AM64x MCU+ SDK  08.06.00
Release Notes 08.06.00

Table of Contents

Attention
Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.
A53 support is applicable for AM64x only. It is NOT applicable for AM243x.
Note
The examples will show usage of SW modules and APIs on a specific CPU instance and OS combination.
Unless noted otherwise, the SW modules would work in both FreeRTOS and NORTOS environment.
Unless noted otherwise, the SW modules would work on any of the R5F's present on the SOC.
Unless noted otherwise, the SW modules would work on all supported EVMs
M4F drivers support only MCU domain peripheral and peripheral instance while R5/A53 supports drivers support MAIN domain peripheral and peripheral instance.
Attention
Klockwork Static Analysis report is not updated for this release

New in this Release

Feature Module
Tamagawa Multi Channel Position Sense Tamagawa
HDSL FREE RUN MODE based on 300 MHz PRU-ICSS Core Clock Frequency Position Sense HDSL
Enable EnDat multi-channel using load share mode in PRU-ICSS Position Sense EnDat
EnDat Safety Readiness: Recovery Time Measurement Position Sense EnDat
Mbed-TLS library support (software cryptography) Networking
SBL PCIe support SBL
PMU driver and example support PMU
ECAP as PWM example ECAP
CPSW_3G: IET support (packet preemption) Networking (CPSW)
Cut-through switching support Networking (CPSW)
3G credit based shaper (802.1qav) support Networking (CPSW)
CPSW-3G DSCP priority mapping feature w/ RTOS Networking (CPSW)
Scatter/Gather support for receive packet buffer memory Networking (CPSW)
Support for ESM, MCRC, RTI, DCC, VTM, STOG, PBIST, MTOG, POK, ECC modules are added as part of SDL SDL

Device and Validation Information

SOC Supported CPUs EVM Host PC
AM64x R5F, M4F, A53 AM64x GP EVM (referred to as am64x-evm in code) Windows 10 64b or Ubuntu 18.04 64b
AM64x SK EVM (Limited examples are added) (referred to as am64x-sk in code)

Tools, Compiler and Other Open Source SW Module Information

Tools / SW module Supported CPUs Version
Code Composer Studio R5F, M4F, A53 12.1.0
SysConfig R5F, M4F, A53 1.14.0, build 2667
TI ARM CLANG R5F, M4F 2.1.2.LTS
GCC AARCH64 A53 9.2-2019.12
GCC ARM R5F 7-2017-q4-major (AM64x only)
FreeRTOS Kernel R5F, M4F, A53 10.4.3
FreeRTOS SMP Kernel A53 202110.00-SMP
Tiny USB R5F 0.10.0
LwIP R5F STABLE-2_1_2_RELEASE
Mbed-TLS R5F mbedtls-2.13.1
Attention
TI ARM CLANG 2.1.2.LTS is not part of CCS by default, Follow steps at TI CLANG Compiler Toolchain to install the compiler

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
A53 NORTOS support and A53 NORTOS examples DPL, NORTOS
A53 FreeRTOS (single core) support and A53 FreeRTOS examples DPL, FreeRTOS
SBL booting A53 NORTOS Bootloader
GCC support for R5F for limited examples R5F
A53 FreeRTOS dual core in SMP mode and A53 SMP FreeRTOS examples DPL, FreeRTOS
GUI for UART Uniflash Tool (No support for EMMC flashing) Bootloader

Features not supported in release

OS Kernel

OS Supported CPUs SysConfig Support Key features tested Key features not tested / NOT supported
FreeRTOS Kernel R5F, M4F, A53 NA Task, Task notification, interrupts, semaphores, mutexes, timers, event groups. ROV views in CCS IDE, Task load measurement using FreeRTOS run time statistics APIs. Only single core A53 FreeRTOS is supported. Second core is NOT used.
FreeRTOS SMP Kernel A53 NA Task, Task notification, interrupts, semaphores, mutexes, timers, event groups. ROV views in CCS IDE, Task load measurement using FreeRTOS run time statistics APIs. -
FreeRTOS POSIX R5F, M4F, A53 NA pthread, mqueue, semaphore, clock -
NO RTOS R5F, M4F, A53 NA See Driver Porting Layer (DPL) below Only single core A53 NORTOS is supported. Second core is NOT used.

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, A53 YES FreeRTOS, NORTOS Cache write back, invalidate, enable/disable -
Clock R5F, M4F, A53 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 running -
CycleCounter R5F, M4F, A53 NA FreeRTOS, NORTOS Measure CPU cycles using CPU specific internal counters -
Debug R5F, M4F, A53 YES FreeRTOS, NORTOS Logging and assert to any combo of: UART, CCS, shared memory -
Heap R5F, M4F, A53 NA FreeRTOS, NORTOS Create arbitrary heaps in user defined memory segments -
Hwi R5F, M4F, A53 YES FreeRTOS, NORTOS Interrupt register, enable/disable/restore -
MPU R5F, M4F YES FreeRTOS, NORTOS Setup MPU and control access to address space -
MMU A53 YES NORTOS Setup MMU and control access to address space -
Semaphore R5F, M4F, A53 NA FreeRTOS, NORTOS Binary, Counting Semaphore, recursive mutexs with timeout -
Task R5F, M4F, A53 NA FreeRTOS Create, delete tasks -
Timer R5F, M4F, A53 YES FreeRTOS, NORTOS Configure arbitrary timers -
Event R5F, M4F YES FreeRTOS Setting, getting, clearing, and waiting of Event bits -

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, OSPI XIP, UART, SD. All R5F's, M4F, A53 NORTOS/FreeRTOS/Linux boot. RPRC, multi-core image format, DDR init SBL OSPI XIP for A53

SOC Device Drivers

Peripheral Supported CPUs SysConfig Support DMA Supported Key features tested Key features not tested / NOT supported
ADC R5F YES Yes Single conversion (one-shot mode), interrupt mode, DMA mode Continuous conversion not tested
CRC R5F YES No CRC in full CPU mode -
DDR R5F YES No Tested LPDDR4 at 400MHz frequency. -
ECAP R5F YES No Frequency, Duty cycle, interrupt mode PWM mode not tested
EPWM R5F YES No Different Frequency, Duty cycle, interrupt mode, Deadband and chopper module Tripzone module not tested
EQEP R5F YES No Signal Frequency and Direction, interrupt mode -
FSI (RX/TX) R5F YES No RX, TX, polling, interrupt mode, single/dual lanes -
GPIO R5F, M4F, A53 YES No Basic input/output, GPIO as interrupt GPIO as interrupt is not tested for A53.
GTC R5F, A53 NA No Enable GTC, setting FID (Frequency indicator) -
I2C R5F, M4F, A53 YES No Controller mode, basic read/write, polling and interrupt mode Target mode not supported. M4F not tested due to EVM limitation
IPC Notify R5F, M4F, A53 YES No Low latency IPC between RTOS/NORTOS CPUs -
IPC Rpmsg R5F, M4F, A53 YES No RPMessage protocol based IPC for all R5F, M4F, A53 running NORTOS/FreeRTOS/Linux -
MCAN R5F YES No RX, TX, interrupt and polling mode -
MCSPI R5F, M4F YES Yes Controller/Peripheral mode, basic read/write, polling, interrupt and DMA mode -
MDIO R5F NA No Register read/write, link status and link interrupt enable API -
MMCSD R5F YES Yes Raw read/write and file I/O on MMCSD0 eMMC, and MMCSD1 SD. eMMC tested till HS SDR mode (8-bit data, 52 MHz), SD tested till SD HS mode (4-bit, 25 MHz) Interrupt mode not tested
OSPI R5F YES Yes Read direct, Write indirect, Read/Write commands, DMA for read, PHY Mode Interrupt mode not supported
PCIe R5F YES No Buffer Transfer between EP and RC modes. Legacy interrupt MSI and MSIx capability
Pinmux R5F, M4F, A53 YES No Tested with multiple peripheral pinmuxes -
PRUICSS R5F YES No Tested with Ethercat, EtherNet/IP, IO-Link, ICSS-EMAC, HDSL, EnDat -
SOC R5F, M4F, A53 YES No lock/unlock MMRs, get CPU clock, CPU name, clock enable, set frequency, SW Warm/POR Reset, Address Translation -
Sciclient R5F, M4F, A53 YES No Tested with clock setup, module on/off -
SPINLOCK R5F, M4F, A53 NA No Lock, unlock HW spinlocks -
UART R5F, M4F, A53 YES Yes Basic read/write, polling, interrupt mode, HW flow control not tested. DMA mode not supported
UDMA R5F, A53 YES Yes Basic memory copy, SW trigger, Chaining -
WDT R5F, A53 YES No Interrupt after watchdog expiry Reset not supported

Software Diagnostic Library (SDL)

SDL Module Supported CPUs SysConfig Support
ESM M4F, R5F NO
MCRC M4F, R5F NO
RTI M4F, R5F NO
DCC M4F, R5F NO
VTM M4F, R5F NO
STOG M4F, R5F NO
PBIST M4F, R5F NO
MTOG M4F NO
POK M4F, R5F NO
ECC M4F, R5F NO

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 SubDevice example -
Flash R5F YES XSPI, OSPI, QSPI based flash, Octal, Quad mode, DDR mode All vendor flash types not tested
LED R5F, A53 YES GPIO , I2C IO expander based LED control, I2C based industrial LEDs(TPIC2810) -

File System

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
FreeRTOS+FAT R5F YES NORTOS File read, write, create. FAT partition and mounting File I/O with FreeRTOS

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 -

Industrial Communications Toolkit

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
EtherCAT SubDevice FWHAL R5F NO FreeRTOS Tested with ethercat_slave_beckhoff_ssc_demo example Reset isolation
EtherCAT SubDevice Evaluation Stack R5F NO FreeRTOS Tested with ethercat_slave_demo examples -
EtherNet/IP Adapter FWHAL R5F NO FreeRTOS Tested with ethernetip_adapter_demo examples Multicast Filtering
EtherNet/IP Adapter Evaluation Stack R5F NO FreeRTOS Tested with ethernetip_adapter_demo examples -
IO-Link Controller Evaluation Stack R5F NO FreeRTOS Tested with iolink_master_demo example -
Profinet Device FWHAL R5F NO FreeRTOS - RT, IRT, MRP
HSR-PRP FWHAL R5F YES FreeRTOS Tested with hsr_prp_demo examples HSR/PRP RGMII Untested

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(300MHz,225MHz), Sync mode(225MHz), Short Message Read & Write, Long Message Read & Write, Boosterpack with AM243x-LP Long cables
Position Sense EnDat R5F YES FreeRTOS, NORTOS Single channel, Multi channel, Continuous mode for single channel, Load share mode, Recovery Time for 2.2 command set, Boosterpack with AM243x-LP 16 MHz Baud Rate Different cable lengths, Continuous clock mode for multi channel
Position Sense Tamagawa R5F YES FreeRTOS, NORTOS Absolute position, Encoder ID, Reset, EEPROM Read, EEPROM Write, 2.5 Mbps and 5 Mbps Encoder Support, Boosterpack with AM243x-LP -

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 and ICSS, MAC loopback and PHY loopback, Layer 2 MAC, Packet Timestamping, CPSW Switch, ICSSG as two port switch, Policer and Classifier, MDIO Manual Mode, independent ICSSG and CPSW drivers execution on different R5 cores, CBS (IEEE 802.1Qav) on CPSW, IET (IEEE 802.1Qbu) on CPSW, Strapped PHY (Early Ethernet), cut through switch on CPSW, Independent ICSSG and CPSW drivers execution on same R5 cores not supported, RMII mode
ICSS-EMAC R5F YES FreeRTOS Tested switch mode with ethernetip_adapter_demo and hsr_prp_demo examples EMAC mode, VLAN/Multicast Filtering
ICSS TimeSync R5F NO FreeRTOS Tested E2E mode with ethernetip_adapter_demo examples P2P mode, Transparent Clock mode
Mbed-TLS R5F NO FreeRTOS Tested software cryptography after porting, used mbedTLS with LwIP to implement HTTPS server Hardware offloaded cryptography

USB

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
USB SoC Porting Layer R5F YES FreeRTOS, NORTOS USB 2.0 device mode USB 3.0
USB Device Driver R5F NO FreeRTOS, NORTOS USB 2.0 device mode USB Host driver
TinyUSB Core and CDC Driver R5F NO FreeRTOS, NORTOS USB device with CDC class USB Host, other USB device class drivers

SECURITY

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
SA2UL AES R5F YES NORTOS AES CBC-128 encryption and decryption, AES CBC-256 encryption and decryption, AES ECB-128 encryption and decryption, AES ECB-256 encryption and decryption, AES CMAC-128, AES CMAC-256 -
SA2UL SHA R5F YES NORTOS SHA 512 single shot and multi-shot, SHA 256 single shot and multi-shot, HMAC SHA-256, HMAC SHA-512, HMAC SHA-1 -
SA2UL RNG R5F YES NORTOS RNG generate random number with size of 4 words(128 bit) -
SA2UL PKA R5F YES NORTOS RSA Encryption and Decryption support upto 4k bit, RSA Signing and Verification support upto 4k bit, ECDSA Signing and Verification support with P-256 and P-384 curves -

PRU IO

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
ADS85x8 R5F YES FREERTOS Parallel 8 and 16 Bit Interface with ADS8598H IC OSR Modes, Other ICs
ADS127L11 R5F YES FREERTOS Serial Interface with ADS127L11 IC -
Empty PRU NO Bare Metal Empty project to get started with PRU firmware development -
MDIO FW PRU NO Bare Metal MDIO Manual Mode firmware (tested with ethercat_slave_beckhoff_ssc_demo example) -

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

ID Head Line Module Applicable Releases Applicable Devices Resolution/Comments
MCUSDK-4379 Low Tx side throughput seen when tested using iperf application HSR-PRP 8.3.0 AM64x, AM243x

Replace mcu_plus_sdk\source\networking\lwip\lwip-config\am64x\lwipopts.h and mcu_plus_sdk\source\networking\lwip\lwip-config\am64x\lwippools.h from MCU PLUS SDK 8.2.0 release and rebuild lwip_freertos, lwip-contrib and icss_emac_lwip_if libraries.

MCUSDK-4527 USB recognition error occurs when USB conncect/disconnect executed repeatedly SBL Linux 8.2.0 AM64x, AM243x -
MCUSDK-4575 ENET LWIP ICSSG Switch mode External Phy management is not functional when 2 ports are enabled ICSSG, Enet 8.3.0 AM64x, AM243x -
MCUSDK-9458 Errata i2310 causes erroneous set of UART timeout interrut UART 8.0.0 onwards AM64x, AM243x Errata, Implemented the Workaround
MCUSDK-9401 AM243x LP: Bootloader: Uart uniflash setting incorrect QE bit SBL 8.5.0 onwards AM243x Updated the Sysconfig to set correct QE bit value
MCUSDK-9398 Change to GPIO interrupt router output allocation not working in Sysconfig GPIO 8.5.0 onwards AM64x, AM243x None
MCUSDK-9044 Strapping mode in phy is not giving correct link speed Ethernet 8.5.0 onwards AM64x, AM243x Phy configuration for strapped and forced mode was not correctly handled
MCUSDK-9042 Failure in Bootloader_loadSelfCpu for CORE_ID_R5FSS0_1 for AM2432 devices SBL 8.5.0 onwards AM243x Changes to check for dual core mode before doing init for second core
MCUSDK-8985 Potential Infinite loop in OSPI_utilLog2 defined in ospi_v0.c OSPI 8.4.0 onwards AM64x, AM243x Incorrect condition for loop termination
MCUSDK-8383 Load from JSON feature fails in SysConfig in Windows PC Flash 8.4.0 onwards AM64x, AM243x Updated the sysconfig to use OS agnostic copy function
MCUSDK-8106 8MHZ endat encoder showing CRC failure Position Sense EnDat 8.4.0 onwards AM64x Endat Initialization was incorrect
MCUSDK-9304 LWIP CPSW Socket: Putting Udp application buffer in cached region of memory causes stale data to be sent out in Udp packets ENET 8.4.0 onwards AM64x, AM243x Fixed the udp examples and added udp client socket example
MCUSDK-9185 Enet Lwip CPSW example: Correct MAC address not available from EEPROM on custom board and Pg1.0 lp causes example crash ENET 8.4.0 onwards AM64x, AM243x -
MCUSDK-9644 Incorrect List toggle operation in profinet device driver Profinet Device 7.3.0 onwards AM64x, AM243x -
MCUSDK-9578 ICSS-EMAC : IOCTL for statistics always returns errors ICSS-EMAC 7.3.0 onwards AM64x, AM243x -
MCUSDK-9386 Profinet does not respond to ARP frames Profinet Device 8.4.0 onwards AM64x, AM243x -
MCUSDK-9582 Profinet, EtherNet/IP: Enabling MDIO Work-around leads to data memory corruption Profinet Device, EtherNet/IP Adapter 8.4.0 onwards AM64x, AM243x -
MCUSDK-9640 ICSS-EMAC : isNRT flag in ICSS_EMAC_pollPkt is not cleared appropriately ICSS-EMAC 8.2.0 onwards AM64x, AM243x -
MCUSDK-8983 EtherCAT : EDIO pins for AL event is not supported in firmware. EtherCAT 7.3.0 onwards AM64x, AM243x -
MCUSDK-8239 EtherNet/IP : MDIO Manual Mode is not supported Ethernet/IP Adapter 8.4.0 AM64x, AM243x MDIO Manual Mode is the work-around for issue "i2329 - MDIO: MDIO interface corruption (CPSW and PRU-ICSS)" (described in AM64x/AM243x Processor Silicon Revision 1.0, 2.0 (Rev. E))
MCUSDK-8243 EtherNet/IP : Examples do not work on HS-FS devices Ethernet/IP Adapter 8.4.0 AM64x, AM243x -
MCUSDK-8403 1000000(1MHz) baud rate not working on UART UART 8.4.0 AM64x, AM243x -
MCUSDK-8413 ICSSG: Disabling MDIO manual mode with board phy config cause failure ICSSG 8.4.0 AM64x, AM243x -
MCUSDK-8490 HSR/PRP nodeTable semaphore causing a deadlock HSR_PRP 8.4.0 AM64x, AM243x -
MCUSDK-9022 USB: Enumeration Issues while running connect - data transfer - disconnect USB 8.4.0 onwards AM64x, AM243x -
MCUSDK-9023 USB : CPU hangs with running connect/disconnect with power cycled inbetween USB 8.4.0 onwards AM64x, AM243x -
MCUSDK-9312 ospi_flash_diag example not working OSPI 8.5.0 AM64x, AM243x dummyCycles initialized to 0
MCUSDK-9655 ENET PHY state Machine: support to disable timeout for auto-negotiation ENET 8.4.0 onwards AM64x, AM243x -
MCUSDK-9705 DPL: FreeRTOS tick interrupt preemption leading to System crash DPL 8.5.0 AM64x, AM243x FreeRTOS timer tick increment shall be done from the critical section
MCUSDK-9889 Link Status Not getting updated correctly in lwip2emac interface HSR-PRP 8.3.0 onwards AM64x, AM243x Incorrect assignment of link status from emac to lwip interface APIs
MCUSDK-10640 DPL: Timer drift on R5 core DPL 8.4.0 onwards AM64x, AM243x Incorrect calculation for timer count value in timerP module
MCUSDK-2419 MCSPI TX Only mode is not functional in DMA mode MCSPI, UDMA 8.2.0 onwards AM64x, AM243x -
MCUSDK-8414 SBL UART Uniflash: OSPI fails to boot application image with size > 1MB OSPI, Flash 8.4.0 AM64x, AM243x -
MCUSDK-9790 XIP Benchmark Example does not work XIP 8.5.0 AM64x, AM243x -
MCUSDK-10205 GTC Errorneous value returned while using "GTC_getCount64" API Timer 8.5.0 AM64x, AM243x -
MCUSDK-10206 Systick drift on M4 Timer 8.5.0 AM64x, AM243x -
MCUSDK-9596 Enet loopback example version cleanup Networking 8.3.0 onwards AM64x, AM243x Fixed
MCUSDK-9304 LWIP CPSW Socket: Putting Udp application buffer in cached region of memory causes stale data to be sent out in Udp packets Networking 8.4.0 onwards AM64x, AM243x Fixed
MCUSDK-9185 Enet Lwip CPSW example: Correct MAC address not available from EEPROM on custom board and Pg1.0 lp causes example crash Networking 8.4.0 onwards AM64x, AM243x Fixed
MCUSDK-9577 AM2432: Lwip concatenated pbuf isn't trasmitted complete Networking 8.5.0 onwards AM64x, AM243x Fixed
MCUSDK-9655 ENET PHY state Machine: support to disable timeout for auto-negotiation Networking 8.2.0 onwards AM64x, AM243x Fixed
MCUSDK-9532 Not getting PA-STATS for Port1 and Port2 Networking 8.5.0 onwards AM64x, AM243x Fixed
MCUSDK-9598 IOCTL command "ENET_PHY_IOCTL_PRINT_REGS" not working Networking 8.5.0 onwards AM64x, AM243x Fixed
MCUSDK-9656 Documentation Missing: driver marks timeout and move to "STATE_FOUND driver re-starts the process from beginning (PHY reset) Networking 8.4.0 onwards AM64x, AM243x Fixed

Known Issues

ID Head Line Module Applicable Releases Applicable Devices Workaround
MCUSDK-626 DMA not working with ADC FIFO 1 ADC 7.3.0 onwards AM64x, AM243x Use ADC FIFO 0
MCUSDK-1900 UART Hardware Flow Control is not working UART 7.3.0 onwards AM243x -
MCUSDK-2113 [Docs] Sysfw RM/PM documentation doesn't specify AM243x Docs 8.0.0 onwards AM243x -
MCUSDK-2512 [UART]Driver always assumes functional clock as 48 MHz UART 8.3.0 onwards AM64x, AM243x -
MCUSDK-6262 [AM243X] : MMCSD read io example is not functional on eMMC if the APP_MMCSD_START_BLK is changed for MMCSD_write and MMCSD_read MMCSD 8.3.0 owards AM243x, AM64x -
MCUSDK-8842 OSPI Writes fail with multi threaded applications OSPI 8.4.0 AM64x, AM243x -
MCUSDK-8938 Last 512KB of memory is not accessible in dev boot mode flow SBL 8.4.0 AM64x, AM243x Use other boot modes
MCUSDK-8945 Boot Time Degradation is observed for HS-FS device SBL 8.5.0 AM64x, AM243x Skip the authentication of application Image using SysConfig
PROC_SDL-6010 ECC is not supported for 2 instances. These are SDL_ECC_AGGR1 Ram ID 4 fails on interconnect ram ID 4 checker group 4-14 and SDL_PCIE0_PCIE_G2X1_64_CORE_CORE_ECC_AGGR. SDL 8.6.0 AM64X, AM243X
mbedTLS-advisory
MCUSDK-9082 		MbedTLS - RSA exploit by kernel-privileged cache side-channel attackers Mbed-TLS 8.6.0 AM64x, AM243x, AM263X, AM273X -
MCUSDK-10627 Jtag Uniflash erase operation failure Flash 8.6.0 AM64x, AM243x -
MCUSDK-2319 2 PRU(ICSS) driver instances are added while changing Enet ICSSG instance to ICSSG0 in SysConfig SYSCFG 8.1.0 onwards AM64x, AM243x Please remove the extra one manually
MCUSDK-2715 PKA ECDSA sign verify is not working for P-521 and BrainPool P-512R1 curves SECURITY 8.2.0 onwards AM64x, AM243x -
MCUSDK-3626 Enet: Phy tuning is not done correctly on AM64x/AM243x and AM263x platforms Enet 8.1.0 onwards AM64x, AM243x PHY delay is not tuned but set to value based on limited testing on a small set of boards.If packet drops are still seen, we can force the phy to set to 100mbps.Make below change in application code: linkCfg->speed = ENET_SPEED_100MBIT; linkCfg->duplexity = ENET_DUPLEX_FULL;
MCUSDK-6318 Enet icssg - dhcp functionality unstable Enet, ICSS 8.3.0 AM243x -
MCUSDK-7905 EtherNet/IP : MDIO access can have race condition due to two parallel PHY drivers Ethernet/IP Adapter 8.3.0 AM64x -
MCUSDK-8108 EtherNet/IP : PTP Device is unable to keep offset under 1000 ns Ethernet/IP Adapter 8.4.0 AM64x, AM243x Value of OFFSET_THRESHOLD_FOR_RESET is set to 10000 ns by default in SDK.
MCUSDK-8234 HSR/PRP - PTP Device is unable to keep offset under 1000 ns HSR-PRP 8.4.0 AM64x, AM243x -
MCUSDK-8236 HSR/PRP is not functional in rgmii mode HSR-PRP 8.4.0 AM64x, AM243x -
MCUSDK-8242 EtherCAT : MDIO Manual Mode is not supported in ethercat_slave_demo examples EtherCAT SubDevice 8.4.0 AM64x, AM243x MDIO Manual Mode is the work-around for issue "i2329 - MDIO: MDIO interface corruption (CPSW and PRU-ICSS)" (described in AM64x/AM243x Processor Silicon Revision 1.0, 2.0 (Rev. E)). Please note that the work-around is available for ethercat_slave_beckhoff_ssc_demo examples.
MCUSDK-8376 LWIP web server application crashes in server stress test Enet, LWIP 8.3.0 onwards AM64x, AM243x -
MCUSDK-8564 SysConfig Code generation error with basic PRU config on ICSS_G0 and ICSS_G1 ICSSG 8.4.0 AM64x, AM243x -
MCUSDK-8721 Function for setting ICSSG SD/ENDAT alternate pin mux mode not working in all cases ICSSG 8.4.0 AM64x, AM243x -
MCUSDK-8491 Enet_loopback example: Non zero vlan priority Packets not recieved in loopback example Networking 8.4.0 AM64x, AM243x -
MCUSDK-8361 ENET Layer 2 CPSW Switch Port 2 does not link up for AM64x-SK baord Networking 8.4.0 AM64x -
MCUSDK-9739 AM64B SK loss of packet on using CPSW switch Networking 8.5.0 AM64x -
MCUSDK-10679 CPSW UDP Iperf test instability on AM243x Networking 8.6.0 AM64x, AM243x -

Limitations

ID Head Line Module Reported in Release Applicable Devices Workaround
MCUSDK-208 gmake with -j can sometimes lock up Windows command prompt Build 7.3.0 AM64x, AM243x Use bash for windows as part of git for windows or don't use -j option
MCUSDK-10680 ENET: AM243x: ICSSG Switch functionality degrade Networking (ICSSG) 8.6.0 AM64x, AM243x Use 8.5.0 release for ICSSG switch functionality

Upgrade and Compatibility Information

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

This section lists changes which could affect user applications developed using older SDK versions. Read this carefully to see if you need to do any changes in your existing application when migrating to this SDK version relative to previous SDK version. Also refer to older SDK version release notes to see changes in earlier SDKs.

Compiler Options

Module Affected API Change Additional Remarks

Examples

Module Affected API Change Additional Remarks
Position Sense Tamagawa - The entire example and driver is new and changed. The previous example used a UART based implementation. The new example uses 3 channel Peripheral Interface.

OS Kernel

Module Affected API Change Additional Remarks

SOC Device Drivers

Module Affected API Change Additional Remarks
FSI Macro FSI_RX_MASTER_CORE_RESET, FSI_TX_MASTER_CORE_RESET API/MACRO/STRUCTURE name are updated while keeping the case sensitivity from MASTER to MAIN Updated to use the inclusive naming
I2C Structure I2C_Transaction member slaveAddress, masterMode API/MACRO/STRUCTURE name are updated while keeping the case sensitivity from master to controller and slave to target, for example..
slaveAddress->targetAddress 		Updated to use the inclusive naming
McASP MACRO MCASP_OPMODE_MASTER, MCASP_OPMODE_SLAVE API/MACRO/STRUCTURE name are updated while keeping the case sensitivity from master to controller, for example..
MCASP_OPMODE_MASTER->MCASP_OPMODE_CONTROLLER 		Updated to use the inclusive naming
MibSPI MACRO MIBSPI_SLAVEMODE_TRANS_GROUP, MIBSPI_SLAVE_MAX
Enum MIBSPI_Mode members MIBSPI_MASTER, MIBSPI_SLAVE
Structure MIBSPI_SlaveProfile
Structure MIBSPI_SlaveModeParams
Structure MIBSPI_Transaction member slaveIndex
Structure MIBSPI_MasterModeParams 		API/MACRO/STRUCTURE name are updated while keeping the case sensitivity from master to controller and slave to peripheral, for example..
MIBSPI_SlaveProfile->MIBSPI_PeripheralProfile

Updated to use the inclusive naming

Motor Control

Module Affected API Change Additional Remarks
Position Sense EnDat endat_wait_initialization Added one argument mask It is used to pass the value of channel mask
Position Sense EnDat endat_init Added one argument slice It is used to pass the PRU-ICSSG Slice value
Position Sense EnDat endat_config_multi_channel_mask Add one argument loadshare It is used to enable/disable load share mode
Position Sense EnDat endat_pruss_xchg structure Added endat_pruss_config per channel, endat_pruss_cmd per channel, endat_delay_125ns, endat_delay_5us, endat_delay_51us, endat_delay_1ms, endat_delay_380ms, endat_delay_900ms, endat_primary_core_mask, endat_ch0_syn_bit, endat_ch1_syn_bit, endat_ch2_syn_bit These changes are required to support multi-channel using load share mode
Position Sense EnDat endat_priv structure Added pruicss_slicex, load_share, pos_rx_bits_21_RTUPRU, pos_rx_bits_21_PRU, pos_rx_bits_21_TXPRU, pos_rx_bits_22_RTUPRU, pos_rx_bits_22_PRU, pos_rx_bits_22_TXPRU These changes are required to support multi-channel using load share mode
Position Sense EnDat endat_pruss_xchg structure Added endat_ch0_rt, endat_ch1_rt, endat_ch0_rt, icssg_clk These changes are required to store recovery time in DMEM.

Networking

Module Affected API Change Additional Remarks
ICSS-EMAC ICSS_EMAC_txPacket Return value is updated to provide detailed error codes. -
Ethernet CPSW Structure CpswHostPort_Cfg in Cpsw_Cfg
Function Enet_open 		Replaced csumOffloadEn parameter with txCsumOffloadEn. This controls both support to control TXP/DUP checksum offload along both Rx and Tx direction
Ethernet CPSW LwIP Interface Function LwipifEnetApp_netifOpen Function LwipifEnetApp_startSchedule Function LWIPIF_LWIP_start Added enetType and instId as additional arguments. Based upon the association of LwIP NetIF, the above arguments needs to be populated.
Ethernet (CPSW and ICSSG) - Networking LwIP Interface Function LwipifEnetApp_netifOpen Function LwipifEnetApp_startSchedule Function LWIPIF_LWIP_start Added enetType and instId as additional arguments. Based upon the association of LwIP NetIF, the above arguments needs to be populated.
Ethernet (CPSW and ICSSG) - Networking ENET SYSCFG Interface Function EnetApp_getEnetInstInfo Function EnetApp_getEnetInstMacInfo Added ENET INSTANCE NAME as input arguments. Based upon the ENET modules that are instantiated in syscfg, the name of Instance has to be passed to EnetApp_getEnetInstInfo. Instance names can be found in ti_enet_config.h file(generated) as per the syscfg settings.

PRU-IO

Module Affected API Change Additional Remarks