The BAD news is that getting TI-RTOS and Motorware to play together nicely is a major pain.
The GOOD news is that I've already done that, so you don't have to.
I've posted my code on github in the repository below. It's targeted to the LaunchXL-F28069M development board with the BOOSTXL-DRV8301 daughterboard. I've listed the tool versions and jumper settings in the README.txt file.
https://github.com/grantfreese/motorware_rtos_integration
The example is based on Motorware Lab03. The script file in (motorware_rtos_integration/js/proj_lab03a.js) can be loaded to provide the same variables that are used in the lab. The motor is turned on by setting gMotorVars.Flag_enableSys to 1, then by setting gMotorVars.Flag_Run_Identify to 1.
I still have some cleanup to do, but at least this should be a good starting point. Let me know if there are any questions.
Sidenote: I recommend creating a git repo in your TI folder and version-controlling the entire IDE. The motorware projects are very tightly coupled with the code in the TI folder (eg, for things like hal.h), and those files are far too easy to modify in the IDE. There's no indication that they are toolchain provided files rather than project files. If the TI folder is version controlled, then it's at least easy to identify and rollback changes.