4.6. Release notes - 08_05_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. J721E ES1.1 support

  3. J721E HS support

  4. Fusion1 RevC daughter card with UB960 FPDLink deserializer

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

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

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

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

  9. 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

    • FreeRTOS 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, 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

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

    • C7x algorithm offload demo (with DMA acceleration)

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

  • 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 (ETHFW, VPAC HWA) and MCU2_1 (DMPAC HWA), leaving MCU3_0 and MCU3_1 free on main domain Platform Development Kit (PDK)

  • RTOS device drivers running on R5F, C6x, C7x

  • Supported drivers and modules


    • CSL-FL (Chip support library)

    • GPIO

    • I2C

    • IPC (inter processor communication)

    • McASP

    • MMCSD with FATFS

    • 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, m2m)

    • DSS FVID2 Writeback M2M Driver with color space conversion support

    • 2x CSI2-RX camera - support for runtime addition/removal of channels

    • CSI2-TX

    • VPAC and DMAC (VHWA), Flexconnect (VISS->MSC for YUV420)

    • PMIC Driver for LP8764x(Hera), TPS6594x(Leo)

    • FreeRTOS Support on R5, DSPs

    • SafeRTOS Support on R5, DSPs

    • KeyWriter - example application

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

  • 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

  • Model Zoo : A large collection of pre-trained models

  • Improved performance for network architecture with grouped convolution (e.g. Regnetx series)

  • 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, refer TIDL user guide (LINK)

  • TIDL network import tool and graph visualizer tool

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

  • Support for auto C7x code generation with TVM

  • Support of batch processing 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 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 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 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)

    • 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

  • VISS node supports heterogeneous camera support 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 including:

    • Stereo vision processing accelerated on LDC and SDE

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

    • Vision CNN object detection with TIDL running on C7x/MMA

    • 3D obstacle detection accelerated on SDE and C7x/MMA

    • Visual localization accelerated on C7x/MMA

  • Documentation: see here.

  • 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

  • Sensor framework supports heterogeneous camera support Ethernet Switch Firmware (ETHFW)

  • Ethernet firmware interface API

  • Ethernet switch firmware running on R5F for CPSW9G

  • Layer 2 switching

  • FreeRTOS for Main R5F Core 0

  • lwIP TCP/IP stack 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

  • MAC-only mode support

  • Shared memory based virtual Ethernet adapter

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

  • Driver support for XAUI mode

  • Checksum offload support for lwIP interface

  • Scatter-gather for packet transmission

  • Errata i2389 software warkaround for the MDIO driver 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)

  • Structure from Motion algorithm FreeRTOS

  • FreeRTOS for R5F, C66, C7x

  • lwIP TCP/IP stack integration for R5F Code Gen Tools (CGT)

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

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

  • 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 FreeRTOS

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. Gateway Demos

Gateway Demos are no longer included in the PSDK package starting in 08.01.00 release. TI Arm Clang C/C++ Compiler

08.01.00 was the first release which includes TI Arm Clang Compiler (tiarmclang) for the R5F cores. Prior releases used the TI Arm Compiler (armcl). There are migration steps that may be necessary for existing code running on the R5F cores. The software delivered on R5F from TI has aleady been migrated accordingly. Please review the PDK release notes (LINK) for additional links and developer pages dedicated Clang migration. Video Codecs

RTOS based video codec support has been REMOVED from the PSDK RTOS starting in 08.00.00 release. Codecs can be accessible via Linux SDK, or by using PSDK RTOS 07.03.00. TI-RTOS vs. FreeRTOS

FreeRTOS is the default OS for R5F libraries and binaries starting in 08.00.00 release. In 08.01.00 release, FreeRTOS is the default build and TI-RTOS (Sysbios) is no longer supported or packaged as part of the SDK. Please review the PDK release notes (LINK) for additional links and developer pages dedicated FreeRTOS migration. 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). NDK vs. lwIP

lwIP is the default network stack starting in 08.00.00 release. In 08.01.00 release, NDK was no longer supported or packaged as part of the SDK. MCU Software (MCUSW) Ethernet

MCAL Ethernet (MCU CPSW_2G) and Virtual MAC (virtual client for CPSW9G) 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 in previous SDKs.

4.6.4. Known Issues

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

4.6.5. Change Requests


Head Line

Original Fix Version

New Fix Version



Gstreamer based Image composition/stitching example





Ethernet: CPSW: Reduce scope of SG to TX for SDK 8.5





Device Manager shall support ACSPCIE mux clocking option





TIDL: Descope of 8.5 Requirements related to improving allowlisting and preprocessing





TIDL: Descope of 8.5 Requirements related to performance optimization





Expose imaging dcc source code in releases





TIOVX safety moved out to 10.1





move Fusion2 board support with FPD Link 4 to 8.6





PDK 8.5 Scope Change





Remove PTK Demos from all SDKs





Boot App Migration to PDK





Ethernet: CPSW: MDIO errata i2329 workaround





Ethernet: CPSW: Scatter-Gather and Large Frame Support CR



ETHFW 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.



DSS: Disabling a layer connected to Overlay may result in synclost during the next frame



[CPTS] GENF (and ESTF) Reconfiguration Issue

GENF reconfiguration can only happen after a SOC hardware reset.



RAT : Error interrupt triggered even when error logging disable set

If the RAT error logging is disabled, then the error interrupt should also be disabled by software.



DDR: Valid VRef range must be defined during LPDDR4 Command Bus Training



R5FSS: The same interrupt cannot be nested back-2-back within another interrupt

This can be achieved by reserving the highest priority level (Priority-0), and using that priority for a dummy interrupt (any one out of 512 interrupts available in R5), and calling this dummy interrupt inside every ISR. Further, the R5 core itself need not enter this dummy ISR (it can be masked), only the handshake with VIM around this dummy ISR needs to happen. This issue is addressed in J721E SR1.1.



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.


4.6.6. Additional Reports

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