diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..ccb6bf7ff
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM261x"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am261x-lp_icss_m0_pru0_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM261X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM261x"
+        deviceCore="ICSS_M0_PRU_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU0
+            -DSLICE0
+            -v4
+            -DSOC_AM261X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM261X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am261x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..13fdcb5e9
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM261x_PRU0.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM261x PRU0 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU0_DMEM_0, PAGE 1
+	.bss		>  PRU0_DMEM_0, PAGE 1
+	.cio		>  PRU0_DMEM_0, PAGE 1
+	.data		>  PRU0_DMEM_0, PAGE 1
+	.switch		>  PRU0_DMEM_0, PAGE 1
+	.sysmem		>  PRU0_DMEM_0, PAGE 1
+	.cinit		>  PRU0_DMEM_0, PAGE 1
+	.rodata		>  PRU0_DMEM_0, PAGE 1
+	.rofardata	>  PRU0_DMEM_0, PAGE 1
+	.farbss		>  PRU0_DMEM_0, PAGE 1
+	.fardata	>  PRU0_DMEM_0, PAGE 1
+}
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..bd9bb9d09
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am261x-lp_icss_m0_pru0_fw
+HEX_ARRAY_PREFIX := PRU0Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru0_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am261x-lp/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..4a365761d
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am261x-lp_icss_m0_pru0_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..07e7c1770
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM261x"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am261x-lp_icss_m0_pru1_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM261X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM261x"
+        deviceCore="ICSS_M0_PRU_1"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU1
+            -DSLICE1
+            -v4
+            -DSOC_AM261X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM261X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am261x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..774184ddf
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM261x_PRU1.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM261x PRU1 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU1_DMEM_1, PAGE 1
+	.bss		>  PRU1_DMEM_1, PAGE 1
+	.cio		>  PRU1_DMEM_1, PAGE 1
+	.data		>  PRU1_DMEM_1, PAGE 1
+	.switch		>  PRU1_DMEM_1, PAGE 1
+	.sysmem		>  PRU1_DMEM_1, PAGE 1
+	.cinit		>  PRU1_DMEM_1, PAGE 1
+	.rodata		>  PRU1_DMEM_1, PAGE 1
+	.rofardata	>  PRU1_DMEM_1, PAGE 1
+	.farbss		>  PRU1_DMEM_1, PAGE 1
+	.fardata	>  PRU1_DMEM_1, PAGE 1
+}
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..b1b6a1364
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am261x-lp_icss_m0_pru1_fw
+HEX_ARRAY_PREFIX := PRU1Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru1_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am261x-lp/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..09d8e74d4
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am261x-lp_icss_m0_pru1_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..09feec6cf
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM261x"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am261x-som_icss_m0_pru0_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM261X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM261x"
+        deviceCore="ICSS_M0_PRU_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU0
+            -DSLICE0
+            -v4
+            -DSOC_AM261X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM261X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am261x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..13fdcb5e9
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM261x_PRU0.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM261x PRU0 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU0_DMEM_0, PAGE 1
+	.bss		>  PRU0_DMEM_0, PAGE 1
+	.cio		>  PRU0_DMEM_0, PAGE 1
+	.data		>  PRU0_DMEM_0, PAGE 1
+	.switch		>  PRU0_DMEM_0, PAGE 1
+	.sysmem		>  PRU0_DMEM_0, PAGE 1
+	.cinit		>  PRU0_DMEM_0, PAGE 1
+	.rodata		>  PRU0_DMEM_0, PAGE 1
+	.rofardata	>  PRU0_DMEM_0, PAGE 1
+	.farbss		>  PRU0_DMEM_0, PAGE 1
+	.fardata	>  PRU0_DMEM_0, PAGE 1
+}
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..83330a24d
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am261x-som_icss_m0_pru0_fw
+HEX_ARRAY_PREFIX := PRU0Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru0_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am261x-som/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..b4c22dec3
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am261x-som_icss_m0_pru0_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..ce24d5023
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM261x"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am261x-som_icss_m0_pru1_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM261X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM261x"
+        deviceCore="ICSS_M0_PRU_1"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU1
+            -DSLICE1
+            -v4
+            -DSOC_AM261X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM261X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am261x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..774184ddf
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM261x_PRU1.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM261x PRU1 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU1_DMEM_1, PAGE 1
+	.bss		>  PRU1_DMEM_1, PAGE 1
+	.cio		>  PRU1_DMEM_1, PAGE 1
+	.data		>  PRU1_DMEM_1, PAGE 1
+	.switch		>  PRU1_DMEM_1, PAGE 1
+	.sysmem		>  PRU1_DMEM_1, PAGE 1
+	.cinit		>  PRU1_DMEM_1, PAGE 1
+	.rodata		>  PRU1_DMEM_1, PAGE 1
+	.rofardata	>  PRU1_DMEM_1, PAGE 1
+	.farbss		>  PRU1_DMEM_1, PAGE 1
+	.fardata	>  PRU1_DMEM_1, PAGE 1
+}
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..98fdad893
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am261x-som_icss_m0_pru1_fw
+HEX_ARRAY_PREFIX := PRU1Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru1_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am261x-som/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..a10ea14b8
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am261x-som_icss_m0_pru1_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..cef1fa593
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263Px"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263px-cc_icss_m0_pru0_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM263PX"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263Px"
+        deviceCore="ICSSM_PRU_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU0
+            -DSLICE0
+            -v4
+            -DSOC_AM263PX
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263PX_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263px/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..5b64bc7ef
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263Px_PRU0.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263Px PRU0 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU0_DMEM_0, PAGE 1
+	.bss		>  PRU0_DMEM_0, PAGE 1
+	.cio		>  PRU0_DMEM_0, PAGE 1
+	.data		>  PRU0_DMEM_0, PAGE 1
+	.switch		>  PRU0_DMEM_0, PAGE 1
+	.sysmem		>  PRU0_DMEM_0, PAGE 1
+	.cinit		>  PRU0_DMEM_0, PAGE 1
+	.rodata		>  PRU0_DMEM_0, PAGE 1
+	.rofardata	>  PRU0_DMEM_0, PAGE 1
+	.farbss		>  PRU0_DMEM_0, PAGE 1
+	.fardata	>  PRU0_DMEM_0, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..1be3a0b58
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263px-cc_icss_m0_pru0_fw
+HEX_ARRAY_PREFIX := PRU0Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru0_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263px-cc/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..4c4a79d2b
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263px-cc_icss_m0_pru0_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..dce254501
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263Px"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263px-cc_icss_m0_pru1_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM263PX"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263Px"
+        deviceCore="ICSSM_PRU_1"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU1
+            -DSLICE1
+            -v4
+            -DSOC_AM263PX
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263PX_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263px/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..57db723f6
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263Px_PRU1.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263Px PRU1 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU1_DMEM_1, PAGE 1
+	.bss		>  PRU1_DMEM_1, PAGE 1
+	.cio		>  PRU1_DMEM_1, PAGE 1
+	.data		>  PRU1_DMEM_1, PAGE 1
+	.switch		>  PRU1_DMEM_1, PAGE 1
+	.sysmem		>  PRU1_DMEM_1, PAGE 1
+	.cinit		>  PRU1_DMEM_1, PAGE 1
+	.rodata		>  PRU1_DMEM_1, PAGE 1
+	.rofardata	>  PRU1_DMEM_1, PAGE 1
+	.farbss		>  PRU1_DMEM_1, PAGE 1
+	.fardata	>  PRU1_DMEM_1, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..7f31497eb
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263px-cc_icss_m0_pru1_fw
+HEX_ARRAY_PREFIX := PRU1Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru1_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263px-cc/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..8e2dbc1e6
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263px-cc_icss_m0_pru1_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..975bca0f2
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263Px"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263px-lp_icss_m0_pru0_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM263PX"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263Px"
+        deviceCore="ICSSM_PRU_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU0
+            -DSLICE0
+            -v4
+            -DSOC_AM263PX
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263PX_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263px/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..5b64bc7ef
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263Px_PRU0.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263Px PRU0 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU0_DMEM_0, PAGE 1
+	.bss		>  PRU0_DMEM_0, PAGE 1
+	.cio		>  PRU0_DMEM_0, PAGE 1
+	.data		>  PRU0_DMEM_0, PAGE 1
+	.switch		>  PRU0_DMEM_0, PAGE 1
+	.sysmem		>  PRU0_DMEM_0, PAGE 1
+	.cinit		>  PRU0_DMEM_0, PAGE 1
+	.rodata		>  PRU0_DMEM_0, PAGE 1
+	.rofardata	>  PRU0_DMEM_0, PAGE 1
+	.farbss		>  PRU0_DMEM_0, PAGE 1
+	.fardata	>  PRU0_DMEM_0, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..877c48f38
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263px-lp_icss_m0_pru0_fw
+HEX_ARRAY_PREFIX := PRU0Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru0_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263px-lp/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..666e4b0c1
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263px-lp_icss_m0_pru0_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..975463a5a
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263Px"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263px-lp_icss_m0_pru1_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;MCU-PLUS-SDK-AM263PX"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263Px"
+        deviceCore="ICSSM_PRU_1"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU1
+            -DSLICE1
+            -v4
+            -DSOC_AM263PX
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263PX_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263px/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..57db723f6
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263Px_PRU1.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263Px PRU1 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU1_DMEM_1, PAGE 1
+	.bss		>  PRU1_DMEM_1, PAGE 1
+	.cio		>  PRU1_DMEM_1, PAGE 1
+	.data		>  PRU1_DMEM_1, PAGE 1
+	.switch		>  PRU1_DMEM_1, PAGE 1
+	.sysmem		>  PRU1_DMEM_1, PAGE 1
+	.cinit		>  PRU1_DMEM_1, PAGE 1
+	.rodata		>  PRU1_DMEM_1, PAGE 1
+	.rofardata	>  PRU1_DMEM_1, PAGE 1
+	.farbss		>  PRU1_DMEM_1, PAGE 1
+	.fardata	>  PRU1_DMEM_1, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..38dbe6ab3
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263px-lp_icss_m0_pru1_fw
+HEX_ARRAY_PREFIX := PRU1Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru1_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263px-lp/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..074de1613
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263px-lp_icss_m0_pru1_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..6bbf6859c
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263x_CC"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263x-cc_icss_m0_pru0_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;com.ti.MCU_PLUS_SDK_AM263X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263x_CC"
+        deviceCore="ICSSM_PRU_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU0
+            -DSLICE0
+            -v4
+            -DSOC_AM263X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..11542351e
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263x_PRU0.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263x PRU0 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU0_DMEM_0, PAGE 1
+	.bss		>  PRU0_DMEM_0, PAGE 1
+	.cio		>  PRU0_DMEM_0, PAGE 1
+	.data		>  PRU0_DMEM_0, PAGE 1
+	.switch		>  PRU0_DMEM_0, PAGE 1
+	.sysmem		>  PRU0_DMEM_0, PAGE 1
+	.cinit		>  PRU0_DMEM_0, PAGE 1
+	.rodata		>  PRU0_DMEM_0, PAGE 1
+	.rofardata	>  PRU0_DMEM_0, PAGE 1
+	.farbss		>  PRU0_DMEM_0, PAGE 1
+	.fardata	>  PRU0_DMEM_0, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..3de85ce12
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263x-cc_icss_m0_pru0_fw
+HEX_ARRAY_PREFIX := PRU0Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru0_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263x-cc/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..9a8c7c3ca
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263x-cc_icss_m0_pru0_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..cf1158b7f
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263x_CC"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263x-cc_icss_m0_pru1_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;com.ti.MCU_PLUS_SDK_AM263X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263x_CC"
+        deviceCore="ICSSM_PRU_1"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU1
+            -DSLICE1
+            -v4
+            -DSOC_AM263X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..cf0121bf4
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263x_PRU1.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263x PRU1 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU1_DMEM_1, PAGE 1
+	.bss		>  PRU1_DMEM_1, PAGE 1
+	.cio		>  PRU1_DMEM_1, PAGE 1
+	.data		>  PRU1_DMEM_1, PAGE 1
+	.switch		>  PRU1_DMEM_1, PAGE 1
+	.sysmem		>  PRU1_DMEM_1, PAGE 1
+	.cinit		>  PRU1_DMEM_1, PAGE 1
+	.rodata		>  PRU1_DMEM_1, PAGE 1
+	.rofardata	>  PRU1_DMEM_1, PAGE 1
+	.farbss		>  PRU1_DMEM_1, PAGE 1
+	.fardata	>  PRU1_DMEM_1, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..fddaba898
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263x-cc_icss_m0_pru1_fw
+HEX_ARRAY_PREFIX := PRU1Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru1_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263x-cc/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..618883c83
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263x-cc_icss_m0_pru1_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..e59603084
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263x_LAUNCHPAD"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263x-lp_icss_m0_pru0_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;com.ti.MCU_PLUS_SDK_AM263X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263x_LAUNCHPAD"
+        deviceCore="ICSSM_PRU_0"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU0
+            -DSLICE0
+            -v4
+            -DSOC_AM263X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..11542351e
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263x_PRU0.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263x PRU0 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU0_DMEM_0, PAGE 1
+	.bss		>  PRU0_DMEM_0, PAGE 1
+	.cio		>  PRU0_DMEM_0, PAGE 1
+	.data		>  PRU0_DMEM_0, PAGE 1
+	.switch		>  PRU0_DMEM_0, PAGE 1
+	.sysmem		>  PRU0_DMEM_0, PAGE 1
+	.cinit		>  PRU0_DMEM_0, PAGE 1
+	.rodata		>  PRU0_DMEM_0, PAGE 1
+	.rofardata	>  PRU0_DMEM_0, PAGE 1
+	.farbss		>  PRU0_DMEM_0, PAGE 1
+	.fardata	>  PRU0_DMEM_0, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..eb19bd8f2
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263x-lp_icss_m0_pru0_fw
+HEX_ARRAY_PREFIX := PRU0Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru0_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263x-lp/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..c2ca28dd0
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263x-lp_icss_m0_pru0_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
new file mode 100644
index 000000000..36eac2381
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/example.projectspec
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectSpec>
+    <applicability>
+        <when>
+            <context
+                deviceFamily="PRU"
+                deviceId="AM263x_LAUNCHPAD"
+            />
+        </when>
+    </applicability>
+
+    <project
+        title="Double Float Multiply"
+        name = "double_float_multiply_am263x-lp_icss_m0_pru1_fw_ti-pru-cgt"
+        products="com.ti.OPEN_PRU;com.ti.MCU_PLUS_SDK_AM263X"
+        configurations="
+            Release,
+            Debug,
+        "
+        connection="TIXDS110_Connection.xml"
+        toolChain="TI"
+        cgtVersion="2.3.3"
+        device="AM263x_LAUNCHPAD"
+        deviceCore="ICSSM_PRU_1"
+        ignoreDefaultDeviceSettings="true"
+        ignoreDefaultCCSSettings="true"
+        endianness="little"
+        outputFormat="ELF"
+        outputType="executable"
+
+        compilerBuildOptions="
+            -I${CG_TOOL_ROOT}/include
+            -I${MCU_PLUS_SDK_PATH}/source
+            -I${OPEN_PRU_PATH}/source
+            -I${MCU_PLUS_SDK_PATH}/source/pru_io/firmware/common
+            -DPRU1
+            -DSLICE1
+            -v4
+            -DSOC_AM263X
+        "
+        linkerBuildOptions="
+            -m=double_float_multiply.${ConfigName}.map
+            --disable_auto_rts
+            --entry_point=main
+            --diag_suppress=10063-D
+        "
+
+        postBuildStep="
+        "
+
+        description="A Double Float Multiply FW project">
+
+        <configuration name="Debug"
+            compilerBuildOptions="
+                -D_DEBUG_=1
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <configuration name="Release"
+            compilerBuildOptions="
+                -O3
+            "
+            linkerBuildOptions="
+            "
+        ></configuration>
+        <pathVariable name="MCU_PLUS_SDK_PATH" path="${COM_TI_MCU_PLUS_SDK_AM263X_INSTALL_DIR}" scope="project" />
+        <pathVariable name="OPEN_PRU_PATH" path="${COM_TI_OPEN_PRU_INSTALL_DIR}" scope="project" />
+        <file path="../../../main.asm" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="./linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
+        </file>
+        <file path="${OPEN_PRU_PATH}/docs/api_guide_am263x/EXAMPLES_PRU_DOUBLE_FLOAT_MULTIPLY.html"
+                openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
+        </file>
+    </project>
+</projectSpec>
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
new file mode 100644
index 000000000..cf0121bf4
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd
@@ -0,0 +1,43 @@
+/*
+ * AM263x_PRU1.cmd
+ *
+ * Example Linker command file for linking assembly programs built with the TI-PRU-CGT
+ * on AM263x PRU1 cores
+ */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	/* 16 KB PRU Instruction RAM */
+	PRU_IMEM	: org = 0x00000000 len = 0x00004000
+
+      PAGE 1:
+	/* Data RAMs */
+	/* 8 KB PRU Data RAM 1 */
+	PRU1_DMEM_1	: org = 0x00000000 len = 0x00002000
+	/* 8 KB PRU Data RAM 0 */
+	PRU0_DMEM_0	: org = 0x00002000 len = 0x00002000
+
+      PAGE 2:
+	/* C28 needs to be programmed to point to SHAREDMEM, default is 0 */
+	/* 32 KB PRU Shared RAM */
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00008000
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU1_DMEM_1, PAGE 1
+	.bss		>  PRU1_DMEM_1, PAGE 1
+	.cio		>  PRU1_DMEM_1, PAGE 1
+	.data		>  PRU1_DMEM_1, PAGE 1
+	.switch		>  PRU1_DMEM_1, PAGE 1
+	.sysmem		>  PRU1_DMEM_1, PAGE 1
+	.cinit		>  PRU1_DMEM_1, PAGE 1
+	.rodata		>  PRU1_DMEM_1, PAGE 1
+	.rofardata	>  PRU1_DMEM_1, PAGE 1
+	.farbss		>  PRU1_DMEM_1, PAGE 1
+	.fardata	>  PRU1_DMEM_1, PAGE 1
+}
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile
new file mode 100644
index 000000000..2c105e454
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile
@@ -0,0 +1,149 @@
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+# Define build outputs
+OUTPUT_NAME := double_float_multiply_am263x-lp_icss_m0_pru1_fw
+HEX_ARRAY_PREFIX := PRU1Firmware
+GEN_DIR := generated
+TARGET := $(GEN_DIR)/$(OUTPUT_NAME).out
+TARGET_HEX := $(GEN_DIR)/$(OUTPUT_NAME).h
+
+# MCU+ projects: rename & move hex array output
+MCU_HEX_NAME := pru1_load_bin.h
+MCU_HEX_PATH := $(OPEN_PRU_PATH)/examples/double_float/firmware/am263x-lp/$(MCU_HEX_NAME)
+
+# which directories to search for assembly & C source files?
+FILES_PATH := .. ../../.. .
+vpath %.asm $(FILES_PATH)
+vpath %.c $(FILES_PATH)
+vpath %.cmd $(FILES_PATH)
+vpath %.obj $(GEN_DIR)
+C_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c)))
+ASM_FILES := $(notdir $(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm)))
+
+# Generate an object file for every *.asm and *.c source file in FILES_PATH
+OBJECTS := $(patsubst %.asm, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.asm))))
+OBJECTS += $(patsubst %.c, $(GEN_DIR)/%.obj, $(notdir \
+	$(foreach directory, $(FILES_PATH), $(wildcard $(directory)/*.c))))
+
+# Linker command file
+COMMAND_FILES := linker.cmd
+
+# Include paths
+INCLUDE := \
+	--include_path=$(CGT_TI_PRU_PATH)/include \
+	--include_path=$(OPEN_PRU_PATH)/source
+ifeq ($(BUILD_MCUPLUS),y)
+INCLUDE += \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source \
+	--include_path=$(MCU_PLUS_SDK_PATH)/source/pru_io/firmware/common
+endif
+
+# Compiler flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+# commonly modified flags include:
+#     silicon version: -v (3: PRUSS, PRU-ICSS; 4: PRU_ICSSG)
+#     C code optimization: -O (off, 0, 1, 2, 3, 4)
+CFLAGS := \
+	-v3 -O2 \
+	--display_error_number --diag_wrap=off --diag_warning=225 \
+	--asm_directory=$(GEN_DIR) --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) \
+	-ppd -ppa -g --endian=little
+
+# Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
+LFLAGS := \
+	-m$(GEN_DIR)/$(OUTPUT_NAME).map --xml_link_info=$(GEN_DIR)/$(OUTPUT_NAME)_linkInfo.xml \
+	--display_error_number --diag_wrap=off --diag_warning=225 --diag_suppress=10063-D \
+	--warn_sections --reread_libs
+
+ifeq ($(C_FILES),)
+# PRU firmware is assembly-only
+# commonly modified flags include:
+#     entry point
+LFLAGS += \
+	--entry_point=main --disable_auto_rts --ram_model
+
+else
+# PRU firmware has C code
+# commonly modified flags include:
+#     stack size, heap size
+LFLAGS += \
+	--stack_size=0x100 --heap_size=0x100 \
+	-i$(CGT_TI_PRU_PATH)/lib -i$(CGT_TI_PRU_PATH)/include --library=libc.a
+endif
+
+# Defines (pass instance specific definitions to the program)
+# see --define or -D in 'PRU Optimizing C/C++ Compiler User's Guide'
+# For example, to define PRU0, ICSSG1, SOC_AM243X, and set _DEBUG_=1:
+# -DPRU0 -DICSSG1 --define=SOC_AM243X -D_DEBUG_=1
+DFLAGS :=
+
+# Libraries
+# see --library in 'PRU Optimizing C/C++ Compiler User's Guide'
+LIBS :=
+
+# Only build if tools are defined
+ifeq (,$(CGT_TI_PRU_PATH))
+all clean:
+	@echo 'CGT_TI_PRU_PATH not set. Make sure that:'
+	@echo ' 1) OPEN_PRU_PATH points to the open-pru repo'
+	@echo ' 2) imports.mak exists at OPEN_PRU_PATH'
+	@echo ' 3) Both the open-pru repo and imports.mak are set up as per'
+	@echo '    OPEN_PRU_PATH/docs/getting_started.md'
+else
+
+# All Target
+all: $(OBJECTS) $(COMMAND_FILES)
+	@$(MAKE) --no-print-directory -Onone "$(TARGET)"
+
+# Invoke the compiler on all assembly files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.asm
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: "$^"'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the compiler on all c files in vpath to create the object files
+$(GEN_DIR)/%.obj: %.c
+	$(MKDIR) $(GEN_DIR)
+	@echo 'Building file: $^'
+	@echo 'Invoking: PRU Compiler'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(INCLUDE) $(CFLAGS) $(DFLAGS) $^
+	@echo 'Finished building: "$^"'
+	@echo ' '
+
+# Invoke the linker (-z flag) to make the .out file
+$(TARGET): $(OBJECTS) $(COMMAND_FILES)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: PRU Linker'
+	"$(CGT_TI_PRU_PATH)/bin/clpru" $(CFLAGS) -z $^ $(LFLAGS) -o $(TARGET) $(LIBS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+	@$(MAKE) --no-print-directory post-build
+
+# To clean generated files
+clean:
+	-$(RMDIR) $(GEN_DIR)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(RM) $(MCU_HEX_PATH)
+endif
+	@echo 'Finished clean'
+	@echo ' '
+endif
+
+# Generate hex array
+post-build:
+	-$(CGT_TI_PRU_PATH)/bin/hexpru --diag_wrap=off --array --array:name_prefix=$(HEX_ARRAY_PREFIX) -o $(TARGET_HEX) $(TARGET)
+	-$(CAT) $(OPEN_PRU_PATH)/source/firmware/pru_load_bin_copyright.h $(TARGET_HEX) > $(TARGET_HEX).temp
+	-$(MOVE) $(TARGET_HEX).temp $(TARGET_HEX)
+ifeq ($(BUILD_MCUPLUS),y)
+	-$(COPY) $(TARGET_HEX) $(MCU_HEX_PATH)
+endif
+	@echo ' '
+
+.PHONY: all clean
+
+# Include the dependencies that the compiler creates (-ppd and -ppa flags)
+-include $(OBJECTS:%.obj=%.pp)
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
new file mode 100644
index 000000000..422baeaf3
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/makefile_projectspec
@@ -0,0 +1,20 @@
+#
+# Auto generated makefile
+#
+
+export OPEN_PRU_PATH?=$(abspath ../../../../../..)
+include $(OPEN_PRU_PATH)/imports.mak
+
+PROFILE?=Release
+
+PROJECT_NAME=double_float_multiply_am263x-lp_icss_m0_pru1_fw_ti-pru-cgt
+
+all:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
+
+clean:
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
+
+export:
+	$(MKDIR) $(OPEN_PRU_PATH)/ccs_projects
+	$(CCS_ECLIPSE) -noSplash -data $(OPEN_PRU_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
diff --git a/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
new file mode 100644
index 000000000..472ab3849
--- /dev/null
+++ b/examples/double_float/firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt/syscfg_c.rov.xs
@@ -0,0 +1,8 @@
+/*
+ *  ======== syscfg_c.rov.xs ========
+ *  This file contains the information needed by the Runtime Object
+ *  View (ROV) tool.
+ */
+var crovFiles = [
+    "kernel/freertos/rov/FreeRTOS.rov.js",
+];
diff --git a/examples/double_float/firmware/main.asm b/examples/double_float/firmware/main.asm
new file mode 100644
index 000000000..98bc61111
--- /dev/null
+++ b/examples/double_float/firmware/main.asm
@@ -0,0 +1,320 @@
+; SPDX-License-Identifier: BSD-3-Clause
+; Copyright (C) 2024-2025 Texas Instruments Incorporated - http://www.ti.com/
+
+;*******************************************************************************
+;   File:     main.asm
+;
+;   Brief:    IEEE 754 double-precision (64-bit) floating-point multiplication
+;             using the PRU MAC broadside accelerator.  The 53-bit × 53-bit
+;             significand product is computed via four 32×32→64-bit hardware
+;             multiply operations, avoiding the slow software FP library path.
+;
+;   Steps to build:
+;     - Using CCS:
+;         Import PRU project, build → generates .out and .h files
+;     - Using makefile:
+;         gmake -all
+;
+;   IEEE 754 double (64-bit) format:
+;     bit  63     : sign  (S)
+;     bits 62:52  : biased exponent (E, bias = 1023)
+;     bits 51:0   : mantissa fraction (M)
+;     value = (-1)^S × 2^(E−1023) × 1.M   (for normal numbers)
+;
+;   Algorithm:
+;     Given operands A and B stored in PRU Data RAM:
+;       1.  Load hi/lo words of A and B from memory
+;       2.  Restore the 53-bit significands: sigA = 1.M_A, sigB = 1.M_B
+;       3.  result_sign = signA XOR signB
+;       4.  result_exp  = expA + expB − 1023
+;       5.  Multiply the 53-bit significands with four 32-bit MAC operations:
+;
+;             sigA = sigA_hi : sigA_lo   (21-bit upper, 32-bit lower)
+;             sigB = sigB_hi : sigB_lo
+;
+;             p00 = sigA_lo × sigB_lo        position [63:0]
+;             p01 = sigA_hi × sigB_lo        position [95:32]
+;             p10 = sigA_lo × sigB_hi        position [95:32]
+;             p11 = sigA_hi × sigB_hi        position [127:64]
+;
+;             106-bit product P accumulated in {pp3:pp2:pp1}:
+;               pp1 = P[63:32]
+;               pp2 = P[95:64]
+;               pp3 = P[105:96]
+;
+;       6.  Normalise: P ∈ [2^104, 2^106), leading 1 at bit 104 or 105
+;             bit 105 clear → mantissa = P[103:52], keep exp
+;             bit 105 set   → mantissa = P[104:53], exp += 1
+;       7.  Pack and store result double to PRU Data RAM
+;
+;   PRU Data RAM memory map (byte offsets from address 0x0000):
+;     0x00  operand A  low  word  (bits 31:0)
+;     0x04  operand A  high word  (bits 63:32)
+;     0x08  operand B  low  word
+;     0x0C  operand B  high word
+;     0x10  result     low  word  (written by this code)
+;     0x14  result     high word
+;
+;   MAC unit per-operation cost (multiply-only mode):
+;     MOV R28, op1   (1 cy) — load operand 1
+;     MOV R29, op2   (1 cy) — load operand 2, triggers hardware multiply
+;     NOP            (1 cy) — 1-cycle result latency
+;     XIN &R26, 4    (1 cy) — read result[31:0]
+;     XIN &R27, 4    (1 cy) — read result[63:32]
+;
+;   Worst-case PRU cycle count : 85 cycles  (200 MHz clock → 425 ns)
+;     Prologue (init + load + sign/exp + significand build) : 28 cy
+;     4 × MAC with on-the-fly carry accumulation            : 32 cy
+;     Normalise check (QBBS)                                :  1 cy
+;     Normalise path (do_shift, worst case)                 :  9 cy
+;     Round-to-nearest (round up + exponent overflow, rare) :  6 cy
+;     Pack result                                           :  4 cy
+;     Store + HALT                                          :  4 cy
+;     ──────────────────────────────────────────────────────────────
+;     NOTE: Round-to-nearest uses the "ties away from zero" mode.
+;     The rounding guard bit is taken from the bit immediately below
+;     the 52-bit mantissa field.  Sticky bits (lower product bits) are
+;     not examined, matching standard IEEE 754 round-to-nearest behaviour
+;     for all but exact-midpoint cases.
+;
+;   No-special-case handling: NaN, Infinity, denormals and zero are not
+;   handled to keep focus on the MAC acceleration demonstration.
+;   See main_c_ref.c for the equivalent C library code.
+;
+;*******************************************************************************
+
+; CCS/makefile specific settings
+    .retain
+    .retainrefs
+
+    .global  main
+    .sect    ".text"
+
+; ── MAC broadside peripheral constants ───────────────────────────────────────
+    .asg  0x0,   DEVICE_ID       ; MAC broadside device ID (device 0)
+    .asg  0x0,   MULTIPLY_ONLY   ; R25 control word: multiply-only mode
+
+; ── PRU Data RAM byte offsets ─────────────────────────────────────────────────
+    .asg  0x00,  OFFS_A_LO   ; operand A bits [31:0]
+    .asg  0x04,  OFFS_A_HI   ; operand A bits [63:32]
+    .asg  0x08,  OFFS_B_LO   ; operand B bits [31:0]
+    .asg  0x0C,  OFFS_B_HI   ; operand B bits [63:32]
+    .asg  0x10,  OFFS_R_LO   ; result    bits [31:0]
+    .asg  0x14,  OFFS_R_HI   ; result    bits [63:32]
+
+; ── Register aliases ──────────────────────────────────────────────────────────
+    .asg  r2,    lo_A        ; A bits [31:0]
+    .asg  r3,    hi_A        ; A bits [63:32]  → sign[31], exp[30:20], mant[19:0]
+    .asg  r4,    lo_B        ; B bits [31:0]
+    .asg  r5,    hi_B        ; B bits [63:32]
+    .asg  r6,    sigA_lo     ; lower 32 bits of 53-bit significand of A
+    .asg  r7,    sigA_hi     ; upper 21 bits of 53-bit significand of A (bit 20 = implicit 1)
+    .asg  r8,    sigB_lo     ; lower 32 bits of 53-bit significand of B
+    .asg  r9,    sigB_hi     ; upper 21 bits of 53-bit significand of B
+    .asg  r10,   expA        ; 11-bit biased exponent of A
+    .asg  r11,   expB        ; 11-bit biased exponent of B
+    .asg  r12,   res_sign    ; result sign (bit 0)
+    .asg  r13,   res_exp     ; result biased exponent
+    .asg  r22,   pp1         ; accumulated product bits [63:32]
+    .asg  r23,   pp2         ; accumulated product bits [95:64]
+    .asg  r24,   pp3         ; accumulated product bits [105:96]
+
+;****************************
+;*          MAIN            *
+;****************************
+main:
+
+; ── Initialise registers and MAC unit ────────────────────────────────────────
+init:
+    zero  &r0, 120                  ; clear R0–R29 (120 bytes = 30 × 4-byte registers)
+                                    ; r1 = 0 after zero → used as base address for LBBO/SBBO
+    LDI   r25, MULTIPLY_ONLY        ; MAC control word = 0 (multiply-only mode)
+    XOUT  DEVICE_ID, &r25, 1        ; configure MAC unit
+
+; ── Load the two operands from PRU Data RAM ───────────────────────────────────
+    LBBO  &lo_A, r1, OFFS_A_LO, 4
+    LBBO  &hi_A, r1, OFFS_A_HI, 4
+    LBBO  &lo_B, r1, OFFS_B_LO, 4
+    LBBO  &hi_B, r1, OFFS_B_HI, 4
+
+; ── Extract sign bits ─────────────────────────────────────────────────────────
+    LSR   res_sign, hi_A, 31        ; res_sign = signA  (bit 31 of hi word)
+    LSR   r0,       hi_B, 31        ; r0       = signB
+    XOR   res_sign, res_sign, r0    ; result sign = signA XOR signB
+
+; ── Extract 11-bit biased exponents ──────────────────────────────────────────
+    ; hi word layout: [31]=sign, [30:20]=exponent[10:0], [19:0]=mantissa[51:32]
+    ; After LSR by 20 the exponent sits in bits [10:0] with sign_bit at [11].
+    ; 0x7FF (2047) > 255 so we cannot use the 8-bit OP(255) immediate form of AND;
+    ; load the mask into a register first.
+    LSR   expA, hi_A, 20
+    LDI   r0, 0x7FF                 ; 11-bit mask (fits in 16-bit LDI)
+    AND   expA, expA, r0            ; expA = bits [10:0] = 11-bit exponent
+    LSR   expB, hi_B, 20
+    AND   expB, expB, r0            ; r0 still = 0x7FF
+
+; ── Compute result biased exponent: expA + expB − 1023 ───────────────────────
+    ADD   res_exp, expA, expB
+    LDI   r0, 1023
+    SUB   res_exp, res_exp, r0
+
+; ── Restore 53-bit significands (re-insert the implicit leading 1) ────────────
+    ; sigA_lo = lower 32 bits of significand = lo_A (direct copy)
+    ; sigA_hi = upper 21 bits of significand:
+    ;           bit 20 = implicit leading 1
+    ;           bits [19:0] = mantissa[51:32] from hi_A[19:0]
+    ; LSL/LSR by 12 isolates bits [19:0] of hi_A (discards sign and exponent).
+    MOV   sigA_lo, lo_A
+    LSL   sigA_hi, hi_A, 12         ; shift left  to discard sign[31] + exp[30:20]
+    LSR   sigA_hi, sigA_hi, 12      ; shift right to right-align mantissa[51:32]
+    LDI32 r0, 0x100000              ; 0x100000 = bit 20 = implicit leading 1
+                                    ; (LDI32 is a 2-instruction pseudo-op: 2 cycles)
+    OR    sigA_hi, sigA_hi, r0      ; sigA_hi = 21-bit upper significand
+
+    MOV   sigB_lo, lo_B
+    LSL   sigB_hi, hi_B, 12
+    LSR   sigB_hi, sigB_hi, 12
+    OR    sigB_hi, sigB_hi, r0      ; r0 still = 0x100000
+
+; ── Multiply 53-bit significands via four 32-bit MAC operations ───────────────
+;
+;   sigA = sigA_hi × 2^32 + sigA_lo   (sigA_hi ≤ 21 bits, sigA_lo = 32 bits)
+;   sigB = sigB_hi × 2^32 + sigB_lo
+;
+;   106-bit product P = sigA × sigB, accumulated in {pp3:pp2:pp1} = P[105:32]:
+;
+;     p00 contributes to P[63:0]    → pp1 seed = p00[63:32], p00[31:0] discarded
+;     p01 contributes to P[95:32]   → pp1 += p01[31:0], pp2 += p01[63:32]
+;     p10 contributes to P[95:32]   → pp1 += p10[31:0], pp2 += p10[63:32]
+;     p11 contributes to P[127:64]  → pp2 += p11[31:0], pp3 += p11[63:32]
+;
+;   All carries are propagated immediately with ADC.
+
+    ; --- p00 = sigA_lo × sigB_lo ------------------------------------------------
+    MOV   r28, sigA_lo
+    MOV   r29, sigB_lo              ; writing R29 triggers hardware multiply
+    NOP                             ; 1-cycle result latency
+    XIN   DEVICE_ID, &r26, 4       ; r26 = p00[31:0]  (below mantissa; read required by MAC protocol)
+    XIN   DEVICE_ID, &r27, 4       ; r27 = p00[63:32]
+    MOV   pp1, r27                  ; pp1 = p00_hi (seed, pp2/pp3 still 0 from zero)
+
+    ; --- p01 = sigA_hi × sigB_lo ------------------------------------------------
+    MOV   r28, sigA_hi
+    MOV   r29, sigB_lo
+    NOP
+    XIN   DEVICE_ID, &r26, 4       ; r26 = p01[31:0]
+    XIN   DEVICE_ID, &r27, 4       ; r27 = p01[63:32]
+    ADD   pp1, pp1, r26             ; pp1 += p01[31:0]; carry to pp2
+    ADC   pp2, pp2, 0               ; pp2 += carry (pp2 was 0)
+    ADD   pp2, pp2, r27             ; pp2 += p01[63:32]; carry to pp3
+    ADC   pp3, pp3, 0               ; pp3 += carry (pp3 was 0)
+
+    ; --- p10 = sigA_lo × sigB_hi ------------------------------------------------
+    MOV   r28, sigA_lo
+    MOV   r29, sigB_hi
+    NOP
+    XIN   DEVICE_ID, &r26, 4       ; r26 = p10[31:0]
+    XIN   DEVICE_ID, &r27, 4       ; r27 = p10[63:32]
+    ADD   pp1, pp1, r26             ; pp1 += p10[31:0]; carry to pp2
+    ADC   pp2, pp2, 0               ; pp2 += carry
+    ADD   pp2, pp2, r27             ; pp2 += p10[63:32]; carry to pp3
+    ADC   pp3, pp3, 0               ; pp3 += carry
+
+    ; --- p11 = sigA_hi × sigB_hi ------------------------------------------------
+    MOV   r28, sigA_hi
+    MOV   r29, sigB_hi
+    NOP
+    XIN   DEVICE_ID, &r26, 4       ; r26 = p11[31:0]
+    XIN   DEVICE_ID, &r27, 4       ; r27 = p11[63:32] (≤10 bits: 21-bit×21-bit=42-bit)
+    ADD   pp2, pp2, r26             ; pp2 += p11[31:0]; carry to pp3
+    ADC   pp3, pp3, 0               ; pp3 += carry
+    ADD   pp3, pp3, r27             ; pp3 += p11[63:32]
+
+; ── Normalise ─────────────────────────────────────────────────────────────────
+;
+;   P ∈ [2^104, 2^106) because sigA, sigB ∈ [2^52, 2^53).
+;   The leading 1 of P is therefore at bit 104 or bit 105.
+;
+;   pp3 holds P[105:96].  P[105] = pp3[9].
+;
+;   bit 105 clear (no shift):  mantissa = P[103:52]
+;     mantissa_lo[31:0]   = {pp2[19:0] << 12, pp1[31:20]}
+;     mantissa_hi[19:0]   = {pp3[7:0]  << 12, pp2[31:20]}
+;
+;   bit 105 set (shift right 1, exponent += 1):  mantissa = P[104:53]
+;     mantissa_lo[31:0]   = {pp2[20:0] << 11, pp1[31:21]}
+;     mantissa_hi[19:0]   = {pp3[8:0]  << 11, pp2[31:21]}
+
+    QBBS  do_shift, pp3, 9          ; branch if P[105]=pp3[9] is set
+
+noshift:
+    ; mantissa_lo = P[83:52] = {pp2[19:0] << 12, pp1[31:20]}
+    LSL   r0, pp2, 12               ; r0[31:12] = pp2[19:0]
+    LSR   r2, pp1, 20               ; r2[11:0]  = pp1[31:20]
+    OR    r0, r0, r2                ; r0 = mantissa_lo (32 bits)
+
+    ; mantissa_hi (20 bits) = P[103:84] = {pp3[7:0] << 12, pp2[31:20]}
+    AND   r2, pp3, 0xFF             ; r2 = pp3[7:0]  (0xFF = 255, fits OP(255))
+    LSL   r2, r2, 12                ; r2[19:12] = pp3[7:0]
+    LSR   r3, pp2, 20               ; r3[11:0]  = pp2[31:20]
+    OR    r2, r2, r3                ; r2 = mantissa_hi (20 bits)
+
+    ; Round to nearest (ties away from zero): round bit = P[51] = pp1[19]
+    QBBC  rnd_ns_done, pp1, 19      ; skip if round bit = 0
+    ADD   r0, r0, 1                 ; mantissa_lo += 1
+    ADC   r2, r2, 0                 ; propagate carry into mantissa_hi
+    QBBC  rnd_ns_done, r2, 20      ; skip if no exponent overflow
+    ; Exponent overflow: mantissa was 0xFFFFF and wrapped to 0x100000 (only bit 20 set).
+    ; LSL by 12 shifts 0x100000 left 12 → 0x100000000 which truncates to 0x00000000.
+    ; LSR by 12 of 0 = 0.  Result: mantissa_hi = 0, mantissa_lo = 0 (already wrapped).
+    LSL   r2, r2, 12               ; (0x100000 << 12) & 0xFFFFFFFF = 0
+    LSR   r2, r2, 12               ; r2 = 0 (mantissa_hi = 0, implicit 1 consumed)
+    ADD   res_exp, res_exp, 1      ; exponent overflow: result = 1.0 × 2^(exp+1)
+rnd_ns_done:
+    QBA   pack_result
+
+do_shift:
+    ; Product has an extra factor of 2: normalise by incrementing exponent
+    ADD   res_exp, res_exp, 1
+
+    ; mantissa_lo = P[84:53] = {pp2[20:0] << 11, pp1[31:21]}
+    LSL   r0, pp2, 11               ; r0[31:11] = pp2[20:0]
+    LSR   r2, pp1, 21               ; r2[10:0]  = pp1[31:21]
+    OR    r0, r0, r2                ; r0 = mantissa_lo (32 bits)
+
+    ; mantissa_hi (20 bits) = P[104:85] = {pp3[8:0] << 11, pp2[31:21]}
+    ; 0x1FF (511) > 255, cannot use as OP(255) immediate — load into register
+    LDI   r3, 0x1FF                 ; 9-bit mask
+    AND   r2, pp3, r3               ; r2 = pp3[8:0]
+    LSL   r2, r2, 11                ; r2[19:11] = pp3[8:0]
+    LSR   r3, pp2, 21               ; r3[10:0]  = pp2[31:21]
+    OR    r2, r2, r3                ; r2 = mantissa_hi (20 bits)
+
+    ; Round to nearest (ties away from zero): round bit = P[52] = pp1[20]
+    QBBC  rnd_ds_done, pp1, 20      ; skip if round bit = 0
+    ADD   r0, r0, 1                 ; mantissa_lo += 1
+    ADC   r2, r2, 0                 ; propagate carry into mantissa_hi
+    QBBC  rnd_ds_done, r2, 20      ; skip if no exponent overflow
+    ; Exponent overflow: same as noshift path — mantissa wrapped to 0x100000.
+    LSL   r2, r2, 12               ; (0x100000 << 12) & 0xFFFFFFFF = 0
+    LSR   r2, r2, 12               ; r2 = 0 (mantissa_hi = 0, implicit 1 consumed)
+    ADD   res_exp, res_exp, 1      ; exponent overflow: result = 1.0 × 2^(exp+1)
+rnd_ds_done:
+
+pack_result:
+; ── Assemble the result double ────────────────────────────────────────────────
+;   hi_result[31]    = result sign
+;   hi_result[30:20] = result exponent (11 bits)
+;   hi_result[19:0]  = mantissa[51:32]  (= r2, 20 bits)
+;   lo_result[31:0]  = mantissa[31:0]   (= r0, 32 bits)
+    LSL   r3, res_exp, 20           ; r3 = exp << 20 (bits [30:20])
+    OR    r3, r3, r2                ; r3 |= mantissa_hi (bits [19:0])
+    LSL   r1, res_sign, 31          ; r1 = sign << 31
+    OR    r3, r3, r1                ; r3 = hi_result
+
+; ── Store result to PRU Data RAM ─────────────────────────────────────────────
+    LDI   r1, 0                     ; reset base address (r1 was modified above)
+    SBBO  &r0, r1, OFFS_R_LO, 4    ; store mantissa_lo   → result bits [31:0]
+    SBBO  &r3, r1, OFFS_R_HI, 4    ; store hi_result     → result bits [63:32]
+
+    halt
diff --git a/examples/double_float/firmware/main_c_ref.c b/examples/double_float/firmware/main_c_ref.c
new file mode 100644
index 000000000..0c2396a6a
--- /dev/null
+++ b/examples/double_float/firmware/main_c_ref.c
@@ -0,0 +1,93 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ * Copyright (C) 2024-2025 Texas Instruments Incorporated - http://www.ti.com/
+ */
+
+/**
+ * @file   main_c_ref.c
+ *
+ * @brief  IEEE 754 double-precision multiply: C library reference.
+ *
+ * This file shows the equivalent C code for the optimised PRU assembly in
+ * main.asm.  When compiled for the PRU (which has no hardware FPU), the C
+ * compiler generates a call to the software double-precision multiply routine
+ * from the C runtime library (__mpy2d).  That software path does NOT use the
+ * PRU MAC broadside accelerator, which is why the hand-written assembly in
+ * main.asm is significantly faster.
+ *
+ * Typical cycle counts (200 MHz PRU clock):
+ *   Assembly with MAC hardware accelerator : ~85 cycles  (~425 ns)
+ *   C library  __mpy2d  (software FP)      : ~200+ cycles
+ *
+ * Memory layout used by both implementations (PRU Data RAM, byte offsets):
+ *   0x00  operand A  low  word  (bits 31:0)
+ *   0x04  operand A  high word  (bits 63:32)
+ *   0x08  operand B  low  word
+ *   0x0C  operand B  high word
+ *   0x10  result     low  word  (written by the multiply)
+ *   0x14  result     high word
+ *
+ * NOTE: This file is provided as a reference and is NOT compiled into the
+ * default PRU firmware project (which uses main.asm).  To build it instead,
+ * remove main.asm from the project and add this file.
+ */
+
+#include <stdint.h>
+
+/* PRU Data RAM memory map (byte offsets from address 0x0000) */
+#define OFFS_A_LO   0x00u
+#define OFFS_A_HI   0x04u
+#define OFFS_B_LO   0x08u
+#define OFFS_B_HI   0x0Cu
+#define OFFS_R_LO   0x10u
+#define OFFS_R_HI   0x14u
+
+/**
+ * Union to overlay a 64-bit double over two 32-bit words.
+ * w[0] = bits [31:0], w[1] = bits [63:32] (little-endian layout).
+ */
+typedef union
+{
+    double   d;
+    uint32_t w[2];
+} double_u;
+
+/**
+ * double_multiply_c
+ *
+ * Reads two doubles from PRU Data RAM, multiplies them using the C '*'
+ * operator (which the PRU compiler converts to a __mpy2d library call),
+ * and writes the result back.
+ *
+ * For comparison, the equivalent optimised assembly (main.asm) uses four
+ * 32x32-bit hardware MAC operations to compute the same result in ~78 PRU
+ * cycles, whereas this software path typically takes 200+ cycles.
+ */
+static void double_multiply_c(void)
+{
+    double_u a, b, result;
+
+    /* Load operands directly from PRU Data RAM base addresses */
+    a.w[0] = *(volatile uint32_t *)OFFS_A_LO;
+    a.w[1] = *(volatile uint32_t *)OFFS_A_HI;
+    b.w[0] = *(volatile uint32_t *)OFFS_B_LO;
+    b.w[1] = *(volatile uint32_t *)OFFS_B_HI;
+
+    /*
+     * C library (software FP) multiplication.
+     * The PRU has no hardware FPU, so the compiler calls __mpy2d from
+     * the C runtime library.  math.h is not required for the '*' operator
+     * on doubles; it is handled by the compiler's runtime support.
+     */
+    result.d = a.d * b.d;
+
+    /* Store result back to PRU Data RAM */
+    *(volatile uint32_t *)OFFS_R_LO = result.w[0];
+    *(volatile uint32_t *)OFFS_R_HI = result.w[1];
+}
+
+int main(void)
+{
+    double_multiply_c();
+    __halt();
+}
diff --git a/examples/double_float/makefile b/examples/double_float/makefile
new file mode 100644
index 000000000..8c837df20
--- /dev/null
+++ b/examples/double_float/makefile
@@ -0,0 +1,111 @@
+include ../../imports.mak
+
+#######################
+# project information #
+#######################
+
+PROJECT_NAME := double_float_multiply
+SUPPORTED_PROCESSORS := am261x am263px am263x
+# Does the PRU code have dependencies outside of the open-pru repo?
+PRU_DEPENDENCIES :=
+# Use NON_PRU_DEPENDENCIES to select which makefiles to call for non-PRU cores
+NON_PRU_DEPENDENCIES :=
+
+###################
+# Prebuild checks #
+###################
+BUILD_PROJECT := y
+DEVICE_NON_PRU :=
+
+# Only build project if $(DEVICE) is in $(SUPPORTED_PROCESSORS)
+ifeq (,$(findstring $(DEVICE),$(SUPPORTED_PROCESSORS)))
+BUILD_PROJECT := n
+MESSAGE := Project $(PROJECT_NAME) does not have a build option for $(DEVICE)
+endif
+
+# Only build project if PRU dependencies exist
+ifneq (,$(PRU_DEPENDENCIES))
+# MCU+ SDK dependency?
+ifeq (mcuplus,$(findstring mcuplus,$(PRU_DEPENDENCIES)))
+ifneq ($(BUILD_MCUPLUS),y)
+BUILD_PROJECT := n
+MESSAGE ?= Project $(PROJECT_NAME) depends on MCU+ SDK, but BUILD_MCUPLUS != y.
+endif
+endif
+# Additional PRU dependency checks go here. For example:
+#ifeq (dependency,$(findstring dependency,$(PRU_DEPENDENCIES)))
+#if (dependency check fails)
+#BUILD_PROJECT := n
+#MESSAGE ?= Project $(PROJECT_NAME) depends on dependency, but dependency does not exist.
+#endif
+#endif
+endif
+
+# Only build non-PRU code if the non-PRU code is enabled in imports.mak
+ifeq ($(BUILD_MCUPLUS),y)
+ifeq (mcuplus,$(findstring mcuplus,$(NON_PRU_DEPENDENCIES)))
+DEVICE_NON_PRU += $(DEVICE)_mcuplus
+endif
+endif
+ifeq ($(BUILD_LINUX),y)
+ifeq (linux,$(findstring linux,$(NON_PRU_DEPENDENCIES)))
+DEVICE_NON_PRU += $(DEVICE)_linux
+endif
+endif
+
+###########################
+# Make and clean commands #
+###########################
+
+ifeq ($(BUILD_PROJECT),y)
+# "make" or "make all" builds projects that match $(DEVICE) set in imports.mak
+all: ARGUMENTS_PRU = all
+all: ARGUMENTS_MCUPLUS = $(ARGUMENTS_PRU)
+all: MESSAGE = "Building $(PROJECT_NAME) for $(DEVICE)"
+all: pre_build_message $(DEVICE) $(DEVICE_NON_PRU)
+
+# "make clean" cleans projects that match $(DEVICE) set in imports.mak
+clean: ARGUMENTS_PRU = clean
+clean: ARGUMENTS_MCUPLUS = scrub
+clean: MESSAGE = "Cleaning $(PROJECT_NAME) for $(DEVICE)"
+clean: pre_build_message $(DEVICE) $(DEVICE_NON_PRU)
+
+else
+# if a prebuild check failed, print message and exit
+all clean: pre_build_message
+endif
+
+pre_build_message:
+	@echo $(MESSAGE)
+
+######################
+# Target definitions #
+######################
+
+# provide target definitions for each supported processor
+# PRU firmware should be built before any RTOS code that includes it
+am261x:
+# am261x-lp
+	$(MAKE) -C firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+	$(MAKE) -C firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+# am261x-som
+	$(MAKE) -C firmware/am261x-som/icss_m0_pru0_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+	$(MAKE) -C firmware/am261x-som/icss_m0_pru1_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+
+am263px:
+# am263px-lp
+	$(MAKE) -C firmware/am263px-lp/icss_m0_pru0_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+	$(MAKE) -C firmware/am263px-lp/icss_m0_pru1_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+# am263px-cc
+	$(MAKE) -C firmware/am263px-cc/icss_m0_pru0_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+	$(MAKE) -C firmware/am263px-cc/icss_m0_pru1_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+
+am263x:
+# am263x-lp
+	$(MAKE) -C firmware/am263x-lp/icss_m0_pru0_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+	$(MAKE) -C firmware/am263x-lp/icss_m0_pru1_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+# am263x-cc
+	$(MAKE) -C firmware/am263x-cc/icss_m0_pru0_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+	$(MAKE) -C firmware/am263x-cc/icss_m0_pru1_fw/ti-pru-cgt $(ARGUMENTS_PRU)
+
+.PHONY: all clean pre_build_message $(DEVICE) $(DEVICE_NON_PRU) $(SUPPORTED_PROCESSORS)
diff --git a/examples/double_float/readme.md b/examples/double_float/readme.md
new file mode 100644
index 000000000..85c54a373
--- /dev/null
+++ b/examples/double_float/readme.md
@@ -0,0 +1,169 @@
+# Double Float Multiply (64-bit IEEE 754) using PRU MAC Hardware
+
+## Introduction
+
+This example implements IEEE 754 double-precision (64-bit) floating-point
+multiplication entirely in PRU assembly, using the PRU's 32-bit MAC broadside
+accelerator to compute the critical 53-bit × 53-bit significand product.  It
+demonstrates how hardware acceleration can replace the slow C-library software
+floating-point path and provides a precise worst-case PRU cycle count.
+
+A companion C reference (`firmware/main_c_ref.c`) shows the equivalent code
+that the C compiler produces, where the `*` operator on `double` values is
+lowered to a call into the software FP runtime library (`__mpy2d`).
+
+## IEEE 754 Double-Precision Format
+
+```
+Bit  63     : sign  (S)
+Bits 62:52  : biased exponent (E, bias = 1023)
+Bits 51:0   : mantissa fraction (M)
+Value = (−1)^S × 2^(E−1023) × 1.M   (normal numbers)
+```
+
+## Algorithm Overview
+
+Given two doubles A and B stored in PRU Data RAM:
+
+1. **Load** the 64-bit operands (two 32-bit words each) from PRU Data RAM.
+2. **Sign**: `result_sign = sign_A XOR sign_B`
+3. **Exponent**: `result_exp  = exp_A + exp_B − 1023`
+4. **Restore significands**: Re-insert the implicit leading 1 bit at position 52.
+   ```
+   sigA_hi = (hi_A & 0xFFFFF) | 0x100000   (21-bit upper part)
+   sigA_lo = lo_A                           (32-bit lower part)
+   ```
+5. **Significand product** using four 32×32→64 MAC operations:
+   ```
+   sigA = sigA_hi:sigA_lo  (21-bit : 32-bit)
+   sigB = sigB_hi:sigB_lo
+
+   p00 = sigA_lo × sigB_lo   contributes to product bits [63:0]
+   p01 = sigA_hi × sigB_lo   contributes to product bits [95:32]
+   p10 = sigA_lo × sigB_hi   contributes to product bits [95:32]
+   p11 = sigA_hi × sigB_hi   contributes to product bits [127:64]
+   ```
+   Partial products are summed on-the-fly into the 106-bit accumulator
+   `{pp3:pp2:pp1}` (product bits [105:32]) using `ADD`/`ADC` with
+   immediate carry propagation.  `p00[31:0]` lies below the mantissa
+   field and is discarded.
+
+6. **Normalise**: Since sigA, sigB ∈ [2^52, 2^53), their product lies in
+   [2^104, 2^106).  The leading 1 is therefore at product bit 104 or 105:
+   - bit 105 clear → mantissa = P[103:52], keep `result_exp`
+   - bit 105 set   → mantissa = P[104:53], `result_exp += 1`
+
+7. **Pack and store**: Assemble `hi_result` and `lo_result` and write
+   the 64-bit result back to PRU Data RAM.
+
+## PRU Data RAM Memory Map
+
+| Offset | Content                        |
+|--------|-------------------------------|
+| 0x00   | Operand A – low  word (bits 31:0)  |
+| 0x04   | Operand A – high word (bits 63:32) |
+| 0x08   | Operand B – low  word              |
+| 0x0C   | Operand B – high word              |
+| 0x10   | Result    – low  word (written)    |
+| 0x14   | Result    – high word (written)    |
+
+## PRU MAC Broadside Accelerator
+
+The MAC unit (device ID 0) performs unsigned 32×32→64-bit multiplication in
+hardware.  In multiply-only mode:
+
+```asm
+MOV   r28, operand_1          ; load first operand  (1 cycle)
+MOV   r29, operand_2          ; load second operand (1 cycle), triggers multiply
+NOP                            ; 1-cycle result latency
+XIN   0, &r26, 4              ; read result[31:0]   (1 cycle)
+XIN   0, &r27, 4              ; read result[63:32]  (1 cycle)
+```
+
+**Cost per hardware multiply: 5 cycles.**  Four multiplies are therefore
+completed in 20 cycles, compared to a software 32×32 multiply which requires
+many more instructions without hardware support.
+
+## Worst-Case PRU Cycle Count
+
+| Section                                             | Cycles |
+|-----------------------------------------------------|--------|
+| Prologue: init + load + sign/exp + significand build | 28     |
+| 4 × MAC with on-the-fly carry accumulation           | 32     |
+| Normalise branch (`QBBS`)                            |  1     |
+| Normalise path (`do_shift`, worst case)              |  9     |
+| Round-to-nearest check + adjust (worst case)         |  6     |
+| Pack result                                          |  4     |
+| Store + `HALT`                                       |  4     |
+| **Total (worst case)**                               | **85** |
+
+**Maximum PRU cycle count: 85 cycles**
+
+At 200 MHz PRU clock → **425 ns** per double-precision multiply.
+
+> **Rounding mode:** The implementation uses *round to nearest, ties away from zero*.
+> The guard bit is taken from the bit immediately below the 52-bit mantissa field
+> (P[51] in the no-shift case, P[52] in the shift case).  This matches IEEE 754
+> round-to-nearest behaviour for all inputs except exact half-way cases, which
+> are extremely rare in practice.
+
+## Comparison with C Library
+
+| Implementation                         | Cycle count (worst case) |
+|----------------------------------------|--------------------------|
+| Assembly + MAC hardware (this example) | ~85 cycles               |
+| C library `__mpy2d` (software FP)      | ~200+ cycles             |
+
+The C compiler for PRU has no hardware FPU to target, so the `*` operator on
+`double` values is compiled to a call to the `__mpy2d` runtime routine, which
+performs a purely software multiplication.  See `firmware/main_c_ref.c` for
+the equivalent C source.
+
+## Register Map
+
+| Register | Role |
+|----------|------|
+| R0       | Scratch / temporary |
+| R1       | Memory base address (0) |
+| R2       | `lo_A` — operand A bits [31:0] |
+| R3       | `hi_A` — operand A bits [63:32] |
+| R4       | `lo_B` |
+| R5       | `hi_B` |
+| R6       | `sigA_lo` — lower 32 bits of significand A |
+| R7       | `sigA_hi` — upper 21 bits of significand A |
+| R8       | `sigB_lo` |
+| R9       | `sigB_hi` |
+| R10      | `expA` — 11-bit biased exponent of A |
+| R11      | `expB` |
+| R12      | `res_sign` — result sign |
+| R13      | `res_exp`  — result biased exponent |
+| R22      | `pp1` — product bits [63:32] |
+| R23      | `pp2` — product bits [95:64] |
+| R24      | `pp3` — product bits [105:96] |
+| R25      | MAC control register |
+| R26      | MAC result low  32 bits |
+| R27      | MAC result high 32 bits |
+| R28      | MAC operand 1 |
+| R29      | MAC operand 2 |
+
+## Special Cases
+
+This implementation handles **normal numbers only**.  The following cases are
+not handled in order to keep the focus on the MAC acceleration technique:
+
+- NaN (Not-a-Number)
+- Infinity (±Inf)
+- Denormalised (subnormal) numbers
+- Zero (±0)
+
+For production use these cases should be detected and handled prior to the
+main multiplication path.
+
+## Supported Combinations
+
+| Parameter      | Value |
+|----------------|-------|
+| ICSSM          | ICSSM0 – PRU0, PRU1; ICSSM1 (only in am261x) – PRU0, PRU1 |
+| Toolchain      | pru-cgt |
+| Board          | am261x-lp, am261x-som, am263px-cc, am263px-lp, am263x-cc, am263x-lp |
+| Example folder | examples/double_float |