4.6. Release notes - 07_02_00

4.6.1. Features


New features vs previous release are marked in bold Hardware support

  1. J721E Alpha and Beta EVM support with Leo and Hera PMIC processor board

  2. Fusion1 RevC daughter card with UB960 FPDLink deserializer

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

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

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

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

  7. 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)

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

    • TI-RTOS on C7x, C6x, R5F and Linux on A72

    • Integrates all major PSDK RTOS and PSDK LINUX SW components like TIDL, MMALIB, PDK, OpenVX, ETHFW, 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

      • 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

    • Multi camera to encoder (CSI2RX + VISS + LDC + MSC + Encoder) demo

    • Block based processing example kernel on C66x using UDMA/DRU

    • 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

  • All included MCU tasks are split between MCU2_0 (ETHFW, VPAC HWA) and MCU2_1 (DMPAC HWA), leaving MCU3_0 and MCU3_1 free on main island Gateway Demos

  • CAN-Ethernet gateway demo to showcase routing between CAN-to-CAN, CAN-to-Ethernet, Ethernet-to-Ethernet and Ethernet-to-CAN using IEEE 1722 protocol Platform Development Kit (PDK)

  • RTOS device drivers running on R5F, C6x, C7x, A72

  • Supported drivers and modules

    • Board diagnostic library


    • CSL-FL (Chip support library)

    • 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

    • DSS display (DSI, eDP and HDMI, BT601 discrete sync mode)

    • CSI2-RX camera - support for runtime addition/removal of channels

    • CSI2-TX

    • VPAC and DMAC (VHWA)

    • PMIC Driver for LP8764x(Hera) 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

    • Pwm : based on EHRPWM, CDD IPC with Linux

  • AUTOSAR Specification Version: 4.3.1

  • 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

    • MCU Only Demo: ACTIVE to MCU ONLY to ACTIVE mode switching TI Deep learning Library (TIDL) and MMALIB

  • Optimized performance for higher resolutions (upto 2 MP)

  • 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

  • Post Training Quantization options for 8-bit inference

  • Optimized Object detection Post Processing Layer

  • NEO-AI-DLR support - TVM model compilation for heterogeneous execution (ARM+C7x-MMA)

  • Support for Additional layers - Sigmoid layer, Standalone Pad layer, Color conversion (YUV420SP to RGB) Layer, Depth to Space (Pixel Shuffle) Layer

  • Tensorflow Lite Runtime with Delegate API support for heterogeneous execution on ARM+C7x_MMA 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, C6x, R5F, A72

  • OpenVX v1.1 C6x kernels

  • 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 and HDMI) (R5F)

    • Video decode (R5F)

    • Video encode (R5F)

  • OpenVX tutorials for getting started

  • PyTIOVX tools for target kernel code generation

  • Performance Analyzer tool for run time logging of OpenVX graphs

  • Pipelining usage simplification from previous releases TI OpenVX (TIOVX) with ROS Development Framework

  • TI Vision Apps Library deployed on the J721e target that enables building applications directly on the target

  • Docker container environment on J721e for TIOVX + ROS development framework

  • Demo applications developed in TIOVX + ROS framework

    • Stereo vision processing node accelerated on LDC and SDE

    • CNN semantic segmentation node with TIDL running on C7x/MMA

  • Available on a public GIT repository here. 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

    • AEWB framework improvements to image quality and performance

  • Support for UB960 broadcast mode

  • Live Tuning Runtime interaction with PC tuning tool over Ethernet Ethernet Switch Firmware (ETHFW)

  • Ethernet firmware interface API

  • Ethernet switch firmware running on R5F for CPSW9G (or CPSW5G)

  • 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

  • PTP Support 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) Video Codecs

  • Single and multi channel (up to 2 channel) H264 decoder on RTOS R5F

  • Upto 1080p resolution, I and I+P frame

  • 8bit NV12 output

  • Single and multi channel (up to 2 channel) H264 encoder on RTOS R5F

  • Upto 1080p resolution, I and I+P frame

  • 8bit NV12 input TI-RTOS

  • SysBIOS for R5F, C6x, C7x

  • Network developer kit (NDK) on R5F Code Gen Tools (CGT)

  • TI Compiler, assembler, linker for R5F, C6x, C7x

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

4.6.2. Device Support and Validation Information


Build Host (OS)

Run Target (OS)

Test Plaform


x86_64 (Linux Ubuntu 18.04)

R5F, C6x, C7x running TI-RTOS

A72 running Linux or QNX

J721E 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

4.6.3. 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. System Firmware Architecture Upgrade (PDK)

The previous (7.1) release introduced the new architecture for System firmware where the TI Foundational Security (TIFS) is running on the DMSC and Power Management & Resource Management (collectively known as Device Management (DM)) runs as a library on the MCU1_0 R5F. Refer to following pages for more details: ENET LLD (PDK)

The previous (7.1) release added Low-level driver support for CPSW Ethernet peripherals has been migrated from CPSW LLD to Enet LLD. This change comes with API name changes. More details of this change can be found in the Upgrade and Compatibility section of the PDK Release Notes: LINK

4.6.4. Known Issues

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

Record ID





[CPTS] GENF (and ESTF) Reconfiguration Issue

GENF/ESTF length values are read to check for earlier configuration. If already configured, current configuration is returned with a warning.



RAT : Error interrupt triggered even when error logging disable set



OSPI Boot Mode Failure with MCU2_1 Core

STOG should be left in disabled/bypass mode. This issue is addressed in J721E SR1.1.



MMC: MMC1/2 Speed Issue



VTM: Software reads from on-die Temperature Sensors can be corrupted



C7x MMA HWA_STATUS reports errors before application starts



C7x: The C7x memory system and cpu may stall indefinitely, in the presence L1D snoops caused due to streaming engine reads, cache misses from MSMC or DDR, L1D victims, and some other specific conditions in a small time window.


4.6.5. Additional Reports

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