5.10. Release notes - 08_00_03 (EARLY ADOPTER RELEASE: 3)


A Linux cold boot after a power-on does not fully boot MCU2_0 firmware. A warm “reboot” is required before running applications. To do this, type “reboot” on the linux prompt after login:

root@j721s2-evm:~# reboot

5.10.1. Features


bold sections are not yet functional or tested, as indicated in each section. Hardware support

  1. J721S2 Alpha EVM support with Leo and Hera PMIC processor board

  2. J721S2 ES1.0 support

  3. Fusion1 RevC daughter card with UB960 FPDLink deserializer

  4. IMX390 2MP CSI2 image sensor + UB953 FPDLink serializer

  5. AR0233 2.5MP CSI2 image sensor + UB953 FPDLink serializer

  6. AR0820 8MP CSI2 image sensor + UB953 FPDLink serializer

  7. GESI(Gateway/Ethernet Switch/Industrial) daughter card (for additional ethernet and CAN ports)

  8. Infotainment daughter card (for HDMI output) Software features


Below is a summary of key features. Refer individual SDK Components release notes for more details Vision Apps (ADAS, Vision, DL demos)


None of the demos listed in this section are able to run yet due to pending dependencies on Display drivers.

  • OpenVX based demos for ADAS, Vision, deep learning applications

    • FreeRTOS on C7x, R5F and Linux on A72

    • Integrates all major PSDK RTOS and PSDK LINUX SW components like TIDL, MMALIB, PDK, OpenVX, OpenGL, C7x algorithms, imaging/sensors, IPC, Linux, FreeRTOS, SPL/uboot.

    • Integrates all major HW components like CSI2 camera, eDP/HDMI display, UART, I2C, ethernet, SD card

  • Deep Learning demos

    • Image Classification demo

      • File based

      • Camera based

    • Standalone Semantic Segmentation application

      • File based

      • Camera based

    • Standalone Object Detection application

      • File based

      • Camera based

    • Auto valet parking (AVP) demo

      • semantic segmentation, Parking spot detect and Vehicle detect algorithms

      • 1 channel, 3 algo mode (AVP1 demo)

      • 3 channel, 3 algo mode - combined network for parking spot and vehicle detect (AVP2 demo)

      • 3 channel, 5 algo mode - combined network for parking spot and vehicle detect + Three task network for Semantic Segmentation, Motion Segmentation and Depth Estimation (AVP3 demo)

    • DKAZE-based Visual Localization application

    • Debug support for the ability to debug intermediate layer information from TIDL node

  • Surround view demos

    • 3D surround view using GPU on 4x 2MP 30fps live camera input

    • 3D surround view calibration application

  • 3D Surround view + AVP2 demo running simultaneously

    • 3D surround view using GPU on 4x2MP 30fps live camera input

    • 3 channel, 3 algo mode - combined network for parking spot and vehicle detect (AVP2 demo)

  • ADAS/Vision demos

    • Dense optical flow (DOF) demo

    • Stereo disparity engine demo

    • Single and multi camera to display (CSI2RX + VISS + LDC + MSC + Display) demo

    • C7x algorithm offload demo (with DMA acceleration)

  • Perception Toolkit (PTK) Demos

    • Camera based SFM and occupancy grid mapping using Dense optical flow HW engine

    • Radar and lidar occupancy grid mapping

    • Camera SFM, radar, lidar fusion for occupancy grid mapping

  • CV Demos

    • Structure from motion

  • OpenVX target nodes

    • image pre-processing (YUV 2 RGB) nodes for DL demos

    • image post-processing and visualization nodes for deep learning, DOF, Stereo demos

    • lidar, radar, camera SFM nodes for PTK demos

    • OpenGL nodes for surround view

  • Profiling, logging and other utility APIs

  • All included MCU tasks are split between MCU2_0 (VPAC HWA) and MCU2_1 (DMPAC HWA), leaving MCU3_0 and MCU3_1 free on main island Platform Development Kit (PDK)

  • RTOS device drivers running on R5F, C7x, A72

  • Supported drivers and modules

    • Board diagnostic library

    • ENET CPSW (2G) in MCU and Main domains, RGMII, lwIP

    • CSL-FL (Chip support library)

    • IPC (inter processor communication)

    • MMCSD with FATFS

    • OSAL

    • SBL secondary bootloader (with DDR)

    • SCI Client (DMSC interface)

    • SPI driver (SPI, OSPI)

    • OSPI (NOR, NAND)

    • UART

    • UDMA and DRU

    • VPAC and DMAC (VHWA)

    • CSI-Rx

    • CSI-Tx

    • ECC

    • VIM

    • DSS - EP

    • FreeRTOS Support on R5, C7x

    • Following is not yet functional in this release:

      • VISS -> MSC Flex-connect

Refer to PDK release notes LINK for more details. MCU Software (MCUSW)

  • AutoSAR 4.3.1 MCAL driver and MCU1_0 example applications running on R5F (TI Arm Clang Compiler).

  • AutoSAR MCAL driver for Adc, Can, CDD IPC, Dio, Eth, Gpt, Pwm, Epwm Spi, Icu & Wdg

  • MCUSW ”boot app” TI Deep learning Product (TIDL) and MMALIB

  • Port from J721E to J721S2 with reduced MSMC (4MB)

  • CNN Network performance improvement with update C7x/MMA features 10% to 25%

  • Support of PSAT and RELU6 activation functions

  • Updated MMALIB with exercising MMA REV2 IP enhancement features

  • Following is not yet functional in this release:

    • Support Tensor flow lite pre-quantized models with asymmetric quantization support TI OpenVX (TIOVX)

  • OpenVX v1.1 compliant implementation with graph pipelining and user data object extension support

  • OpenVX API on A72 running Linux

  • OpenVX target kernels on C7x, R5F, A72

  • OpenVX v1.1 C6x optimized kernels recompiled for C7x

  • OpenVX nodes for

    • TIDL (C7x-MMA)

    • VISS (R5F)

    • LDC (R5F)

    • MSC (multi-scalar) (R5F)

    • Pyramid (using MSC) (R5F)

    • Dense Optical Flow (R5F)

    • Stereo Disparity Engine (R5F)

    • BLNF (bilateral noise filter) (R5F)

    • CSI2-RX camera (R5F)

    • CSI2-TX (R5F)

    • Following are not yet functional in this release (due to pending driver dependencies):

      • Display (eDP and HDMI) (R5F)

      • Display M2M (R5F)

  • OpenVX tutorials for getting started

  • PyTIOVX tools for target kernel code generation

  • Performance Analyzer tool for run time logging of OpenVX graphs Imaging


None of the items listed in this section are tested yet due to pending Display dependencies of tests.

  • IMX390 2MP sensor driver (30/60fps) with IQ tuning

  • AR0233 2.5MP sensor driver with IQ tuning

  • AR0820 8MP sensor driver with IQ tuning

  • TI Auto-exposure and auto white-balance algorithms

  • Support for UB960 broadcast mode

  • Live Tuning Runtime interaction with PC tuning tool over Ethernet

  • Sensor framework supports heterogeneous camera support TI Autonomous Driving Algorithms (TIADALG)

  • Image pre-processing APIs for color plane conversion and separation YUV to RGB for DL applications (C6x optimized. recompiled for C7x) FreeRTOS

  • FreeRTOS for R5F and C7x Code Gen Tools (CGT)

  • TI Compiler, assembler, linker for R5F, C7x

  • LLVM/TI CLANG (1.3 LTS) for R5F.

  • GCC compiler for A72 (needs to be downloaded separately)

5.10.2. Device Support and Validation Information


Build Host (OS)

Run Target (OS)

Test Plaform


x86_64 (Linux Ubuntu 18.04)

R5F, C7x running FreeRTOS

A72 running Linux

J721S2 EVM with daughter cards

PC emulation mode (1)

x86_64 (Linux Ubuntu 18.04)

x86_64 (Linux Ubuntu 18.04)

x86_64 (Linux Ubuntu 18.04)

(1) Requires download of addon package from mySecure Software

5.10.3. Upgrade and Compatibility

In this section, we only highlight a few significant changes in this SDK. For full list of upgrade and compatibility topics, please refer to individual components release notes SDK Components.

5.10.4. Known Issues

Record ID




Clock tree review still in progress for DM to ensure all clocks are present in the device


Main R5FSS is booting in secure mode which makes disables the cache coherency between the A72 (insecure) and R5F (secure) on the DDR shared memory region

Cache on the A72 for this shared memory region is disabled

Reduced performance will be seen when A72 reads or writes from/to the shared region (such as with reading outputs from the graph to store on an SD card)


OCMC RAM init failure on MCU2-0

Init is disabled and memory previously mapped here is instead mapped to DDR

Reduced performance of memory previously accessed from this region. In SDK this was only used by heterogeneous camera context save/restore


The MCU2-1 and C7X-2 often fail to boot on a cold boot

After a power-on boot invoke a warm “reboot”

Extra linux boot upon power on.


C7X-2 MMU table gets corrupted during initialization

Added 10s delay during init of firmware

Extra delay during boot.

Refer to individual SDK Components release notes for known issues in each component

5.10.5. Additional Reports

Test reports, traceability matrix not available yet for EA Release.