Below are the changes:

(1) hal.h -- (C:\ti\motorware\motorware_1_01_00_17\sw\modules\hal\boards\boostxldrv8305_revA\f28x\f2802x\src)
    
        extern interrupt void sciaRxFifoIsr(void);
        extern void HAL_sciaWrite(HAL_Handle handle, const uint16_t data);
         extern void HAL_setupSciA(HAL_Handle handle); 
        extern void HAL_sciaWrite(HAL_Handle handle, const uint16_t data); 
        extern uint16_t Hal_sciaRead(HAL_Handle handle); 
        extern void HAL_sciaClearRxFifoOvf(HAL_Handle handle); 
        extern void HAL_sciaClearRxFifoInt(HAL_Handle handle); 
        extern SCI_FifoStatus_e Hal_sciaGetTxFifoStatus(HAL_Handle handle); 
        extern void HAL_pieClearInt(HAL_Handle handle, const PIE_GroupNumber_e groupNumber); 

    
       Inline function HAL_initIntVectorTable()
            Added pie->SCIRXINTA = &sciaRxFifoIsr;

(2) hal_obj.c (C:\ti\motorware\motorware_1_01_00_17\sw\modules\hal\boards\boostxldrv8305_revA\f28x\f2802x\src)
      #include "sw/drivers/sci/src/32b/f28x/f2802x/sci.h"

      Added to "typedef struct _HAL_Obj_"
           SCI_Handle 	sciaHandle;
           SCI_Obj       scia;

(3) hal.c
        Modified HAL_init() by adding:
            obj->sciaHandle = SCI_init((void *) SCIA_BASE_ADDR, sizeof(SCI_Obj));
    
     
    Modified HAL_setParams() by adding  
         HAL_setupSciA(handle); 
        
   Modified HAL_setupGpios() by adding
            GPIO_setPullUp(obj->gpioHandle, GPIO_Number_28, GPIO_PullUp_Enable);
      
            GPIO_setPullUp(obj->gpioHandle, GPIO_Number_29, GPIO_PullUp_Enable);

      
            GPIO_setQualification(obj->gpioHandle, GPIO_Number_28, GPIO_Qual_ASync);

      
            GPIO_setMode(obj->gpioHandle, GPIO_Number_28, GPIO_28_Mode_SCIRXDA);
      
            GPIO_setMode(obj->gpioHandle, GPIO_Number_29, GPIO_29_Mode_SCITXDA);


  Added Below set of functions

=========================================================================================
// **************************************************************************
// the functions

//Added

void HAL_setupSciA(HAL_Handle handle) {
    HAL_Obj *obj = (HAL_Obj *) handle;

    //CLK_enableSciaClock(obj->clkHandle); // no need to call again, already set in HAL_setupPeripheralClks() -maria-

    // SCI stop bit, parity, loopback, char bits, idle/address mode (SCICCR = 0x07)
    SCI_setNumStopBits(obj->sciaHandle, SCI_NumStopBits_One);    // SCICCR bit 7
    SCI_enableParity(obj->sciaHandle);                                               // SCICCR bit 5
    SCI_setParity(obj->sciaHandle, SCI_Parity_Even);                          // SCICCR bit 6
    SCI_disableLoopBack(obj->sciaHandle);                                        // SCICCR bit 4
    SCI_setMode(obj->sciaHandle, SCI_Mode_IdleLine);                     // SCICCR bit 3
    SCI_setCharLength(obj->sciaHandle, SCI_CharLength_8_Bits);   // SCICCR bit 0-2

    // TX enable, RX enable, RX ERR INT enable, SLEEP, TXWAKE (SCICTL1 = 0x03)
    SCI_disableRxErrorInt(obj->sciaHandle);                        // SCICTL1 bit 6
    SCI_disable(obj->sciaHandle);                                        // SCICTL1 bit 5
    SCI_disableTxWake(obj->sciaHandle);                           // SCICTL1 bit 3
    SCI_disableSleep(obj->sciaHandle);                              // SCICTL1 bit 2
    SCI_enableTx(obj->sciaHandle);                                    // SCICTL1 bit 1
    SCI_enableRx(obj->sciaHandle);                                    // SCICTL1 bit 0

	// TXINT enable, RXINT enable, TXEMPTY, TXRDY (SCICTL2 = 0x03)
	SCI_enableRxInt(obj->sciaHandle);                            // SCICTL2 bit 1
	SCI_disableTxInt(obj->sciaHandle);                            // SCICTL2 bit 0

	// SCIH-SCIL BAUD - SCI_BAUD = (LSPCLK/(SCI_BRR*8)) - 1
	SCI_setBaudRate(obj->sciaHandle, SCI_BaudRate_9_6_kBaud);

	// Reset SCI
	SCI_enable(obj->sciaHandle);

	//  PIE_enableSciInt(obj->pieHandle, SCI_RXA);                 // enable SCI interrupt
	PIE_enableInt(obj->pieHandle, PIE_GroupNumber_9, PIE_InterruptSource_SCIARX);

	//CPU_enableGlobalInts(obj->cpuHandle); // no need to call again -maria-
	CPU_enableInt(obj->cpuHandle, CPU_IntNumber_9);    // enable CPU interrupt

	SCI_resetTxFifo(obj->sciaHandle);
	SCI_clearTxFifoInt(obj->sciaHandle);
	SCI_resetChannels(obj->sciaHandle);
	SCI_setTxFifoIntLevel(obj->sciaHandle, SCI_FifoLevel_Empty);

	SCI_resetRxFifo(obj->sciaHandle);
	SCI_clearRxFifoInt(obj->sciaHandle);
	//    SCI_setRxFifoIntLevel(mySci, SCI_FifoLevel_4_Words);
	SCI_setRxFifoIntLevel(obj->sciaHandle, SCI_FifoLevel_1_Word);
	//SCI_disableLoopBack(obj->sciaHandle);

}

//Added by Maya
void HAL_sciaWrite(HAL_Handle handle, const uint16_t data) {
	HAL_Obj *obj = (HAL_Obj *) handle;

	SCI_write(obj->sciaHandle, data);
}
//SCI

uint16_t Hal_sciaRead(HAL_Handle handle){
	HAL_Obj *obj = (HAL_Obj *) handle;

	return SCI_read(obj->sciaHandle);
}


// Clear Overflow flag
void HAL_sciaClearRxFifoOvf(HAL_Handle handle)
{
	HAL_Obj *obj = (HAL_Obj *) handle;

	SCI_clearRxFifoOvf(obj->sciaHandle);
}


// Clear Interrupt flag
void HAL_sciaClearRxFifoInt(HAL_Handle handle)
{
	HAL_Obj *obj = (HAL_Obj *) handle;

	SCI_clearRxFifoInt(obj->sciaHandle);
}


SCI_FifoStatus_e Hal_sciaGetTxFifoStatus(HAL_Handle handle)
{
	HAL_Obj *obj = (HAL_Obj *) handle;

	return SCI_getTxFifoStatus(obj->sciaHandle);
}

// Issue PIE ack
void HAL_pieClearInt(HAL_Handle handle, const PIE_GroupNumber_e groupNumber)
{
	HAL_Obj *obj = (HAL_Obj *) handle;

	PIE_clearInt(obj->pieHandle, groupNumber);
}
=========================================================================================

(4) main.h (C:\ti\motorware\motorware_1_01_00_17\sw\solutions\instaspin_foc\src)
      Added 
       interrupt void sciaRxFifoIsr(void); 
       
(5)  proj_lab05a.c
     Added below code after the   "for(;;)"

 for(;;)
  {


		//GPIO_setHigh(gpioHandle, GPIO_Number_18);
	  	HAL_setGpioHigh(halHandle,GPIO_Number_18);
		usDelay(2000);

		scia_xmit(0xA2);

		if(encoderTipoLeitura == 0)
		{
			scia_xmit(0xB0);
		}
		else
		{
			scia_xmit(0xB3);
		}

		//scia_xmit(0x00);

		 while(Hal_sciaGetTxFifoStatus(halHandle) != SCI_FifoStatus_Empty);

		//while(SCI_txReady(sciaHandle) == 0);

		//while(SCI_isTxEmpty(sciaHandle) == 0);

	//	inc = 0;

		usDelay (1000);

		//GPIO_setLow(gpioHandle, GPIO_Number_18);
		HAL_setGpioLow(halHandle,GPIO_Number_18);

		usDelay(50000);

		if(encoderTipoLeitura == 0)
		{
			encoderTipoLeitura = 1;
		}
		else
		{
			encoderTipoLeitura = 0;

			usDelay(50000);
		}

//     --------------------------------x--------------------------


 

/ -----------------------------SCI------------------------------

interrupt void sciaRxFifoIsr(void)
{
	if(inc < 3)
		{

		if(encoderTipoLeitura == 0)
			{
				msgRXDec[inc] = Hal_sciaRead(halHandle);

			}

			else
			{
				msgRXInc[inc] = Hal_sciaRead(halHandle);

			}

			inc++;

		}

	// Clear Overflow flag
	HAL_sciaClearRxFifoOvf(halHandle);

	// Clear Interrupt flag
	HAL_sciaClearRxFifoInt(halHandle);

	// Issue PIE ack
	HAL_pieClearInt(halHandle, PIE_GroupNumber_9);

	return;
}


// Transmit a character from the SCI
void scia_xmit(int a)
{
//    while (SciaRegs.SCIFFTX.bit.TXFFST != 0) {}
    while(Hal_sciaGetTxFifoStatus(halHandle) != SCI_FifoStatus_Empty);

//    SciaRegs.SCITXBUF=a;
    //SCI_putDataBlocking(sciaHandle, a);
    HAL_sciaWrite(halHandle, a); //try to use this -maria-
//    SCI_write(sciaHandle, a);

}

// ----------------------------- x ------------------------------