebuilt/`args.project.board`
+SBL_PREBUILT_PATH=$(MCU_PLUS_SDK_PATH)/tools/boot/sbl_prebuilt/`args.project.board`

 $(BOOTIMAGE_BIN_NAME): $(OUTNAME)
 	$(OBJCOPY) --strip-sections -O binary $(OUTNAME) $(BOOTIMAGE_BIN_NAME)
@ -607,7 +607,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@ -623,16 +623,16 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
 % if (((args.project.device == "am243x") || (args.project.device == "am64x")) && (!args.project.isPartOfSystemProject)) {
-APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/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
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
@ -703,7 +703,7 @@ coverage:
 	$(PROFDATA) merge -sparse -obj-file=$(OUTNAME) $(OUTNAME).cnt -o `args.project.name`.$(PROFILE).profdata
 	$(COV) show --format=html --show-expansions --show-instantiations --show-branches=count --object=$(OUTNAME) -instr-profile=`args.project.name`.$(PROFILE).profdata --output-dir=$(COVERAGE_PATH)/coverage
 	$(COV) export --format=text --object=$(OUTNAME) --instr-profile=`args.project.name`.$(PROFILE).profdata > coverage/`args.project.name`.$(PROFILE).profdata.json
-	node ${MOTOR_CONTROL_SDK_PATH}/docs_src/code_coverage/clang_coverage_analyse.js --input=coverage/`args.project.name`.$(PROFILE).profdata.json --output-json=coverage/`args.project.name`.$(PROFILE).analysis.json --output-lnk=linker_xip.cmd --top-function-count=500
+	node $(MCU_PLUS_SDK_PATH)/docs_src/code_coverage/clang_coverage_analyse.js --input=coverage/`args.project.name`.$(PROFILE).profdata.json --output-json=coverage/`args.project.name`.$(PROFILE).analysis.json --output-lnk=linker_xip.cmd --top-function-count=500
 	@echo Coverage Report Generated at $(COVERAGE_PATH)/coverage folder !!!

 % }
--- a/.project/templates/makefile_pru.xdt
+++ b/.project/templates/makefile_pru.xdt
@ -6,7 +6,7 @@
 ################################################################################

 #   Required input arguments:
-#   MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH}	sdk_dir_path
+#   MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH}      sdk_dir_path
 #   CCS_INSTALL_DIR=${CCS_INSTALL_DIR}          ccs_dir_path
 #   CCS_PROJECT_DEBUG=${CWD}       				project_debug_dir_path

@ -20,7 +20,7 @@ GEN_CMDS__FLAG :=

 ORDERED_OBJS += \
 "./`obj.pru_main_file`.obj" \
-"${MOTOR_CONTROL_SDK_PATH}/`projectPath`/`obj.pru_linker_file`.cmd" \
+"$(MCU_PLUS_SDK_PATH)/`projectPath`/`obj.pru_linker_file`.cmd" \
 $(GEN_CMDS__FLAG) \
 -llibc.a \

@ -36,10 +36,10 @@ SUBDIRS := \

 # Add inputs and outputs from these tool invocations to the build variables
 CMD_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/`projectPath`/`obj.pru_linker_file`.cmd \
+$(MCU_PLUS_SDK_PATH)/`projectPath`/`obj.pru_linker_file`.cmd \

 ASM_SRCS += \
-${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm
+$(MCU_PLUS_SDK_PATH)/`obj.relpath`/`obj.pru_main_file`.asm

 OBJS += \
 ./`obj.pru_main_file`.obj
@ -54,7 +54,7 @@ ASM_DEPS__QUOTED += \
 "`obj.pru_main_file`.d"

 ASM_SRCS__QUOTED += \
-"${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm"
+"$(MCU_PLUS_SDK_PATH)/`obj.relpath`/`obj.pru_main_file`.asm"

 % let commandString = "";
 % let cflags = obj.cflags;
@ -87,7 +87,7 @@ ASM_SRCS__QUOTED += \
    % }
 % }
 # Each subdirectory must supply rules for building sources it contributes
-`obj.pru_main_file`.obj: ${MOTOR_CONTROL_SDK_PATH}/`obj.relpath`/`obj.pru_main_file`.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+`obj.pru_main_file`.obj: $(MCU_PLUS_SDK_PATH)/`obj.relpath`/`obj.pru_main_file`.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
 	"$(CG_TOOL_ROOT)/bin/clpru" `commandString` --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
@ -152,8 +152,8 @@ post-build:
 % }
 % if(obj["defaultPruPostBuildSteps"]) {
 post-build:
-	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out
-	-${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4
+	-$(CG_TOOL_ROOT)/bin/hexpru.exe ${MCU_PLUS_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out
+	-${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4
 	-@echo ' '
 % }

--- a/.project/templates/makefile_system.xdt
+++ b/.project/templates/makefile_system.xdt
@ -145,7 +145,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@ -161,10 +161,10 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
 % if ((args.project.device == "am243x") || (args.project.device == "am64x")) {
-APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
 % }

 MULTI_CORE_APP_PARAMS = \
--- a/.project/templates/makefile_system_ccs_bootimage_gen.xdt
+++ b/.project/templates/makefile_system_ccs_bootimage_gen.xdt
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - OUTNAME
 # - CCS_INSTALL_DIR
@ -71,7 +71,7 @@ BOOTIMAGE_CORE_ID_r5fss0-1 = 1
 BOOTIMAGE_CORE_ID_c66ss0   = 2
 % if (args.project.device == "awr294x") {
 BOOTIMAGE_CORE_ID_r4       = 3
-R4_RPRC_PATH = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
+R4_RPRC_PATH = $(MCU_PLUS_SDK_PATH)/source/drivers/bootloader/soc/awr294x/xwr2xxx_radarss_metarprc.bin
 % }
 SBL_RUN_ADDRESS=0x10200000
 SBL_DEV_ID=55
@ -87,10 +87,10 @@ SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55
 % }

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
 % if ((args.project.device == "am243x") || (args.project.device == "am64x")) {
-APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py
 % }

 MULTI_CORE_APP_PARAMS = \
--- a/.project/templates/product.json.xdt
+++ b/.project/templates/product.json.xdt
@ -17,36 +17,50 @@
    "documentationPath": "../docs",
    "includePaths": [
        "../source",
-        "../mcu_plus_sdk/source",
    ],
    "components": [
-% if((args.device == "am64x") || (args.device == "am243x") || (args.device == "am263x")) {
-        "/motor_control",
+% if((args.device == "am64x") || (args.device == "am243x")) {
+        "/motor_control/motor_control",
+% }
+% if(args.device == "am263x") {
+        "/motor_control/motor_control",
+% }
+% if((args.device == "am273x") || (args.device == "awr294x")) {
        "/kernel/dpl",
        "/drivers/drivers",
        "/board/board",
-        "/fs/fs",
        "/networking/networking",
-        "/security/security",
-        "/usb/usb",
-        "/pru_io/pru_io",
+% }
+% if(args.device == "am62x") {
+        "/kernel/dpl",
+        "/drivers/drivers",
+        "/board/board",
 % }
    ],
    "devices": [
 % if((args.device == "am64x") || (isDevelopmentMode)) {
-        "AM64x",
+        "AM64x_beta",
 % }
 % if((args.device == "am243x") || (isDevelopmentMode)) {
        "AM243x_ALV_beta",
        "AM243x_ALX_beta",
 % }
+% if((args.device == "am273x") || (isDevelopmentMode)) {
+        "AM273x",
+% }
+% if((args.device == "awr294x") || (isDevelopmentMode)) {
+        "AWR294X",
+% }
 % if((args.device == "am263x") || (isDevelopmentMode)) {
        "AM263x_beta",
+% }
+% if((args.device == "am62x") || (isDevelopmentMode)) {
+        "AM62x",
 % }
    ],
    "contexts": {
 % if((args.device == "am64x") || (isDevelopmentMode)) {
-        "AM64x": [
+        "AM64x_beta": [
            "r5fss0-0",
            "r5fss0-1",
            "r5fss1-0",
@ -71,6 +85,22 @@
            "m4fss0-0",
        ],
 % }
+% if((args.device == "am273x") || (isDevelopmentMode)) {
+        "AM273x": [
+            "r5fss0-0",
+            "r5fss0-1",
+            "c66ss0",
+            "hsm0-0",
+        ],
+% }
+% if((args.device == "awr294x") || (isDevelopmentMode)) {
+        "AWR294X": [
+            "r5fss0-0",
+            "r5fss0-1",
+            "c66ss0",
+            "hsm0-0",
+        ],
+% }
 % if((args.device == "am263x") || (isDevelopmentMode)) {
        "AM263x_beta": [
            "r5fss0-0",
@ -79,6 +109,11 @@
            "r5fss1-1",
            "hsm0-0",
        ],
+% }
+% if((args.device == "am62x") || (isDevelopmentMode)) {
+        "AM62x": [
+            "m4fss0-0",
+        ],
 % }
    },
    "pinmuxUIOptions": {
--- a/.project/templates/projectspec_executable.xdt
+++ b/.project/templates/projectspec_executable.xdt
@ -7,6 +7,8 @@
    }
    products+=`com.ti.${args.utils.getProductNameProjectSpec(args.project.device)};`
    productName = args.utils.getProductNameProjectSpec(args.project.device);
+    products+=`com.ti.${args.utils.getDependentProductNameProjectSpec(args.project.device)}`
+    dependentProductName = args.utils.getDependentProductNameProjectSpec(args.project.device);
    if(args.project.projecspecFileAction)  // should be renamed to projectspecFileAction
    {
        defaultAction = args.project.projecspecFileAction;
@ -158,8 +160,8 @@
        % let projectPath = `${obj.relpath}/${obj.board}/${obj.cpu}_${obj.os}/${obj.cgt}`;
        % if(args.project["defaultPruPostBuildSteps"]) {
        postBuildStep="
-            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MOTOR_CONTROL_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out;
-            ${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4;
+            $(CG_TOOL_ROOT)/bin/hexpru.exe ${MCU_PLUS_SDK_PATH}/`projectPath`/hexpru.cmd `projectName`.out;
+            ${MCU_PLUS_SDK_PATH}/tools/bin2header/bin2header.exe `projectName`.b00 pru_load_bin.h PRUFirmware 4;
        "
        % }
        % if("postBuildSteps" in args.project) {
@ -171,7 +173,7 @@
        "
        % } else if (args.project.cpu.includes("pru")) {
        % } else {
-        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=`args.project.device`"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=`args.project.device`"
        % }

        % if("syscfgfile" in args.project) {
@ -250,6 +252,7 @@
        % if(args.project.device == "am273x") {
        <pathVariable name="DSPLIB_PATH" path="${COM_TI_`productName`_INSTALL_DIR}/source/dsplib_c66x_3_4_0_0" scope="project" />
        % }
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_`dependentProductName`_INSTALL_DIR}" scope="project" />
        <pathVariable name="`args.sdkName`" path="${COM_TI_`productName`_INSTALL_DIR}" scope="project" />
        % filelist = args.utils.getFileListProjectSpec(args.project.files, args.project.filedirs, args.project.dirPath)
        % for (file of filelist) {
--- a/.project/templates/system.xml.xdt
+++ b/.project/templates/system.xml.xdt
@ -10,7 +10,7 @@
 	<preBuildSteps>
 	</preBuildSteps>
    <postBuildSteps>
-        <step command="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_system_ccs_bootimage_gen OUTNAME=`args.project.name`_system PROFILE=${ConfigName} 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}"/>
+        <step command="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_system_ccs_bootimage_gen OUTNAME=`args.project.name`_system PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE}"/>
    </postBuildSteps>

 </system>
--- a/README.md
+++ b/README.md
@ -9,7 +9,7 @@

 ## Introduction

-The Motor Control SDK enables real-time communications with encoders for TI processors. Communication is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores which implement the low level firmware
+The Motor Control SDK enables real-time industrial communications for TI processors. Industrial communication is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores and Ethernet media access controllers (EMACs), which implement the low level industrial Ethernet and fieldbus protocols through firmware.

 These devices currently include

@ -20,14 +20,13 @@ These devices currently include
 ## Features

 - Out of Box peripheral and application Examples
-  - Application Level Examples: Motor Drives etc.
+  - Application Level Examples: Motor Drives, Industrial Communications etc.

 - Protocol stacks and middleware
  - Various Industrial Protocol Stacks

- Fimrware
-  - Motor Drivers fimrware
-  - Industrial protocol firmware
+- Industrial protocol firmware
+  - ICCSG, ICSSM etc.

 ## Overview

@ -78,10 +77,10 @@ To clone the repositories using repo tool, do below in your workarea folder:

 Note that depending on the SoC you're working with, the components you clone might be
 slightly different. So please choose the manifest folder according to the SoC of your
-interest. For example, we are showing for am243x below.
+interest. For example, we are showing for am263x below.

 ```bash
-repo init -u https://github.com/TexasInstruments/motor-control-manifests.git -m am243x/dev.xml -b main
+repo init -u https://github.com/TexasInstruments/industrial-comms-manifests.git -m am243x/dev.xml -b main
 ```

 Note that repo uses symbolic links. So if you're on Windows and do not have permissions
@ -90,7 +89,7 @@ to create symbolic links, the above command might fail for you. So you can eithe
 worktree feature of repo. To do this, initialize the repo like so:

 ```bash
-repo init --worktree -u https://github.com/TexasInstruments/motor-control-manifests.git -m am243x/dev.xml -b main
+repo init --worktree -u https://github.com/TexasInstruments/industrial-comms-manifests.git -m am243x/dev.xml -b main
 ```

 After the repo is initialized, do a
@ -103,35 +102,35 @@ This should clone all the repositories required for Motor Control SDK developmen

 #### Downloading And Installing Dependencies

-Note that the dependencies are also soc specific, here we take an example of am243x.
+Note that the dependencies are also soc specific, here we take an example of am263x.
 You can replace that with the SoC of your choice like the `repo init` step.

 **To download and install dependencies in linux, follow the below steps**:

-Run the following from the same location where you have `motor_control_sdk` and `motor_control_setup`
+Run the following from the same location where you have `industrial_comms` and `industrial_comms_setup`
 folders.

 ```bash
-./motor_control_setup/am243x/download_components.sh
+./industrial_comms_setup/am243x/download_components.sh
 ```

 This will install all the required dependencies including Code Composer Studio (CCS).
-The script assumes that `motor_control_sdk` folder is in the same location from where
+The script assumes that `industrial_comms` folder is in the same location from where
 you have invoked the script, and that dependencies are installed into `${HOME}/ti`
 location. If these defaults don't work for you, please pass these as arguments to
 the script like

 ```bash
-./motor_control_setup/am243x/download_components.sh --install_dir=/path/to/tools
+./industrial_comms_setup/am243x/download_components.sh --install_dir=/path/to/tools

 OR

-./motor_control_setup/am243x/download_components.sh --motor_control_sdk_sdk_folder=/path/to/motor_control_sdk/folder
+./industrial_comms_setup/am243x/download_components.sh --industrial_comms_sdk_folder=/path/to/industrial_comms/folder
 ```
 and so on. For a complete list of arguments you can pass to the script, please run

 ```bash
-./motor_control_setup/am243x/download_components.sh -h
+./industrial_comms_setup/am243x/download_components.sh -h
 ```

 **In windows the dependencies has to be manually installed. Given below are the steps**:
@ -150,9 +149,9 @@ and so on. For a complete list of arguments you can pass to the script, please r
 4. Download and install Node.js v12.18.4 LTS
  - Go to the [NodeJS Website](https://nodejs.org/en/) and use the installer to
    download and install v12.18.4 of node. Install in the default directory.
-  - After successful installation, run an `npm ci` inside the `motor_control_sdk` folder like so:
+  - After successful installation, run an `npm ci` inside the `industrial_comms` folder like so:
    ```bash
-    $ cd motor_control_sdk/
+    $ cd industrial_comms/
    $ npm ci
    $ cd ../
    ```
@ -231,8 +230,8 @@ repo start dev --all

 - Use `gmake` in windows, add path to gmake present in CCS at `C:\ti\ccsxxxx\ccs\utils\bin` to your windows PATH. We have
  used `make` in below instructions.
- Unless mentioned otherwise, all below commands are invoked from root folder of the "motor_control_sdk"  repository.
- Current supported device names are am64x, am243x, am243x, am273x and awr294x
+- Unless mentioned otherwise, all below commands are invoked from root folder of the "industrial_comms"  repository.
+- Current supported device names are am64x, am243x, am263x, am273x and awr294x
 - Pass one of these values to `"DEVICE="`
 - You can also build components (examples, tests or libraries) in `release` or `debug`
  profiles. To do this pass one of these values to `"PROFILE="`
@ -242,29 +241,29 @@ repo start dev --all
 1. Run the following command to create makefiles, this step is optional since this is invoked as part of other steps as well,

   ```bash
-   make gen-buildfiles DEVICE=am243x
+   make gen-buildfiles DEVICE=am263x
   ```

 2. To see all granular build options, run

   ```bash
-   make -s help DEVICE=am243x
+   make -s help DEVICE=am263x
   ```
   This should show you commands to build specific libraries, examples or tests.

 3. Make sure to build the libraries before attempting to build an example. For example,
   to build a Hello World example for AM263x, run the following:
   ```bash
-   make -s -j4 libs DEVICE=am243x PROFILE=debug
+   make -s -j4 libs DEVICE=am263x PROFILE=debug
   ```
   Once the library build is complete, to build the example run:
   ```bash
-   make -s -C examples/hello_world/am243x-cc/r5fss0-0_nortos/ti-arm-clang all PROFILE=debug
+   make -s -C examples/hello_world/am263x-cc/r5fss0-0_nortos/ti-arm-clang all PROFILE=debug
   ```

 4. Following are the commands to build **all libraries** and **all examples**. Valid PROFILE's are "release" or "debug"

   ```bash
-   make -s -j4 clean DEVICE=am243x PROFILE=debug
-   make -s -j4 all   DEVICE=am243x PROFILE=debug
+   make -s -j4 clean DEVICE=am263x PROFILE=debug
+   make -s -j4 all   DEVICE=am263x PROFILE=debug
   ```
--- a/devconfig/devconfig.mak
+++ b/devconfig/devconfig.mak
@ -2,7 +2,7 @@
 DEVICE_TYPE?=GP

 # Path to the signing tools, keys etc
-SIGNING_TOOL_PATH=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing
+SIGNING_TOOL_PATH=$(MCU_PLUS_SDK_PATH)/tools/boot/signing

 # Path to the keys
 ROM_DEGENERATE_KEY:=$(SIGNING_TOOL_PATH)/rom_degenerateKey.pem
--- a/docs/manifest.html
+++ b/docs/manifest.html
--- a/examples/position_sense/endat_diagnostic/endat_diagnostic.c
+++ b/examples/position_sense/endat_diagnostic/endat_diagnostic.c
@ -47,7 +47,7 @@
 #include <drivers/hw_include/hw_types.h>
 #include "ti_drivers_open_close.h"
 #include "ti_board_open_close.h"
-#include <position_sense/endat/include/endat_drv.h>
+#include <motor_control/position_sense/endat/include/endat_drv.h>
 #if PRU_ICSSGx_PRU_SLICE
 #define PRUICSS_PRUx PRUICSS_PRU1
 #define PRUICSS_TXPRUx PRUICSS_TX_PRU1
@ -60,23 +60,23 @@
 #define PRUICSS_SLICEx PRU_ICSSGx_PRU_SLICE

 #if CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_SINGLE_PRU
-#include  <position_sense/endat/firmware/endat_master_multi_bin.h>
+#include  <motor_control/position_sense/endat/firmware/endat_master_multi_bin.h>
 #endif

 #if (CONFIG_ENDAT0_CHANNEL0) && (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
-#include <position_sense/endat/firmware/endat_master_multi_RTU_bin.h>
+#include <motor_control/position_sense/endat/firmware/endat_master_multi_RTU_bin.h>
 #endif

 #if (CONFIG_ENDAT0_CHANNEL1) && (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
-#include <position_sense/endat/firmware/endat_master_multi_PRU_bin.h>
+#include <motor_control/position_sense/endat/firmware/endat_master_multi_PRU_bin.h>
 #endif

 #if (CONFIG_ENDAT0_CHANNEL2) && (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
-#include <position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h>
+#include <motor_control/position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h>
 #endif

 #if CONFIG_ENDAT0_MODE == ENDAT_MODE_SINGLE_CHANNEL_SINGLE_PRU
-#include <position_sense/endat/firmware/endat_master_bin.h>
+#include <motor_control/position_sense/endat/firmware/endat_master_bin.h>
 #endif


--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project.js
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/.project/project.js
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project_am243x.js
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project_am243x.js
@ -21,18 +21,18 @@ const filedirs = {

 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/position_sense/endat/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
    ],
 };

--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project_am64x.js
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project_am64x.js
@ -21,18 +21,18 @@ const filedirs = {

 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/position_sense/endat/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
    ],
 };

--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/example.syscfg
@ -22,7 +22,7 @@ const mpu_armv75 = mpu_armv7.addInstance();
 const mpu_armv76 = mpu_armv7.addInstance();
 const timer      = scripting.addModule("/kernel/dpl/timer", {}, false);
 const timer1     = timer.addInstance();
-const endat      = scripting.addModule("/position_sense/endat", {}, false);
+const endat      = scripting.addModule("/motor_control/position_sense/endat", {}, false);
 const endat1     = endat.addInstance();

 /**
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/main.c
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/main.c
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@ -12,14 +12,14 @@
    <project
        title="Endat Diagnostic Multi Channel Load Share"
        name = "endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
        configurations="
                Debug,
                Release,
        "
        connection="TIXDS110_Connection.xml"
        toolChain="TICLANG"
-        cgtVersion="2.1.3"
+        cgtVersion="2.1.2"
        device="Cortex R.AM2434_ALV"
        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
        ignoreDefaultDeviceSettings="true"
@ -30,11 +30,11 @@

        compilerBuildOptions="
            -I${CG_TOOL_ROOT}/include/c
-            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MCU_PLUS_SDK_PATH}/source
            -I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
            -mcpu=cortex-r5
            -mfloat-abi=hard
            -mfpu=vfpv3-d16
@ -48,10 +48,10 @@
            -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/position_sense/endat/lib
+            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
+            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
+            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
            -i${CG_TOOL_ROOT}/lib
            -m=endat_diagnostic_multi_channel_load_share.${ConfigName}.map
            --diag_suppress=10063
@ -59,7 +59,7 @@
            --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=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"

        enableSysConfigTool="true"
        sysConfigBuildOptions="
@ -94,6 +94,7 @@
                -llibsysbm.a
            "
        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
        </file>
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@ -55,11 +55,11 @@ FILES_PATH_common = \

 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MCU_PLUS_SDK_PATH}/source \
 	-I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \

 DEFINES_common := \
@ -99,10 +99,10 @@ 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/position_sense/endat/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \

 LIBS_common = \
@ -128,10 +128,10 @@ LIBS_NAME = \
 	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/position_sense/endat/lib \
+	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \

 FILES := $(FILES_common) $(FILES_$(PROFILE))
@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg

 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,8 +11,8 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak

 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/example.syscfg
@ -22,7 +22,7 @@ const mpu_armv75 = mpu_armv7.addInstance();
 const mpu_armv76 = mpu_armv7.addInstance();
 const timer      = scripting.addModule("/kernel/dpl/timer", {}, false);
 const timer1     = timer.addInstance();
-const endat      = scripting.addModule("/position_sense/endat", {}, false);
+const endat      = scripting.addModule("/motor_control/position_sense/endat", {}, false);
 const endat1     = endat.addInstance();

 /**
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/main.c
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/main.c
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@ -12,14 +12,14 @@
    <project
        title="Endat Diagnostic Multi Channel Load Share"
        name = "endat_diagnostic_multi_channel_load_share_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
        configurations="
                Debug,
                Release,
        "
        connection="TIXDS110_Connection.xml"
        toolChain="TICLANG"
-        cgtVersion="2.1.3"
+        cgtVersion="2.1.2"
        device="Cortex R.AM64x"
        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
        ignoreDefaultDeviceSettings="true"
@ -30,11 +30,11 @@

        compilerBuildOptions="
            -I${CG_TOOL_ROOT}/include/c
-            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MCU_PLUS_SDK_PATH}/source
            -I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
            -mcpu=cortex-r5
            -mfloat-abi=hard
            -mfpu=vfpv3-d16
@ -48,10 +48,10 @@
            -DSOC_AM64X
        "
        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/position_sense/endat/lib
+            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
+            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
+            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
            -i${CG_TOOL_ROOT}/lib
            -m=endat_diagnostic_multi_channel_load_share.${ConfigName}.map
            --diag_suppress=10063
@ -59,7 +59,7 @@
            --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=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"

        enableSysConfigTool="true"
        sysConfigBuildOptions="
@ -94,6 +94,7 @@
                -llibsysbm.a
            "
        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
        </file>
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@ -55,11 +55,11 @@ FILES_PATH_common = \

 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MCU_PLUS_SDK_PATH}/source \
 	-I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \

 DEFINES_common := \
@ -99,10 +99,10 @@ 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/position_sense/endat/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \

 LIBS_common = \
@ -128,10 +128,10 @@ LIBS_NAME = \
 	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/position_sense/endat/lib \
+	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \

 FILES := $(FILES_common) $(FILES_$(PROFILE))
@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg

 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,8 +11,8 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak

 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
--- a/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/motor_control/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project.js
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project.js
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project_am243x.js
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project_am243x.js
@ -21,18 +21,18 @@ const filedirs = {

 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/position_sense/endat/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
    ],
 };

--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project_am64x.js
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project_am64x.js
@ -21,18 +21,18 @@ const filedirs = {

 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/position_sense/endat/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
    ],
 };

--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/example.syscfg
@ -22,7 +22,7 @@ const mpu_armv75 = mpu_armv7.addInstance();
 const mpu_armv76 = mpu_armv7.addInstance();
 const timer      = scripting.addModule("/kernel/dpl/timer", {}, false);
 const timer1     = timer.addInstance();
-const endat      = scripting.addModule("/position_sense/endat", {}, false);
+const endat      = scripting.addModule("/motor_control/position_sense/endat", {}, false);
 const endat1     = endat.addInstance();

 /**
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/main.c
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/main.c
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@ -12,14 +12,14 @@
    <project
        title="Endat Diagnostic Multi Channel Single Pru"
        name = "endat_diagnostic_multi_channel_single_pru_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
        configurations="
                Debug,
                Release,
        "
        connection="TIXDS110_Connection.xml"
        toolChain="TICLANG"
-        cgtVersion="2.1.3"
+        cgtVersion="2.1.2"
        device="Cortex R.AM2434_ALV"
        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
        ignoreDefaultDeviceSettings="true"
@ -30,11 +30,11 @@

        compilerBuildOptions="
            -I${CG_TOOL_ROOT}/include/c
-            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MCU_PLUS_SDK_PATH}/source
            -I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
            -mcpu=cortex-r5
            -mfloat-abi=hard
            -mfpu=vfpv3-d16
@ -48,10 +48,10 @@
            -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/position_sense/endat/lib
+            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
+            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
+            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
            -i${CG_TOOL_ROOT}/lib
            -m=endat_diagnostic_multi_channel_single_pru.${ConfigName}.map
            --diag_suppress=10063
@ -59,7 +59,7 @@
            --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=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"

        enableSysConfigTool="true"
        sysConfigBuildOptions="
@ -94,6 +94,7 @@
                -llibsysbm.a
            "
        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
        </file>
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@ -55,11 +55,11 @@ FILES_PATH_common = \

 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MCU_PLUS_SDK_PATH}/source \
 	-I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \

 DEFINES_common := \
@ -99,10 +99,10 @@ 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/position_sense/endat/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \

 LIBS_common = \
@ -128,10 +128,10 @@ LIBS_NAME = \
 	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/position_sense/endat/lib \
+	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \

 FILES := $(FILES_common) $(FILES_$(PROFILE))
@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg

 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,8 +11,8 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak

 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/example.syscfg
@ -22,7 +22,7 @@ const mpu_armv75 = mpu_armv7.addInstance();
 const mpu_armv76 = mpu_armv7.addInstance();
 const timer      = scripting.addModule("/kernel/dpl/timer", {}, false);
 const timer1     = timer.addInstance();
-const endat      = scripting.addModule("/position_sense/endat", {}, false);
+const endat      = scripting.addModule("/motor_control/position_sense/endat", {}, false);
 const endat1     = endat.addInstance();

 /**
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/main.c
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/main.c
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@ -12,14 +12,14 @@
    <project
        title="Endat Diagnostic Multi Channel Single Pru"
        name = "endat_diagnostic_multi_channel_single_pru_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
        configurations="
                Debug,
                Release,
        "
        connection="TIXDS110_Connection.xml"
        toolChain="TICLANG"
-        cgtVersion="2.1.3"
+        cgtVersion="2.1.2"
        device="Cortex R.AM64x"
        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
        ignoreDefaultDeviceSettings="true"
@ -30,11 +30,11 @@

        compilerBuildOptions="
            -I${CG_TOOL_ROOT}/include/c
-            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MCU_PLUS_SDK_PATH}/source
            -I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
            -mcpu=cortex-r5
            -mfloat-abi=hard
            -mfpu=vfpv3-d16
@ -48,10 +48,10 @@
            -DSOC_AM64X
        "
        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/position_sense/endat/lib
+            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
+            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
+            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
            -i${CG_TOOL_ROOT}/lib
            -m=endat_diagnostic_multi_channel_single_pru.${ConfigName}.map
            --diag_suppress=10063
@ -59,7 +59,7 @@
            --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=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"

        enableSysConfigTool="true"
        sysConfigBuildOptions="
@ -94,6 +94,7 @@
                -llibsysbm.a
            "
        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
        </file>
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@ -55,11 +55,11 @@ FILES_PATH_common = \

 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MCU_PLUS_SDK_PATH}/source \
 	-I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \

 DEFINES_common := \
@ -99,10 +99,10 @@ 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/position_sense/endat/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \

 LIBS_common = \
@ -128,10 +128,10 @@ LIBS_NAME = \
 	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/position_sense/endat/lib \
+	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \

 FILES := $(FILES_common) $(FILES_$(PROFILE))
@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg

 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,8 +11,8 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak

 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
--- a/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/multi_channel_load_share/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project.js
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project.js
--- a/examples/position_sense/endat_diagnostic/single_channel/.project/project_am243x.js
+++ b/examples/position_sense/endat_diagnostic/single_channel/.project/project_am243x.js
@ -21,18 +21,18 @@ const filedirs = {

 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/position_sense/endat/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
    ],
 };

--- a/examples/position_sense/endat_diagnostic/single_channel/.project/project_am64x.js
+++ b/examples/position_sense/endat_diagnostic/single_channel/.project/project_am64x.js
@ -21,18 +21,18 @@ const filedirs = {

 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/position_sense/endat/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
    ],
 };

--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/example.syscfg
@ -22,7 +22,7 @@ const mpu_armv75 = mpu_armv7.addInstance();
 const mpu_armv76 = mpu_armv7.addInstance();
 const timer      = scripting.addModule("/kernel/dpl/timer", {}, false);
 const timer1     = timer.addInstance();
-const endat      = scripting.addModule("/position_sense/endat", {}, false);
+const endat      = scripting.addModule("/motor_control/position_sense/endat", {}, false);
 const endat1     = endat.addInstance();

 /**
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/main.c
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/main.c
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@ -12,14 +12,14 @@
    <project
        title="Endat Diagnostic Single Channel"
        name = "endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
        configurations="
                Debug,
                Release,
        "
        connection="TIXDS110_Connection.xml"
        toolChain="TICLANG"
-        cgtVersion="2.1.3"
+        cgtVersion="2.1.2"
        device="Cortex R.AM2434_ALV"
        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
        ignoreDefaultDeviceSettings="true"
@ -30,11 +30,11 @@

        compilerBuildOptions="
            -I${CG_TOOL_ROOT}/include/c
-            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MCU_PLUS_SDK_PATH}/source
            -I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
            -mcpu=cortex-r5
            -mfloat-abi=hard
            -mfpu=vfpv3-d16
@ -48,10 +48,10 @@
            -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/position_sense/endat/lib
+            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
+            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
+            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
            -i${CG_TOOL_ROOT}/lib
            -m=endat_diagnostic_single_channel.${ConfigName}.map
            --diag_suppress=10063
@ -59,7 +59,7 @@
            --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=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"

        enableSysConfigTool="true"
        sysConfigBuildOptions="
@ -94,6 +94,7 @@
                -llibsysbm.a
            "
        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
        </file>
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@ -55,11 +55,11 @@ FILES_PATH_common = \

 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MCU_PLUS_SDK_PATH}/source \
 	-I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \

 DEFINES_common := \
@ -99,10 +99,10 @@ 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/position_sense/endat/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \

 LIBS_common = \
@ -128,10 +128,10 @@ LIBS_NAME = \
 	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/position_sense/endat/lib \
+	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \

 FILES := $(FILES_common) $(FILES_$(PROFILE))
@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/  ../example.syscfg

 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,8 +11,8 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak

 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/example.syscfg
@ -19,7 +19,7 @@ const mpu_armv74 = mpu_armv7.addInstance();
 const mpu_armv75 = mpu_armv7.addInstance();
 const timer      = scripting.addModule("/kernel/dpl/timer", {}, false);
 const timer1     = timer.addInstance();
-const endat      = scripting.addModule("/position_sense/endat", {}, false);
+const endat      = scripting.addModule("/motor_control/position_sense/endat", {}, false);
 const endat1     = endat.addInstance();

 /**
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/main.c
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/main.c
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@ -12,14 +12,14 @@
    <project
        title="Endat Diagnostic Single Channel"
        name = "endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
        configurations="
                Debug,
                Release,
        "
        connection="TIXDS110_Connection.xml"
        toolChain="TICLANG"
-        cgtVersion="2.1.3"
+        cgtVersion="2.1.2"
        device="Cortex R.AM2434_ALX"
        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
        ignoreDefaultDeviceSettings="true"
@ -30,11 +30,11 @@

        compilerBuildOptions="
            -I${CG_TOOL_ROOT}/include/c
-            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MCU_PLUS_SDK_PATH}/source
            -I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f
            -mcpu=cortex-r5
            -mfloat-abi=hard
            -mfpu=vfpv3-d16
@ -48,10 +48,10 @@
            -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/position_sense/endat/lib
+            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
+            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
+            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
            -i${CG_TOOL_ROOT}/lib
            -m=endat_diagnostic_single_channel.${ConfigName}.map
            --diag_suppress=10063
@ -59,7 +59,7 @@
            --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=${CCS_IDE_MODE} DEVICE=am243x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"

        enableSysConfigTool="true"
        sysConfigBuildOptions="
@ -94,6 +94,7 @@
                -llibsysbm.a
            "
        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
        </file>
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile
@ -55,11 +55,11 @@ FILES_PATH_common = \

 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MCU_PLUS_SDK_PATH}/source \
 	-I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f \
 	-Igenerated \

 DEFINES_common := \
@ -99,10 +99,10 @@ 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/position_sense/endat/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \

 LIBS_common = \
@ -128,10 +128,10 @@ LIBS_NAME = \
 	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/position_sense/endat/lib \
+	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \

 FILES := $(FILES_common) $(FILES_$(PROFILE))
@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/  ../example.syscfg

 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -255,14 +255,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,8 +11,8 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak

 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

@ -52,14 +52,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
--- a/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
+++ b/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/example.syscfg
@ -22,7 +22,7 @@ const mpu_armv75 = mpu_armv7.addInstance();
 const mpu_armv76 = mpu_armv7.addInstance();
 const timer      = scripting.addModule("/kernel/dpl/timer", {}, false);
 const timer1     = timer.addInstance();
-const endat      = scripting.addModule("/position_sense/endat", {}, false);
+const endat      = scripting.addModule("/motor_control/position_sense/endat", {}, false);
 const endat1     = endat.addInstance();

 /**
--- a/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/main.c
+++ b/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/main.c
--- a/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
+++ b/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
@ -12,14 +12,14 @@
    <project
        title="Endat Diagnostic Single Channel"
        name = "endat_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
-        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
+        products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;com.ti.MCU_PLUS_SDK_AMXXX"
        configurations="
                Debug,
                Release,
        "
        connection="TIXDS110_Connection.xml"
        toolChain="TICLANG"
-        cgtVersion="2.1.3"
+        cgtVersion="2.1.2"
        device="Cortex R.AM64x"
        deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
        ignoreDefaultDeviceSettings="true"
@ -30,11 +30,11 @@

        compilerBuildOptions="
            -I${CG_TOOL_ROOT}/include/c
-            -I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
+            -I${MCU_PLUS_SDK_PATH}/source
            -I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
+            -I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f
            -mcpu=cortex-r5
            -mfloat-abi=hard
            -mfpu=vfpv3-d16
@ -48,10 +48,10 @@
            -DSOC_AM64X
        "
        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/position_sense/endat/lib
+            -i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib
+            -i${MCU_PLUS_SDK_PATH}/source/drivers/lib
+            -i${MCU_PLUS_SDK_PATH}/source/board/lib
+            -i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib
            -i${CG_TOOL_ROOT}/lib
            -m=endat_diagnostic_single_channel.${ConfigName}.map
            --diag_suppress=10063
@ -59,7 +59,7 @@
            --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=${CCS_IDE_MODE} DEVICE=am64x"
+        postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MCU_PLUS_SDK_PATH=${MCU_PLUS_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"

        enableSysConfigTool="true"
        sysConfigBuildOptions="
@ -94,6 +94,7 @@
                -llibsysbm.a
            "
        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
        <file path="../../../../endat_diagnostic.c" openOnCreation="false" excludeFromBuild="false" action="copy">
        </file>
--- a/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
+++ b/examples/position_sense/endat_diagnostic/multi_channel_single_pru/am64x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd
--- a/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
+++ b/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile
@ -55,11 +55,11 @@ FILES_PATH_common = \

 INCLUDES_common := \
 	-I${CG_TOOL_ROOT}/include/c \
-	-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
+	-I${MCU_PLUS_SDK_PATH}/source \
 	-I${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
+	-I${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f \
 	-Igenerated \

 DEFINES_common := \
@ -99,10 +99,10 @@ 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/position_sense/endat/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	-Wl,-i${MCU_PLUS_SDK_PATH}/source/board/lib \
+	-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	-Wl,-i${CG_TOOL_ROOT}/lib \

 LIBS_common = \
@ -128,10 +128,10 @@ LIBS_NAME = \
 	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/position_sense/endat/lib \
+	${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib \
+	${MCU_PLUS_SDK_PATH}/source/drivers/lib \
+	${MCU_PLUS_SDK_PATH}/source/board/lib \
+	${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/endat/lib \
 	${CG_TOOL_ROOT}/lib \

 FILES := $(FILES_common) $(FILES_$(PROFILE))
@ -227,10 +227,10 @@ $(SYSCFG_GEN_FILES): syscfg

 syscfg: ../example.syscfg
 	@echo Generating SysConfig files ...
-	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
+	$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg

 syscfg-gui:
-	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg
+	$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_MCUPLUSSDKPRODUCT) --product $(SYSCFG_SDKPRODUCT) --device AM64x_beta --context r5fss0-0 --part Default --package ALV --output generated/  ../example.syscfg

 #
 # Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
@ -239,9 +239,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt

@ -256,14 +256,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(SYSCFG_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
+++ b/examples/motor_control/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen
@ -3,7 +3,7 @@
 #

 # Below variables need to be defined outside this file or via command line
-# - MOTOR_CONTROL_SDK_PATH
+# - MCU_PLUS_SDK_PATH
 # - PROFILE
 # - CG_TOOL_ROOT
 # - OUTNAME
@ -11,8 +11,8 @@
 # - CCS_IDE_MODE

 CCS_PATH=$(CCS_INSTALL_DIR)
-include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
-include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
+include $(MCU_PLUS_SDK_PATH)/imports.mak
+include $(MCU_PLUS_SDK_PATH)/devconfig/devconfig.mak

 STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
 OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
@ -38,9 +38,9 @@ ifeq ($(OS),Windows_NT)
 EXE_EXT=.exe
 endif
 ifeq ($(OS),Windows_NT)
-  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
+  BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.ps1
 else
-  BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
+  BOOTIMAGE_CERT_GEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/signing/x509CertificateGen.sh
 endif
 BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt

@ -53,14 +53,14 @@ BOOTIMAGE_CORE_ID_m4fss0-0 = 14
 SBL_RUN_ADDRESS=0x70000000
 SBL_DEV_ID=55

-MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(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
+MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/multicoreImageGen/multicoreImageGen.js
+OUTRPRC_CMD = $(CCS_NODE) $(MCU_PLUS_SDK_PATH)/tools/boot/out2rprc/elf2rprc.js
+APP_IMAGE_SIGN_CMD = $(MCU_PLUS_SDK_PATH)/tools/boot/signing/appimage_x509_cert_gen.py

 ifeq ($(OS),Windows_NT)
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.exe
 else
-  XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
+  XIPGEN_CMD=$(MCU_PLUS_SDK_PATH)/tools/boot/xipGen/xipGen.out
 endif

 MULTI_CORE_IMAGE_PARAMS = \
--- a/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
+++ b/examples/position_sense/endat_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec
--- a/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
+++ b/examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs
--- a/examples/position_sense/hdsl_diagnostic/hdsl_diagnostic.c
+++ b/examples/position_sense/hdsl_diagnostic/hdsl_diagnostic.c
@ -52,12 +52,12 @@
 #include "ti_board_open_close.h"

 #include "hdsl_diagnostic.h"
-#include <position_sense/hdsl/include/hdsl_drv.h>
-#include <position_sense/hdsl/include/pruss_intc_mapping.h>
+#include <motor_control/position_sense/hdsl/include/hdsl_drv.h>
+#include <motor_control/position_sense/hdsl/include/pruss_intc_mapping.h>

 #if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==225000000)
-#include <position_sense/hdsl/firmware/hdsl_master_icssg_bin.h>
-#include <position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h>
+#include <motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_bin.h>
+#include <motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_sync_bin.h>
 /* Divide factor for normal clock (default value for 225 MHz=23) */
 #define DIV_FACTOR_NORMAL 23
 /* Divide factor for oversampled clock (default value for 225 MHz=2) */
@ -74,12 +74,12 @@
 #if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==300000000)

 #if (MULTICHANNEL==0)
-#include <position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h>
+#include <motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h>
 #endif

 #if (MULTICHANNEL==1)
-#include <position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h>
-#include <position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h>
+#include <motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h>
+#include <motor_control/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h>
 #endif

 /* Divide factor for normal clock (default value for 300 MHz=31) */
--- a/examples/position_sense/hdsl_diagnostic/hdsl_diagnostic.h
+++ b/examples/position_sense/hdsl_diagnostic/hdsl_diagnostic.h
--- a/examples/position_sense/endat_diagnostic/single_channel/.project/project.js
+++ b/examples/position_sense/endat_diagnostic/single_channel/.project/project.js
--- a/examples/position_sense/hdsl_diagnostic/multi_channel/.project/project_am243x.js
+++ b/examples/position_sense/hdsl_diagnostic/multi_channel/.project/project_am243x.js
@ -22,18 +22,18 @@ const filedirs = {

 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/position_sense/hdsl/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am243x/r5f",
    ],
 };

--- a/examples/position_sense/hdsl_diagnostic/multi_channel/.project/project_am64x.js
+++ b/examples/position_sense/hdsl_diagnostic/multi_channel/.project/project_am64x.js
@ -22,18 +22,18 @@ const filedirs = {

 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/position_sense/hdsl/lib",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/lib",
+        "${MCU_PLUS_SDK_PATH}/source/drivers/lib",
+        "${MCU_PLUS_SDK_PATH}/source/board/lib",
+        "${MOTOR_CONTROL_SDK_PATH}/source/motor_control/position_sense/hdsl/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",
-        "${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/FreeRTOS-Kernel/include",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
+        "${MCU_PLUS_SDK_PATH}/source/kernel/freertos/config/am64x/r5f",
    ],
 };

--- a/Show More
+++ b/Show More