TI-RTOS - Where are the USB examples?

I have finally managed to get Starterware USB to work with Sys/Bios. Here are the steps I took (This is for the Beaglebone Black AM335X)

1. Had to create Hardware interrupts
Hwi_Params hwiParams;
Hwi_Params_init(&hwiParams);
hwiParams.maskSetting = Hwi_MaskingOption_NONE;
hwiParams.arg = (UArg)0;
hwiParams.enableInt = TRUE;
hwiParams.eventId = SYS_INT_USB0;
hwiParams.priority = 0x10;
hwiParams.type = Hwi_Type_IRQ;
Hwi_Handle hHwi = Hwi_create(SYS_INT_USB0, (Hwi_FuncPtr)USB0DeviceIntHandler, &hwiParams, NULL);
if(hHwi == NULL) return 1; //get out if failed to create hardware interrupt

2. Had to configure the MMU to allow access to register locations:
Added the following lines to the .cfg file
Cache.enableCache = true;
Mmu.enableMMU = true;

Then, I had to do MMU cache configuration in code, using the .cfg file approach didn't work for me. You have to get the osdrv_mmu.c and .h files from the industrial sdk in order to configure the mmu in code using the SDKMMUInit function.

uint32_t mmuInitResult = 0;

/* Define the base addresses in which the peripherals reside. */
/* and Configure the corresponding MMU page descriptors */
SYS_MMU_ENTRY applMmuEntries[] = {
{(void*)0x48300000,0}, //PWM - Non bufferable| Non Cacheable
{(void*)0x47400000,0}, //USBSS,USB0, USB1, USB0_PHY, USB1_PHY - Non bufferable| Non Cacheable
{(void*)0x48200000,0}, //AINTC - Non bufferable| Non Cacheable
{(void*)0x48100000,0}, //GPIO2, GPIO3, UART3, UART4, UART5, I2C2, McSPI1 - Non bufferable| Non Cacheable
{(void*)0x48000000,0}, //GPIO1, UART1, UART2, I2C1, McSPI0, McASP0 CFG, McASP1 CFG -Non bufferable| Non Cacheable
{(void*)0x44E00000,0}, //Clock Module, GPIO0, UART0, I2C0, - Non bufferable| Non Cacheable
{(void*)0x46000000,0}, //MCASP_0 - Non bufferable| Non Cacheable
{(void*)0x46400000,0}, //MCASP_1_DATA - Non bufferable| Non Cacheable
{(void*)0x49000000,0}, //SOC_EDMA30CC - Non bufferable| Non Cacheable
{(void*)0x4A100000,0}, //WDT - Non bufferable| Non Cacheable
{(void*)0x50000000,0}, //GPMC - Non bufferable| Non Cacheable
{(void*)0xFFFFFFFF,0xFFFFFFFF}
};

mmuInitResult = SDKMMUInit(applMmuEntries);


3. I actually brought all the Starterware USB library files locally into my application so I could remove the delay calls and I ended up modifying the USB libraries extensively to get Host Hub support working and add my own layers to the HID driver. You might be able to get the Starterware delay calls working with SysBios, but instead I just made sure all my USB initialization code was done after a thread is started so that I could replace any starterware delay calls with Task_Sleep.

4. Finally, in order to get the _ti.bin application to work with the Starterware bootloader, I used the solution from this thread. Added the following lines to the .cfg file
Program.sectMap[".init { boot*(.text) }"] = new Program.SectionSpec();
Program.sectMap[".init { boot*(.text) }"].loadAddress = 0x80000000;

e2e.ti.com/.../356334