4.2. Release notes - 06_02_00¶
4.2.1. Features¶
Note
New features vs previous release are marked in bold
4.2.1.1. Hardware support¶
- J721E Alpha and Beta EVM support with Leo PMIC processor board
- Fusion1 RevC daughter card with UB960 FPDLink deserializer
- IMX390 2MP CSI2 image sensor + UB953 FPDLink serializer
- AR0233 2.5MP CSI2 image sensor + UB953 FPDLink serializer
- AR0820 8MP CSI2 image sensor + UB953 FPDLink serializer
- GESI(Gateway/Ethernet Switch/Industrial) daughter card (for additional ethernet and CAN ports)
- Infotainment daughter card (for HDMI output)
4.2.1.2. Software features¶
Important
Below is a summary of key features. Refer individual SDK Components release notes for more details
4.2.1.2.1. Vision Apps (ADAS, Vision, DL demos)¶
OpenVX based demos for ADAS, Vision, deep learning applications
- TI-RTOS on C7x, C6x, R5F and Linux on A72
- Integrates all major PSDKRA and PSDKLA SW components like TIDL, MMALIB, PDK, OpenVX, OpenGL, video codec, C6x algorithms, imaging/sensors, IPC, Linux, TI-RTOS, SPL/uboot.
- Integrates all major HW components like CSI2 camera, eDP/HDMI display, UART, I2C, ethernet, SD card
Deep Learning demos - Image Classification demo - Auto valet parking (AVP) demo
- semantic segmentation, Parking spot detect and Vehicle detect algorithms
- 1 channel, 3 algo @ 56 fps mode (AVP1 demo)
- 3 channel, 3 algo @ 28 fps mode - combined network for parking spot and vehicle detect (AVP2 demo)
- 3 channel, 5 algo @ 16 fps mode - combined network for parking spot and vehicle detect + Three task network for Semantic Segmentation, Motion Segmentation and Depth Estimation (AVP3 demo)
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 @ 24 fps 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 CSI2RX + VISS + LDC + MSC + Display demo - C7x algorithm offload demo
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
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
4.2.1.2.2. Gateway Demos¶
- CAN-Ethernet gateway demo to showcase P2P (Protocol to Protocol) translation
- Full duplex routing between: CAN-to-Ethernet, Ethernet-to-CAN and CAN-to-CAN.
4.2.1.2.3. Safety Apps¶
ECC feature - ECC Library
- TI RTOS on C7x, C6x, R5F and Linux on A72
- Integrates ECC Aggregator and ESM diagnostics IPs to enable ECC for various modules, including MSMC, MCAN, MCU_MCAN, CPSW2G, CPSW9G, R5FSS0, MCU_R5FSS0
- ECC demo
- Enable ECC and customize ECC interrupt handling
- User menu to select ECC to inject
4.2.1.2.4. Platform Development Kit (PDK)¶
- RTOS device drivers running on R5F, C6x, C7x, A72
- Supported drivers and modules - Board diagnostic library - CPSW (2G and 9G), CPTS, SGMII/QSGMII - CSI2-RX camera - CSI2-TX - CSL-FL (Chip support library) - DSS display (DSI, eDP and HDMI, BT601 discrete sync mode) - GPIO - I2C - IPC (inter processor communication) - McASP - MMCSD with FATFS (A72 with RTOS) - OSAL - SBL secondary bootloader - SCI Client (DMSC interface) - SPI driver (SPI, QSPI, OSPI, Hyperflash) - UART - UDMA and DRU - VPAC and DMAC (VHWA)
4.2.1.2.5. MCU Software (MCUSW)¶
- AutoSAR MCAL driver and demo applications running on R5F
- AutoSAR MCAL driver for Adc, Can, CDD IPC,Dio, Eth, Gpt, Pwm, Spi & Wdg
- Migrated Gpt & Dio MCAL to AUTOSAR 4.3.1 specification
- Ethernet CPSW 2G & CPSW9G MCAL driver
- MCU Demo Applications - CAN Profiling Application - CDD IPC Profiling Application - SPI IPC Profiling Application
4.2.1.2.6. TI Deep learning Library (TIDL) and MMALIB¶
- Optimized performace for higher resolutions (upto 2 MP)
- Added support for Concat and Slice layer along horizontal and vertical axis
- TIDL deep learning inference engine library running on C7x/MMA
- MMALIB for accelerating convolution, deconvolution layers on MMA (used by TIDL internally)
- TIDL network import tool and performance analyzer tool
- Supports Caffe, ONXX, TFlite network import formats
- Supported layers: Convolution, deconvolution, pooling, ReLU, Elt-wise, Inner product, Soft-max, and many more, refer TIDL user guide (LINK)
- Custom / User defined layer Call-back to plugin user specific layers
4.2.1.2.7. 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, C6x, R5F, A72
- OpenVX v1.1 C6x kernels
- OpenVX nodes for - TIDL (C7x) - VISS (R5F) - LDC (R5F) - MSC (multi-scalar) (R5F) - Pyramid (using MSC) (R5F) - BLNF (bilateral noise filter) (R5F) - CSI2-RX camera (R5F) - CSI2-TX (R5F) - Display (eDP and HDMI) (R5F) - Video decode (R5F) - Video Encode (R5F)
- OpenVX tutorials for getting started
- PyTIOVX tools for target kernel code generation
4.2.1.2.8. Imaging¶
- 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
4.2.1.2.9. Ethernet Switch Firmware (ETHFW)¶
- Ethernet switch firmware running on R5F for CPSW9G
- Layer 2 switching
- NDK integration
- Remote switch configuration server
- GUI switch configuration tool
- Inter VLAN routing
- IP next header filtering
- Rate limiting
- CPSW Proxy/Server layer for remote core integration
- Integration with AutoSAR Eth Virtual MAC driver
4.2.1.2.10. TI Autonomous Driving Algorithms (TIADALG)¶
- Image pre-processing APIs for color plane conversion and separation YUV to RGB for DL applications (C6x optimized)
- Camera Pose estimation API using solve pnp technique (C6x optimized)
- Visual localization algorithm (C6x optimized)
4.2.1.2.11. Video Codecs¶
- Single and multi channel H264 decoder on RTOS R5F
- Upto 1080p resolution, I and I+P frame
- NV12 and 8bit output
- Single and multi channel H264 encoder on RTOS R5F
- Upto 1080p resolution, I and I+P frame
- NV12 and 8bit input
4.2.1.2.12. TI-RTOS¶
- SysBIOS for R5F, C6x, C7x, A72
- Network developer kit (NDK) on R5F
4.2.1.2.13. Code Gen Tools (CGT)¶
- TI Compiler, assembler, linker for R5F, C6x, C7x
- GCC compiler for A72 (needs to be downloaded separately)
4.2.2. Device Support and Validation Information¶
SoC | Build Host (OS) | Run Target (OS) | Test Plaform |
---|---|---|---|
J721e | x86_64 (Linux Ubuntu 18.04) | R5F, C6x, C7x running TI-RTOS A72 running Linux |
J721e EVM with daughter cards |
PC emulation mode | x86_64 (Linux Ubuntu 18.04) | x86_64 (Linux Ubuntu 18.04) | x86_64 (Linux Ubuntu 18.04) |
4.2.3. Known Issues¶
Refer to individual SDK Components release notes for known issues in each component