AM64x MCU+ SDK  08.00.00
Release Notes 07.03.00

Table of Contents

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.
All SW modules will not work on M4F. M4F support for a module will be explicitly called out.

Device and Validation Information

SOC Supported CPUs EVM Host PC
AM64x R5F, M4F AM64x GP EVM (referred to as am64x-evm in code) Windows 10 64b or Ubuntu 18.04 64b

Dependent Tools and Compiler Information

Tools Supported CPUs Version
Code Composer Studio R5F, M4F 10.3.1
SysConfig R5F, M4F 1.8.1, build 1900
TI ARM CLANG R5F, M4F 1.3.0.LTS
FreeRTOS Kernel R5F, M4F 10.4.3

Key Features

OS Kernel

OS Supported CPUs SysConfig Support Key features tested Key features not tested / NOT supported
FreeRTOS Kernel R5F, M4F 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, M4F NA pthread, mqueue, semaphore, clock -
NO RTOS R5F, M4F 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
Address Translate M4F YES FreeRTOS, NORTOS Use RAT to allow M4F access to peripheral address space -
Cache R5F YES FreeRTOS, NORTOS Cache write back, invalidate, enable/disable -
Clock R5F, M4F YES FreeRTOS, NORTOS Tick timer at user specified resolution, timeouts and delays -
CycleCounter R5F, M4F NA FreeRTOS, NORTOS Measure CPU cycles using CPU specific internal counters -
Debug R5F, M4F YES FreeRTOS, NORTOS Logging and assert to any combo of: UART, CCS, shared memory -
Heap R5F, M4F NA FreeRTOS, NORTOS Create arbitrary heaps in user defined memory segments -
Hwi R5F, M4F YES FreeRTOS, NORTOS Interrupt register, enable/disable/restore -
MPU R5F, M4F YES FreeRTOS, NORTOS Setup MPU and control access to address space -
Semaphore R5F, M4F NA FreeRTOS, NORTOS Binary, Counting Semaphore, recursive mutexs with timeout -
Task R5F, M4F NA FreeRTOS Create, delete tasks -
Timer R5F, M4F 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, M4F boot. RPRC, multi-core image format DDR init during SBL. OSPI with higher clocks and phy enabled. SBL booting Linux. SBL booting A53.

SOC Device Drivers

Peripheral Supported CPUs SysConfig Support Key features tested Key features not tested / NOT supported
ADC R5F YES Single conversion (one-shot mode), interrupt mode Continuous conversions
CRC R5F NO Only compiled Not tested
ECAP R5F NO Only compiled Not tested
EPWM R5F YES Different Frequency, Duty cycle, interrupt mode, Deadband and chopper module Tripzone module
EQEP R5F NO Only compiled Not tested
FSI (RX/TX) R5F YES RX, TX, polling, interrupt mode, single/dual lanes -
GPIO R5F, M4F YES Basic input/output, GPIO as interrupt -
I2C R5F, M4F YES Master mode, basic read/write, polling and interrupt mode Slave mode. M4F not tested due to EVM limitation
IPC Notify R5F, M4F YES Low latency IPC between RTOS/NORTOS CPUs -
IPC Rpmsg R5F YES RPMessage protocol based IPC, All R5F and Linux A53 cores M4F core
MCAN R5F YES RX, TX, interrupt mode Polling mode not tested
MCSPI R5F, M4F YES Master/Slave mode, basic read/write, polling, interrupt mode DMA mode
MDIO R5F NA Register read/write, link status and link interrupt enable API -
OSPI R5F YES Read direct, Write indirect, Read/Write commands, DMA for read PHY Mode, Interrupt Mode not supported yet
Pinmux R5F, M4F YES Tested with multiple peripheral pinmuxes -
PRUICSS R5F YES Tested with Ethercat FW HAL, HDSL, EnDat More protocols integration tests pending
SOC R5F, M4F YES lock/unlock MMRs, get CPU clock, CPU name, clock enable, set Hz -
Sciclient R5F, M4F YES Tested with clock setup, module on/off -
SPINLOCK R5F, M4F NA Lock, unlock HW spinlocks -
UART R5F, M4F YES Basic read/write, polling, interrupt mode, HW flow control not tested, DMA mode not supported
UDMA R5F YES Basic memory copy, SW trigger, Chaining, ADC -

Board Device Drivers

Peripheral Supported CPUs SysConfig Support Key features tested Key features not tested
EEPROM R5F YES I2C based EEPROM -
ETHPHY R5F YES Ethernet Phy configuration for EtherCAT Slave example -
Flash R5F YES XSPI based flash, Octal mode, No PHY Other flash types
LED R5F YES GPIO and I2C IO expander based LED control -

CMSIS

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
CMSIS DSP R5F NA FreeRTOS, NORTOS Basic math, complex math, controller, fast math, filtering, Matrix, statistics, transform -

Motor Control

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
Position Sense HDSL R5F YES FreeRTOS, NORTOS Freerun mode, Sync mode -
Position Sense EnDAT R5F YES FreeRTOS, NORTOS Single channel, Continuous mode Multi Channel

Networking

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
EtherCAT Slave FW HAL R5F YES FreeRTOS Tested with Beckhoff's EtherCAT stack based example Online firmware update, reset isolation
EtherCAT Slave ETG Stack R5F NO FreeRTOS Standard stack (NOT BUNDLED in SDK) -
EtherNet/IP Adapter FW HAL R5F NO FreeRTOS Only compiled Not tested
Profinet Device FW HAL R5F NO FreeRTOS Only compiled Not tested
ICSS-EMAC R5F YES FreeRTOS Only compiled Not tested
ICSS TimeSync R5F NO FreeRTOS Only compiled Not tested. "Event" construct related code is not compiled.

Demos

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
Benchmark demo 4xR5F's YES NORTOS CFFT, FIR and FOC benchmarks ADC/PWM benchmark

Fixed Issues

NA

Known Issues

ID Head Line Module Reported in release Workaround
MCUSDK-177 DMTimer on M4F results in 2 interrupts instead of 1 for every DM timer expiry in release mode DPL 7.3.0 Use ClockP module which uses SysTick M4 timer and this does not have any issues.
MCUSDK-180 Bootloader: Flash_Open and other APIs in SBL fail when the bootmode is OSPI Bootloader 7.3.0 Use CCS scripting or SD card based SOC init method as mentioned in userguide when running `ospi_flash_io
MCUSDK-316 ROV does not work with DDR being used in application FreeRTOS 7.3.0 ROV cannot be used when operating from DDR
MCUSDK-317 OSPI: DMA reads fails after a flash write which was not block aligned OSPI 7.3.0 Use non-DMA read mode or use DMA mode but always write from start of a erased block
MCUSDK-353 ENDAT: EnDAT diagnostic does not support multi channel. ENDAT 7.3.0 Use single channel at a time.
MCUSDK-354 EtherCAT State Machine from EtherCAT Conformance Test fails intermittently EtherCAT 7.3.0 Use debug mode library for FreeRTOS. The makefile and projectspec for this example use debug mode library by default for all configurations

Limitations

ID Head Line Module Reported in release Workaround
MCUSDK-208 gmake with -j can sometimes lock up Windows command prompt Build 7.3.0 Use bash for windows as part of git for windows or don't use -j option

Upgrade and Compatibility Information

Attention
When migrating from Processor SDK RTOS, see Migration Guides for more details

SOC Device Drivers

Module Affected API Change Additional Remarks
BOOTLOADER Bootloader_loadSelfCpu Takes argument as Bootloader_CpuInfo, instead of Bootloader_BootImageInfo Bootloader_loadSelfCpu should be called each time for each CPU vs calling it once for all "self" CPUs earlier.