diff --git a/IDE/CCS/TMS570LC43xx/README.md b/IDE/CCS/TMS570LC43xx/README.md
index 2ba330ac4..a599f35d9 100644
--- a/IDE/CCS/TMS570LC43xx/README.md
+++ b/IDE/CCS/TMS570LC43xx/README.md
@@ -1,11 +1,33 @@
 # TMS750LC43xx
 
+# Prerequisites
+
+Download and install:
+1) "Code Composer Studio" - https://www.ti.com/tool/CCSTUDIO
+2) "F021 Flash API - Software" - https://www.ti.com/tool/F021FLASHAPI
+
+Note: Avoid using spaces in the paths. Consider renaming "F021 Flash API" to "F021_Flash_API".
+
 # Build
 
 ## Build from command line (msys, cygwin, etc)
 
+1) Setup default configuration:
+
+```
+cp config/examples/ti-tms570lc435.config .config
+```
+
+2) Build passing in CCS_ROOT and F021_DIR make variables:
+
+Windows:
+```
+make CCS_ROOT=/c/ti/ccs1250/ccs/tools/compiler/ti-cgt-arm_20.2.7.LTS F021_DIR=/c/ti/Hercules/F021\ Flash\ API/02.01.01
+```
+
+Mac OS:
 ```
-make CCS_ROOT=/c/ti/ccs1031/ccs/tools/compiler/ti-cgt-arm_20.2.4.LTS F021_DIR=/c/ti/Hercules/F021\ Flash\ API/02.01.01
+make CCS_ROOT=/Applications/ti/ccs1250/ccs/tools/compiler/ti-cgt-arm_20.2.7.LTS F021_DIR=/Applications/ti/Hercules/F021_Flash_API/02.01.01
 ```
 
 ## Build using Code Composer Studio (CCS)
diff --git a/Makefile b/Makefile
index f0255b7fc..a2909d1cd 100644
--- a/Makefile
+++ b/Makefile
@@ -23,6 +23,7 @@ DEBUG?=0
 DEBUG_UART?=0
 LIBS=
 SIGN_ALG=
+OBJCOPY_FLAGS=
 
 OBJS:= \
 	./hal/$(TARGET).o \
@@ -67,7 +68,12 @@ ifeq ($(USE_GCC_HEADLESS),1)
   LDFLAGS+=-Wl,-gc-sections -Wl,-Map=wolfboot.map -ffreestanding -nostartfiles
   # Not setting LDFLAGS directly since it is passed to the test-app
   LSCRIPT_FLAGS+=-T $(LSCRIPT)
+  OBJCOPY_FLAGS+=--gap-fill $(FILL_BYTE)
 endif
+ifeq ($(TARGET),ti_hercules)
+  LSCRIPT_FLAGS+=--run_linker $(LSCRIPT)
+endif
+
 
 MAIN_TARGET=factory.bin
 TARGET_H_TEMPLATE:=include/target.h.in
@@ -136,7 +142,7 @@ wolfboot.efi: wolfboot.elf
 
 wolfboot.bin: wolfboot.elf
 	@echo "\t[BIN] $@"
-	$(Q)$(OBJCOPY) --gap-fill $(FILL_BYTE) -O binary $^ $@
+	$(Q)$(OBJCOPY) $(OBJCOPY_FLAGS) -O binary $^ $@
 	@echo
 	@echo "\t[SIZE]"
 	$(Q)$(SIZE) wolfboot.elf
@@ -153,7 +159,7 @@ standalone:
 	MCUXPRESSO=$(MCUXPRESSO) MCUXPRESSO_CPU=$(MCUXPRESSO_CPU) MCUXPRESSO_DRIVERS=$(MCUXPRESSO_DRIVERS) \
 	MCUXPRESSO_CMSIS=$(MCUXPRESSO_CMSIS) NVM_FLASH_WRITEONCE=$(NVM_FLASH_WRITEONCE) \
 	FREEDOM_E_SDK=$(FREEDOM_E_SDK) standalone
-	$(Q)$(OBJCOPY) --gap-fill $(FILL_BYTE) -O binary test-app/image.elf standalone.bin
+	$(Q)$(OBJCOPY) $(OBJCOPY_FLAGS) -O binary test-app/image.elf standalone.bin
 	$(Q)$(SIZE) test-app/image.elf
 
 include tools/test.mk
diff --git a/arch.mk b/arch.mk
index c95cb7a50..2897dd197 100644
--- a/arch.mk
+++ b/arch.mk
@@ -491,6 +491,7 @@ ifeq ($(TARGET),ti_hercules)
   CFLAGS+=-D"CORTEX_R5" -D"BIG_ENDIAN_ORDER" -D"NVM_FLASH_WRITEONCE" -D"FLASHBUFFER_SIZE=32"
   STACK_USAGE=0
   USE_GCC=0
+  USE_GCC_HEADLESS=0
 
   ifeq ($(CCS_ROOT),)
     $(error "CCS_ROOT must be defined to root of tools")
@@ -510,7 +511,7 @@ ifeq ($(TARGET),ti_hercules)
   CFLAGS+=$(ARCH_FLAGS)
   LDFLAGS+=$(ARCH_FLAGS) -i"$(CCS_ROOT)/lib" -i"$(F021_DIR)" -z --be32 --map_file=wolfboot.map --reread_libs --diag_wrap=off --display_error_number --warn_sections --heap_size=0 --stack_size=0x800 --ram_model
   LD_START_GROUP= #--start-group
-  LD_END_GROUP= -llibc.a -l"$(F021_DIR)\\F021_API_CortexR4_BE_L2FMC_V3D16.lib" $(LSCRIPT)
+  LD_END_GROUP= -llibc.a -l"$(F021_DIR)/F021_API_CortexR4_BE_L2FMC_V3D16.lib"
 
   OPTIMIZATION_LEVEL=2
 endif
diff --git a/stage1/Makefile b/stage1/Makefile
index 51591dece..538aecc3f 100644
--- a/stage1/Makefile
+++ b/stage1/Makefile
@@ -77,6 +77,7 @@ ifeq ($(USE_GCC_HEADLESS),1)
   CFLAGS+=-ffunction-sections -fdata-sections
   LDFLAGS+=-Wl,-gc-sections -Wl,-Map=loader_stage1.map
   LSCRIPT_FLAGS+=-T $(LSCRIPT)
+  OBJCOPY_FLAGS+=--gap-fill $(FILL_BYTE)
 endif
 
 MAIN_TARGET=loader_stage1.bin
@@ -124,7 +125,7 @@ all: $(MAIN_TARGET)
 
 loader_stage1.bin: loader_stage1.elf
 	@echo "\t[BIN] $@"
-	$(Q)$(OBJCOPY) --gap-fill $(FILL_BYTE) -O binary $^ $@
+	$(Q)$(OBJCOPY) $(OBJCOPY_FLAGS) -O binary $^ $@
 	@echo
 	@echo "\t[SIZE]"
 	$(Q)$(SIZE) loader_stage1.elf
diff --git a/test-app/Makefile b/test-app/Makefile
index 91398def6..4c638edb7 100644
--- a/test-app/Makefile
+++ b/test-app/Makefile
@@ -48,6 +48,9 @@ include ../arch.mk
 # Setup default linker flags
 LDFLAGS+=-T $(LSCRIPT) -Wl,-gc-sections -Wl,-Map=image.map
 
+# Setup default objcopy flags
+OBJCOPY_FLAGS+=--gap-fill $(FILL_BYTE)
+
 ifeq ($(DEBUG_UART),1)
     APP_OBJS+=../src/string.o
 endif
@@ -161,7 +164,8 @@ endif
 ifeq ($(TARGET),ti_hercules)
   LSCRIPT_TEMPLATE=ARM-r5be.ld
   # Override linker flags
-  LDFLAGS=$(LSCRIPT) --map_file=image.map
+  LDFLAGS=--run_linker $(LSCRIPT) --map_file=image.map
+  OBJCOPY_FLAGS=
 endif
 
 ifeq ($(TARGET),sim)
@@ -338,7 +342,7 @@ delta-extra-data:LDFLAGS=-Wl,-Map=image.map
 
 image.bin: image.elf
 	@echo "\t[BIN] $@"
-	$(Q)$(OBJCOPY) --gap-fill $(FILL_BYTE) -O binary $^ $@
+	$(Q)$(OBJCOPY) $(OBJCOPY_FLAGS) -O binary $^ $@
 
 image.elf: $(APP_OBJS) $(LSCRIPT)
 	@echo "\t[LD] $@"