Release Notes 09.01.00

Table of Contents

• Key New features
• Modules Not tested/supported in this release
  • Device and Validation Information
  • Dependent Tools and Compiler Information
  • Key Features
    • Experimental Features
    • OS Kernel
    • Driver Porting Layer (DPL)
    • Secondary Bootloader (SBL)
    • SOC Device Drivers
    • Board Device Drivers
    • Networking
    • Safety Diagnostic Library
  • Fixed Issues
  • Known Issues
  • Errata
  • Limitations
  • Upgrade and Compatibility Information
    • Compiler Options
    • SOC Device Drivers
    • Networking

Attention

Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.

Note

The examples will show usage of SW modules and APIs on a specific CPU instance and OS combination.
Unless explicitly noted otherwise, the SW modules would work in both FreeRTOS and no-RTOS environment.
Unless explicitly noted otherwise, the SW modules would work on any of the R5F's present on the SOC.

Attention

Current PMIC support in SDK is bare minimum meant to power up the modules and should not be used beyond this including safety use-case etc

Note

This SDK release supports AM263Px-LP board (ZCZ_C) package with limited validation. Please refer to test report for details

CSP 1.2.6 or beyond needs to be used for XIP load/run from CCS. Refer Update CSP for installation steps.

Key New features

• Hardware resolver support (RESOLVER)
• Smart placement (Smart Placement)
• OptiFlash Support (OptiFlash Memory Technology)
• Memory Configurator (Memory Configurator)
• Uniflash tool support (TI Uniflash Tool)
• OSPI NAND flash support without DMA (OSPI Nand Flash IO)
• Trigonometric Math Unit (TMU) support (TMU Operations and Benchmarking)

Modules Not tested/supported in this release

• Ethernet phy (ETHPHY) board driver
• ICSS-EMAC

Device and Validation Information

SOC	Supported CPUs	EVM	Host PC
AM263Px	R5F	AM263Px ControlCard E2 Rev (referred to as am263Px-cc in code).	Windows 10 64b or Ubuntu 18.04 64b
AM263Px	R5F	AM263Px LaunchPad (referred to as am263Px-lp in code).	Windows 10 64b or Ubuntu 18.04 64b

Dependent Tools and Compiler Information

Tools	Supported CPUs	Version
Code Composer Studio	R5F	12.5.0
SysConfig	R5F	1.18.0, build 3266
TI ARM CLANG	R5F	3.2.0.LTS
FreeRTOS Kernel	R5F	10.4.3
LwIP	R5F	STABLE-2_2_0_RELEASE
Mbed-TLS	R5F	mbedtls-2.13.1

Key Features

Experimental Features

Attention

Features listed below are early versions and should be considered as "experimental".

Users can evaluate the feature, however the feature is not fully tested at TI side.

TI would not support these feature on public e2e.

Experimental features will be enabled with limited examples and SW modules.

Feature	Module
GUI for UART Uniflash Tool	Bootloader

OS Kernel

OS	Supported CPUs	SysConfig Support	Key features tested	Key features not tested / NOT supported
FreeRTOS Kernel	R5F	NA	Task, Task notification, interrupts, semaphores, mutexs, timers	Task load measurement using FreeRTOS run time statistics APIs. Limited support for ROV features.
FreeRTOS POSIX	R5F	NA	pthread, mqueue, semaphore, clock	-
NO RTOS	R5F	NA	See Driver Porting Layer (DPL) below	-

Driver Porting Layer (DPL)

Module	Supported CPUs	SysConfig Support	OS support	Key features tested	Key features not tested / NOT supported
Cache	R5F	YES	FreeRTOS, NORTOS	Cache write back, invalidate, enable/disable	-
Clock	R5F	YES	FreeRTOS, NORTOS	Tick timer at user specified resolution, timeouts and delays	-
CpuId	R5F	NA	FreeRTOS, NORTOS	Verify Core ID and Cluster ID that application is currently running on	-
CycleCounter	R5F	NA	FreeRTOS, NORTOS	Measure CPU cycles using CPU specific internal counters	-
Debug	R5F	YES	FreeRTOS, NORTOS	Logging and assert to any combo of: UART, CCS, shared memory	-
Heap	R5F	NA	FreeRTOS, NORTOS	Create arbitrary heaps in user defined memory segments	-
Hwi	R5F	YES	FreeRTOS, NORTOS	Interrupt register, enable/disable/restore, Interrupt prioritization	-
MPU	R5F	YES	FreeRTOS, NORTOS	Setup MPU and control access to address space	-
Semaphore	R5F	NA	FreeRTOS, NORTOS	Binary, Counting Semaphore, recursive mutexs with timeout	-
Task	R5F	NA	FreeRTOS	Create, delete tasks	-
Timer	R5F	YES	FreeRTOS, NORTOS	Configure arbitrary timers	-

Secondary Bootloader (SBL)

Module	Supported CPUs	SysConfig Support	OS support	Key features tested	Key features not tested / NOT supported
Bootloader	R5FSS0-0	YES	NORTOS	Boot modes: OSPI, UART. All R5F's. RPRC, multi-core image format	Force Dual Core Mode

SOC Device Drivers

Peripheral	Supported CPUs	SysConfig Support	DMA Supported	Key features tested	Key features not tested / NOT supported
ADC	R5F	YES	Yes. Example: adc_soc_continuous_dma	Single software triggered conversion, Multiple ADC trigger using PWM, Result read using DMA, EPWM trip through PPB limit, PPB limits, PPB offsets, burst mode oversampling, differential mode, Offset, EPWM triggered conversion	PPB Aggregrator features, trigger repeaters, external channel selection
Bootloader	R5F	YES	Yes. DMA enabled for SBL OSPI	Boot modes: OSPI, UART. All R5F's	-
CMPSS	R5F	YES	NA	Asynchronous PWM trip	-
CPSW	R5F	YES	No	MAC loopback, PHY loopback, LWIP: Getting IP, Ping, Iperf, Layer 2 MAC, Layer 2 PTP Timestamping and Ethernet CPSW Switch support	-
DAC	R5F	YES	Yes. Example: dac_sine_dma	Constant voltage, Square wave generation, Sine wave generation with and without DMA, Ramp wave generation, Random Voltage generation	-
ECAP	R5F	YES	No	ECAP APWM mode, PWM capture	-
EDMA	R5F	YES	NA	DMA transfer using interrupt and polling mode, QDMA Transfer, Channel Chaining, PaRAM Linking	-
EPWM	R5F	YES	Yes. Example: epwm_dma	PWM outputs A and B in up-down count mode, Trip zone, Update PWM using EDMA, Valley switching, High resolution time period adjustment, type5 feature	-
EQEP	R5F	YES	NA	Speed and Position measurement. Frequency Measurement	-
FSI	R5F	YES	Yes. Example: fsi_loopback_dma	RX, TX, polling, interrupt mode, Dma, single lane loopback.	- FSI Spi Mode
GPIO	R5F	YES	NA	Output, Input and Interrupt functionality	-
I2C	R5F	YES	No	Controller mode, basic read/write	-
IPC Notify	R5F	YES	NA	Mailbox functionality, IPC between RTOS/NORTOS CPUs	M4F core
IPC Rpmsg	R5F	YES	NA	RPMessage protocol based IPC	M4F core
MCAN	R5F	YES	No	RX, TX, interrupt and polling mode, Corrupt Message Transmission Prevention, Error Passive state, Bus Off State, Bus Monitoring Mode	-
MCSPI	R5F	YES	Yes. Example: mcspi_loopback_dma	Controller/Peripheral mode, basic read/write, polling, interrupt and DMA mode	-
MDIO	R5F	YES	NA	Register read/write, link status and link interrupt enable API	-
MMCSD	R5F	YES	NA	MMCSD 4bit, Raw read/write	file IO, eMMC
PINMUX	R5F	YES	NA	Tested with multiple peripheral pinmuxes	-
PMU	R5F	NO	NA	Tested various PMU events	Counter overflow detection is not enabled
OptiFlash	R5F	Yes	NA	FLC, RL2, RAT functionality, XIP with RL2 enabled	OptiShare
OSPI	R5F	YES	Yes. Example: ospi_flash_dma	Read direct, Write indirect, Read/Write commands, DMA for read	-
RTI	R5F	YES	No	Counter read, timebase selection, comparator setup for Interrupt, DMA requests	Capture feature, fast enabling/disabling of events not tested
RESOLVER	R5F	YES	No	Angle and Speed Calcution. input Band Pass Filter, Manual Phase Gain Correction and Manual Ideal Sample Selection Mode calculation	Tuning
SDFM	R5F	YES	No	Filter data read from CPU, Filter data read with PWM sync	-
SOC	R5F	YES	NA	Lock/unlock MMRs, clock enable, set Hz, Xbar configuration, SW Warm Reset, Address Translation	-
SPINLOCK	R5F	NA	NA	Lock, unlock HW spinlock	-
UART	R5F	YES	Yes. Example: uart_echo_dma	Basic read/write at baud rate 115200, polling, interrupt mode	HW flow control not tested, DMA mode not supported
WATCHDOG	R5F	YES	NA	Reset mode, Interrupt mode	-

Board Device Drivers

Peripheral	Supported CPUs	SysConfig Support	Key features tested	Key features not tested
EEPROM	R5F	YES	Only compiled	-
FLASH	R5F	YES	OSPI Flash	-
LED	R5F	YES	GPIO	-
ETHPHY	R5F	YES	Tested with ethercat_slave_beckhoff_ssc_demo example	-

Networking

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
LwIP	R5F	YES	FreeRTOS	TCP/UDP IP networking stack with and without checksum offload enabled, TCP/UDP IP networking stack with server and client functionality, basic Socket APIs, netconn APIs and raw APIs, DHCP, ping, TCP iperf, scatter-gather, DSCP priority mapping	Other LwIP features
Ethernet driver (ENET)	R5F	YES	FreeRTOS	Ethernet as port using CPSW, MAC loopback and PHY loopback, Layer 2 MAC, Packet Timestamping, interrupt pacing, Policer and Classifier	RMII mode, CPSW EST, MDIO Manual Mode, CBS (IEEE 802.1Qav), Strapped PHY (Early Ethernet)

Safety Diagnostic Library

Module	Supported CPUs	SysConfig Support	OS support	Key features tested	Key features not tested / NOT supported
MCRC	R5F	NA	NORTOS	Full CPU, Auto CPU Mode and Semi CPU Auto Mode	-
DCC	R5F	NA	NORTOS	Single Shot and Continuous modes	-
PBIST	R5F	NA	NORTOS	Memories supported by MSS PBIST controller.	-
ESM	R5F	NA	NORTOS	Tested in combination with RTI, DCC	-
RTI	R5F	NA	NORTOS	WINDOWSIZE_100_PERCENT, WINDOWSIZE_50_PERCENT ,Latency/Propagation timing error(early)(50% window),Latency/Propagation timing error(late)(50% window)	-
ECC	R5F	NA	NORTOS	ECC of MSS_L2, R5F TCM, MCAN, VIM, ICSSM, TPTC	R5F Cache
ECC Bus Safety	R5F	NA	NORTOS	AHB, AXI, TPTC	-
CCM	R5F	NA	NORTOS	CCM Self Test Mode,Error Forcing Mode and Self Test Error Forcing Mode.	-
R5F STC(LBIST), Static Register Read	R5F	NA	NORTOS	STC of R5F, R5F CPU Static Register Read	-

Fixed Issues

ID	Head Line	Module	Applicable Releases	Applicable Devices	Resolution/Comments
-	-	-	-	-

Known Issues

ID	Head Line	Module	Reported in release	Workaround
MCUSDK-11507	ENET: CPSW MAC port is stuck forever and dropping all the Rx/Tx packets with reception of corrupts preamble	CPSW	09.00.01	None
MCUSDK-12312	ROM bootloader fails when booting from Macronix Flash on AM263Px-LP	SBL	09.01.00	Use UART/CCS Boot
MCUSDK-12313	OSPI Phy Tuning not working on Macronix Flash on AM263Px-LP	SBL	09.01.00	Use UART/CCS Boot
MCUSDK-12289	32 KB TCM is used in examples sysconfig MPU module, size should be 64 KB	Common	09.01.00	Use 64KB TCM in user application
MCUSDK-12278	Sysconfig: Missing EPWMxSYNCPER configuration	EPWM	09.01.00	Use HRPWM_setSyncPulseSource API to configure EPWMxSYNCPER
MCUSDK-12265	SDFM example failure on am263px-lp	SDFM	09.01.00	None
MCUSDK-12264	EQEP position speed example failure on am263px-lp	EQEP	09.01.00	None
MCUSDK-12263	ECAP APWM example failure on am263px-lp	ECAP	09.01.00	None
MCUSDK-12262	EPWM deadband example failure	EPWM	09.01.00	None
MCUSDK-12247	Syscfg: ouptutxbar generated code doesnt change the instance	XBAR	09.01.00	Use XBAR driver API to configure the output xbar instance
MCUSDK-11675	INDAC write only works if MPU for flash is only configured as Strongly-ordered	OSPI	09.01.00	None
MCUSDK-12340	RGMII1 clock is getting set in gel/CCS boot flow for am263px-lp	Networking	09.01.00	Use UART boot mode

Errata

ID	Head Line	Module	SDK Status
i2311	USART: Spurious DMA Interrupts	UART	Implemented
i2354	SDFM: Two Back-to-Back Writes to SDCPARMx Register Bit Fields CEVT1SEL, CEVT2SEL, and HZEN Within Three SD-Modulator Clock Cycles can Corrupt SDFM State Machine, Resulting in Spurious Comparator Events	SDFM	Open
i2345	CPSW: Ethernet Packet corruption occurs if CPDMA fetches a packet which spans across memory banks	CPSW	Implemented
i2350	McSPI data transfer using EDMA in 'ABSYNC' mode stops after 32 bits transfer	McSPI	Open
i2356	ADC: Interrupts may Stop if INTxCONT (Continue-to-Interrupt Mode) is not Set	ADC	Implemented
i2324	No synchronizer present between GCM and GCD status signals	Common	Open
i2401	CPSW: Host Timestamps Cause CPSW Port to Lock up	CPSW	Open

Limitations

ID	Head Line	Module	Reported in release	Workaround
-	-	-	-	-

Upgrade and Compatibility Information

Compiler Options

Module	Affected API	Change	Additional Remarks
-	-	-	-

SOC Device Drivers

Module	Affected API	Change	Additional Remarks
Memory configurator	SysConfig	Remove array for memory region names	User needs to delete the memory configurator entry and add the memory configuration again via SysConfig. A button to initialize the memory configuration to default is provided.

Networking

Module	Affected API	Change	Additional Remarks
-	-	-	-