4.14. Release notes - 07_01_00¶
4.14.1. Features¶
Note
New features vs previous release are marked in bold
4.14.1.1. Hardware support¶
J721E Alpha and Beta EVM support with Leo and Hera 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)
4.14.1.2. Software features¶
Important
Below is a summary of key features. Refer individual SDK Components release notes for more details
4.14.1.2.1. 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 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
Standalone Object Detection application
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
4.14.1.2.2. 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
4.14.1.2.3. Platform Development Kit (PDK)¶
RTOS device drivers running on R5F, C6x, C7x, A72
Supported drivers and modules
Board diagnostic library
ENET CPSW (2G and 9G), CPTS, SGMII/QSGMII
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)
4.14.1.2.4. 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
4.14.1.2.5. 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
4.14.1.2.6. 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
4.14.1.2.7. 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.
4.14.1.2.8. 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
AEWB framework improvements to image quality and performance
Support for UB960 broadcast mode
Live Tuning Runtime interaction with PC tuning tool over Ethernet
4.14.1.2.9. 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
4.14.1.2.10. 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)
4.14.1.2.11. 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
4.14.1.2.12. TI-RTOS¶
SysBIOS for R5F, C6x, C7x
Network developer kit (NDK) on R5F
4.14.1.2.13. Code Gen Tools (CGT)¶
TI Compiler, assembler, linker for R5F, C6x, C7x
GCC compiler for A72 (needs to be downloaded separately)
4.14.2. 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 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
4.14.3. 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.
4.14.3.1. System Firmware Architecture Upgrade (PDK)¶
This release introduces 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:
MCU1_0 Application Development with SYSFW : Top-level SDK developer note
Architecture Change between SDK 7.0 and SDK 7.1 : Specific details on SYSFW achitecture change in the PDK user guide
4.14.3.2. ENET LLD (PDK)¶
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
4.14.3.3. SDK Name and packaging (SDK)¶
Even though much of the source code of components within the SDK can apply to several devices, several components in this SDK come prebuilt only with binaries for this specific device, to better optimize the growing SDK memory size.
The SDK is now delivered as a package installer instead of a tar ball.
The name and several references in the SDK to “auto” or “automotive” have been removed since the applications that the SDK supports are broader than just the automotive market (such as robotics, and industrial automation).
4.14.4. Known Issues¶
Refer to individual SDK Components release notes for known issues in each component