4.2. Release notes - 09_02_00

4.2.1. Features

Note

New features vs previous release are marked in bold

4.2.1.1. Hardware support

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

  2. J721E HS support

  3. Fusion1 RevC daughter card with UB960 FPDLink deserializer

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

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

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

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

  8. 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

    • FreeRTOS or SafeRTOS 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

    • 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

4.2.1.2.2. Platform Development Kit (PDK)

  • RTOS device drivers running on R5F, C6x, C7x

  • Supported drivers and modules

    • ENET CPSW (2G and 9G), CPTS, RGMII/SGMII/QSGMII, lwIP, FreeRTOS & SafeRTOS

    • 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.

4.2.1.2.3. 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, CDD IPC, Dio, Eth, Gpt, Pwm, Epwm Spi, Icu & Wdg

  • MCUSW ”boot app”

4.2.1.2.4. 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

  • Model Zoo : A large collection of pre-trained 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 auto C7x code generation with TVM

  • Support for batch processing

  • Refer to edgeai-tidl-tools for further details

4.2.1.2.5. 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

4.2.1.2.6. 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

4.2.1.2.7. 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

4.2.1.2.8. 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, 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 cameras

4.2.1.2.9. 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.

4.2.1.2.10. 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 cameras

  • Fusion2 Board support

4.2.1.2.11. 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 demo

  • IP next header filtering demo

  • Rate limiting demo

  • CPSW Proxy/Server layer for remote core integration

  • Integration with AUTOSAR Eth Virtual MAC driver

  • gPTP 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 i2329 software warkaround for the MDIO driver

  • VLAN support

  • CPSW recovery support

4.2.1.2.12. 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

4.2.1.2.13. FreeRTOS

  • FreeRTOS for R5F, C66, C7x

  • lwIP TCP/IP stack integration for R5F

4.2.1.2.14. 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)

4.2.2. Device Support and Validation Information

SoC

Build Host (OS)

Run Target (OS)

Test Plaform

J721E

x86_64 (Linux Ubuntu 22.04)

R5F, C6x, C7x running FreeRTOS

A72 running Linux or QNX

J721E EVM with daughter cards

PC emulation mode (1)

x86_64 (Linux Ubuntu 22.04)

x86_64 (Linux Ubuntu 22.04)

x86_64 (Linux Ubuntu 22.04)

(1) Requires download of addon package from mySecure Software

4.2.3. 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.

4.2.3.1. Gateway Demos

Gateway Demos are no longer included in the PSDK package starting in 08.01.00 release.

4.2.3.2. 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.

4.2.3.3. 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.

4.2.3.4. 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.

4.2.3.5. 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).

4.2.3.6. 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.

4.2.3.7. MCU Software (MCUSW)

4.2.3.7.1. 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 in previous SDKs.

4.2.4. Known Issues

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

4.2.5. Change Requests

ID

Head Line

Original Fix Version

New Fix Version

Components

JACINTOREQ-7594

PDK 9.2 Scope Change for Safety

PSDK_9.2

PSDK_10.0

PDK

JACINTOREQ-7593

Move Imaging Jacinto Requirements/Bugs

PSDK_9.2

PSDK_10.0

IMAGING

JACINTOREQ-7582

Change Requests for Imaging MRs

PSDK_9.2

PSDK_10.0

IMAGING

JACINTOREQ-7570

ETHFW/Enet LLD: SDK 9.2 Scope changes

PSDK_9.2

PSDK_10.x

NETWORKING

JACINTOREQ-7569

Re-Prioritization of TIDL MRs for SDK 9.2

PSDK_9.2

PSDK_10.0

ANALYTICS

JACINTOREQ-7563

Performance number reporting from eMMC/Raw and QSPI/Raw Write

PSDK_9.2

PSDK_10.0

PLATFORM_SW

JACINTOREQ-7556

Defer IPC resorce table changes

PSDK_9.2

PSDK_10.2

QNX

JACINTOREQ-7552

Connectivity MRs which are CRed out

PSDK_9.2

PSDK_10.0

PLATFORM_SW_CONNECTIVITY

JACINTOREQ-7517

Move SDP 8.0 support from QNX SDK 9.1 to 10.0

PSDK_9.2

PSDK_10.0

QNX

JACINTOREQ-7507

Defer benchmark numbers on IPC with OpenVX overhead on J7 platforms to 10.1 release

PSDK_9.2

PSDK_10.1

TIOVX

JACINTOREQ-7501

Linux Video codec shall support 3x1080p30 encode

PSDK_9.2

PSDK_10.0

Multimedia

JACINTOREQ-7459

PSDK QNX Depricate io-pkt based devnp driver

PSDK_9.2

DESCOPE

QNX

JACINTOREQ-7445

PSDK QNX Safety Features

PSDK_9.2

PSDK_10.2

QNX

JACINTOREQ-6598

PDK Module Safety Compliance for J721e and J7200

PSDK_9.2

PSDK_10.0

PDK

4.2.5.1. Errata workarounds

Record ID

Summary

Workaround

ErrataID

ETHFW-795

[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.

i2083

PDK-7569

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

i2097

PDK-6929

[CPTS] GENF (and ESTF) Reconfiguration Issue

GENF reconfiguration can only happen after a SOC hardware reset.

i2083

PDK-4489

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.

i2062

PDK-6894

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

i2160

PDK-8226

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.

i2162

PDK-8375

OSPI Boot Mode Failure with MCU2_1 Core

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

i2121

PRSDK-6362

MMC: MMC1/2 Speed Issue

i2090

PRSDK-8660

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

i2053

TIDL-523

C7x MMA HWA_STATUS reports errors before application starts

i2087

TIDL-533

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.

i2065

4.2.6. Additional Reports

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