5.1. Release notes - 08_06_01

5.1.1. Features

Note

This is a patch release to 08.06.00 with below updates

  • RTOS: SBL SD boot bug fix for CPU copy to read MBR before TIFS is loaded.

  • Linux: Uboot bug fix for race condition in opening up of firewalls in both background and foreground region to avoid potential for a firewall exception.

  • TIFS: Fix to open up firewall for HSM M4_1 to access SA3UL.

5.1.1.1. Hardware support

  1. J784S4 E1 EVM support

  2. Fusion1 RevC daughter card with UB960 FPDLink deserializer

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

  4. Quad Port Ethernet daughter card (for CPSW9G support)

5.1.1.2. Software features

Important

Below is a summary of key features. Refer individual SDK Components release notes for more details

5.1.1.2.1. Vision Apps (ADAS, Vision, DL demos)

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

    • FreeRTOS or SafeRTOS on C7x, R5F and Linux/QNX on A72

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

    • Integrates all major HW components like CSI2 camera, eDP 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

  • 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)

    • Multi channel codec demo utilizing CSI2RX + VISS + LDC + MSC + Display

  • 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

    • OpenGL nodes for surround view

  • Profiling, logging and other utility APIs

  • All included MCU tasks are split between MCU2_0 (ETHFW, VPAC0 HWA), MCU2_1 (DMPAC HWA), and MCU4_0 (VPAC1), leaving MCU3_0, MCU3_1, and MCU4_1 free on main domain

5.1.1.2.2. Platform Development Kit (PDK)

  • RTOS device drivers running on R5F, C7x

  • Supported drivers and modules

    • ENET CPSW (2G & 9G in Main domain, 2G in MCU domain), RGMII (CPSW 2G), SGMII/QSGMII (CPSW_9G), lwIP, FreeRTOS & SafeRTOS

    • CSL-FL (Chip support library)

    • GPIO

    • I2C

    • IPC (inter processor communication)

    • MMCSD with FATFS

    • OSAL

    • SBL secondary bootloader

    • SCI Client (DMSC interface)

    • SPI driver (SPI, OSPI, NAND)

    • UART

    • UDMA and DRU

    • DSS display (eDP)

    • 2xCSI2-RX camera (4 cameras per instance)

    • 2xCSI2-TX

    • 2xVPAC and DMAC (VHWA)

    • FreeRTOS Support on R5, DSPs

    • SafeRTOS Support on R5, DSPs

Refer to PDK release notes LINK for more details.

5.1.1.2.3. 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, Dio, Eth, Pwm & Wdg

5.1.1.2.4. TI Deep learning Product (TIDL) and MMALIB

  • TensorFlow Lite Runtime with Delegate API support for heterogeneous execution on ARM+C7x_MMA

  • ONNX Runtime with Execution Provider support for heterogeneous execution on ARM+C7x_MMA

  • NEO-AI-DLR support - TVM model compilation for heterogeneous execution on ARM+C7x_MMA

  • Upgraded to exercise MMA REV2 IP enhancement features - Support for hardware acceleration via on-the-fly padding of tensors - Support for asymmetric quantization for TF-Lite post training quantized models

  • TIDL deep learning inference engine library running on C7x/MMA

  • Supports Caffe, ONNX, TFlite network exchange formats

  • Supported layers: Convolution, Deconvolution, Pooling, ReLU, Elt-wise, Inner product, Soft-max, and many more

  • TIDL network import tool and graph visualizer tool

  • Post Training Quantization options for 8-bit, 16-bit and mixed precision inference

  • Support for batch processing

  • Support for auto C7x code generation with TVM

  • Refer to edgeai-tidl-tools for further details

5.1.1.2.5. FFT Library for C7x/MMA (FFTLIB)

  • C7x-only kernels

  • C7x+MMA kernels

  • Note: This is packaged as a stand-alone library component, and is not integrated into any SDK level demos

5.1.1.2.6. DSP Library for C7x/MMA (DSPLIB)

  • C7x-only kernels

  • Note: This is packaged as a stand-alone library component, and is not integrated into any SDK level demos

5.1.1.2.7. MATH Library for C7x/MMA (MATHLIB)

  • C7x-only kernels

  • Note: This is packaged as a stand-alone library component, and is not integrated into any SDK level demos

5.1.1.2.8. TI OpenVX (TIOVX)

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

  • OpenVX API on A72 running Linux/QNX

  • 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)

    • Display (eDP) (R5F)

  • OpenVX tutorials for getting started

  • PyTIOVX tools for target kernel code generation

  • Performance Analyzer tool for run time logging of OpenVX graphs

  • VISS node supports heterogeneous camera support

5.1.1.2.9. Imaging

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

  • TI Auto-exposure and auto white-balance algorithms

  • Support for UB960 broadcast mode

  • Sensor framework supports heterogeneous camera support

  • Fusion2 Board support

5.1.1.2.10. Ethernet Switch Firmware (ETHFW)

  • Ethernet firmware interface API

  • Ethernet switch firmware running on R5F for CPSW9G

  • Layer 2 switching

  • FreeRTOS and SafeRTOS for Main R5F Core 0

  • FreeRTOS and SafeRTOS for Main R5F Core 1 virtual client

  • lwIP TCP/IP stack integration

  • Remote switch configuration server

  • GUI switch configuration tool

  • Inter-VLAN routing

  • IP next header filtering

  • CPSW Proxy/Server layer for remote core integration

  • Integration with AUTOSAR Eth Virtual MAC driver

  • PTP support

  • MAC-only mode support

  • Shared memory based virtual Ethernet adapter

  • Multi-core broadcast/multicast traffic using software fan-out

  • Ethernet firmware support for QSGMII mode

  • Driver support for XAUI and USXGMII modes

  • Checksum offload support for lwIP interface

  • Scatter-gather for packet transmission

5.1.1.2.11. 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)

  • Camera Pose estimation API using solve pnp technique (C6x optimized. recompiled for C7x)

  • Visual localization algorithm (C6x optimized. recompiled for C7x)

  • Structure from Motion algorithm

5.1.1.2.12. FreeRTOS

  • FreeRTOS for R5F and C7x

  • lwIP TCP/IP stack integration for R5F

5.1.1.2.13. Code Gen Tools (CGT)

  • TI Compiler, assembler, linker for R5F, C7x

  • TI LLVM (CLANG) Compiler, assembler, linker for R5F

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

5.1.2. Device Support and Validation Information

SoC

Build Host (OS)

Run Target (OS)

Test Plaform

J784S4

x86_64 (Linux Ubuntu 18.04)

R5F, C7x running FreeRTOS

A72 running Linux or QNX

J784S4 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

5.1.3. 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.

5.1.3.1. Enet LLD

Support for scatter-gather in packet transmission has been added starting in 08.05.00 release. This feature requires a change in Enet LLD DMA API, so applications using Enet LLD APIs need to be ported to use the updated API. Developers should refer to the porting steps documented in Enet LLD User’s Guide (LINK).

5.1.3.2. MCU Software (MCUSW)

5.1.3.2.1. Ethernet

MCAL Ethernet (MCU CPSW_2G) and Virtual MAC (virtual client for CPSW_9G) drivers have been signficantly refactored to remove most dependencies with other SDK components, such as Enet LLD and UDMA LLD. The only remaining SDK dependency is with SCI Client driver. The driver configuration has also moved to a static-oriented allocation approach for TX channel, RX channel, Ring Accs, and other resources. Please refer to the Ethernet User Guide (LINK) chapter in the MCUSW documentation for further information about Ethernet module configuration.

Additionally, MCAL Ethernet driver (MCU CPSW_2G) now has Global Time support (packet timestamping) as well as support for link time and post-build configuration, in addition to pre-compile variant already supported.

MCAL Ethernet driver is not supported in Main domain CPSW_2G (CPSW_2G).

5.1.4. Known Issues

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

5.1.5. Change Requests

ID

Head Line

Original Fix Version

New Fix Version

Components

JACINTOREQ-5018

De-scope BAM enablement on J7

PSDK_8.6

PSDK_9.1

TIOVX

JACINTOREQ-5055

Push out “TIFS must police SA3UL PSIL thread requests to ensure HSM isolation”

PSDK_8.6

PSDK_9.0

DM

JACINTOREQ-5427

Device Manager shall support ACSPCIE mux clocking option

PSDK_8.6

PSDK_9.0

DM

JACINTOREQ-5056

Push out “SAUL5: Software Readback of Written Configuration (Software)”

PSDK_8.6

PSDK_9.0

DM

JACINTOREQ-5404

Move “RTOS SDK shall support Imaging: Enable broadcast mode for multi-cam usecases”

PSDK_8.6

PSDK_9.0

IMAGING

JACINTOREQ-5406

Move “AR0823 sensor driver and IQ tuning”

PSDK_8.6

PSDK_9.0

IMAGING

JACINTOREQ-5405

Move “Optimize camera initialization delays”

PSDK_8.6

PSDK_9.0

IMAGING

JACINTOREQ-5408

Move “RTOS SDK shall support Imaging: Minimize delays in sensor and serdes config sequence”

PSDK_8.6

PSDK_9.0

IMAGING

JACINTOREQ-5389

PDK 8.6 Scope Change : See PDK release notes

PSDK_8.6

PSDK_9.0

PDK

JACINTOREQ-5423

Push out “Firewall Notification Feature”

PSDK_8.6

PSDK_9.0

PDK

JACINTOREQ-5431

PDK 8.6 Board Library/Diag Requirement Scope Change

PSDK_8.6

PSDK_9.0

PDK

JACINTOREQ-5022

TIDL: Descope of 8.6 Requirements related to new operators (Focusing Lidar)

PSDK_8.6

PSDK_9.0

TIDL

JACINTOREQ-5398

TIDL: Descope of 8.6 Requirements related to improving allow-listing preprocessing and Transpose Layer

PSDK_8.6

PSDK_9.0

TIDL

JACINTOREQ-5424

Ethernet: CPSW: Scope out SG RX

PSDK_8.6

Descope

ETHFW

JACINTOREQ-5425

Ethernet: Scope in Enet LLD & ETHFW support for SafeRTOS

-

PSDK_8.6

ETHFW

JACINTOREQ-5425

Ethernet: Scope in lwIP optimizations (phase 1)

-

PSDK_8.6

ETHFW

JACINTOREQ-5425

Ethernet: ETHFW boot time benchmark

PSDK_8.6

PSDK_9.0

ETHFW

JACINTOREQ-5425

Ethernet: VLAN support in ETHFW

PSDK_8.6

PSDK_10.x

ETHFW

JACINTOREQ-5425

Ethernet: Large frame support

PSDK_8.6

Descope

ETHFW

JACINTOREQ-5433

Push out “MMALIB shall support 3x3 stride 3 Row flow C7120”

PSDK_8.6

PSDK_9.0

MMALIB

5.1.5.1. Errata workarounds

None

5.1.6. Additional Reports

For additional reports like test report, traceability refer [LINK] (or ${PSDK RTOS_PATH}/psdk_rtos/docs/additional_reports in package)