Release Notes 11.02.00

Table of Contents

• New in this Release
• Device and Validation Information
• Tools, Compiler and Other Open Source SW Module Information
• SDK Components
  • SYSFW / DMSC
• Key Features
  • Experimental Features
  • Features not supported in release
  • OS Kernel
  • Driver Porting Layer (DPL)
  • Secondary Bootloader (SBL)
  • SOC Device Drivers
  • Software Diagnostic Library (SDL)
  • Board Device Drivers
  • File System
  • CMSIS
  • Networking
  • USB
  • SECURITY
  • Demos
• Fixed Issues
• Known Issues
• Errata
• Limitations
• Upgrade and Compatibility Information

Attention

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

2. 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 MAIN domain peripheral and peripheral instance.

Attention

Klockwork Static Analysis report is not updated for this release

New in this Release

Feature	Module
Example to demonstrate VTM triggered SoC reset is added	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	20.2.0
SysConfig	R5F, M4F, A53	1.23.0, build 4000
TI ARM CLANG	R5F, M4F	4.0.1.LTS
GCC AARCH64	A53	9.2-2019.12
FreeRTOS Kernel	R5F, M4F, A53	11.1.0
FreeRTOS SMP Kernel	A53	202110.00-SMP
Tiny USB	R5F	0.14.0
LwIP	R5F	STABLE-2_2_0_RELEASE
Mbed-TLS	R5F	mbedtls-2.13.1

SDK Components

SYSFW / DMSC

Version	11.02.05
Release Notes	LINK
User Guide	LINK

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 support and A53 FreeRTOS examples	DPL, FreeRTOS
SBL booting A53 NORTOS	Bootloader
A53 FreeRTOS AMP mode and A53 AMP FreeRTOS examples	DPL, FreeRTOS
GUI for UART Uniflash Tool (No support for EMMC flashing)	Bootloader

Features not supported in release

Feature	Module
NORTOS based Ethernet MAC and switch driver support for A53 core	Ethernet

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, A53	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, A53	YES	No	Frequency, Duty cycle, interrupt mode	-
EPWM	R5F, A53	YES	No	Different Frequency, Duty cycle, interrupt mode, Deadband and chopper module	Tripzone module not tested
EQEP	R5F, A53	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	-
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, A53	YES	No	RX, TX, interrupt and polling mode	-
MCSPI	R5F, M4F, A53	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, A53	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, A53	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
LBIST	M4F	NO
ROM Checksum	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	FreeRTOS, 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	-

Networking

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
TSN	R5F	NO	FreeRTOS	gPTP IEEE 802.1 AS-2020 compliant gPTP stack, End Nodes and Bridge mode support, YANG data model configuration	Multi-Clock Domain
	A53	NO	FreeRTOS
LwIP	R5F	YES	FreeRTOS, NORTOS	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, LwIP bridge, shared memory driver	Other LwIP features
	A53	YES	FreeRTOS
Ethernet driver (ENET)	R5F	YES	FreeRTOS, NORTOS	Ethernet as port using CPSW, MAC loopback and PHY loopback, Layer 2 MAC, Packet Timestamping, CPSW Switch, Policer and Classifier, MDIO Manual Mode, CBS (IEEE 802.1Qav) on CPSW, IET (IEEE 802.1Qbu) on CPSW, Strapped PHY (Early Ethernet), cut through switch on CPSW	RMII mode
	A53	YES	FreeRTOS
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
TinyUSB Core and DFU Driver	R5F	NO	FreeRTOS, NORTOS	USB device with DFU 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	-

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 Devices
EXT_SITMPUSW-236	Incorrect calculation of ptrInput and ptrOutput in the SA2UL_contextProcess	Crypto	AM64x, AM243x
EXT_SITMPUSW-244	Incorrect handling of the donedataLen in the SA2UL_contextProcess	Crypto	AM64x, AM243x
EXT_SITMPUSW-109	Wrong comments on HwiP_inISR() API	Documentation	AM64x, AM243x
EXT_SITMPUSW-238	Incorrect address size for I2C EEPROM	EEPROM	AM64x, AM243x
EXT_SITMPUSW-233	AM64X : Critical section implementaion in the A53	FreeRTOS	AM64x
EXT_SITMPUSW-239	I2C gets hanging on communication errors	I2C	AM64x, AM243x
EXT_SITMPUSW-117	Linux Kernel IPC Examples are broken	IPC	AM64x, AM243x
EXT_SITMPUSW-121	FORCE bit not book keeped properly for MCSPI DMA mode of operation	MCSPI	AM64x, AM243x
EXT_SITMPUSW-207	Missing -p flag with strip command to reduce the size of *.out	Makefiles	AM64x, AM243x
EXT_SITMPUSW-118	OSPI tuning algorithm finds points in noisy region on rare scenarios	OSPI	AM64x, AM243x
EXT_SITMPUSW-187	OSPI DAC Mode Configuration hardcoded and not based on flashsize	OSPI	AM64x, AM243x
EXT_SITMPUSW-167	SBL OSPI failing with large sized application	SBL	AM243x
EXT_SITMPUSW-229	AM243x-lp/AM243x-evm: Not able to load image of size 1050KB via UART bootloader	SBL	AM243x
EXT_SITMPUSW-226	Improve Sysconfig tool tips for all drivers	SysConfig	AM64x, AM243x
EXT_SITMPUSW-116	Application gets stuck with Multiple UARTS with DMA enabled	UDMA	AM64x, AM243x
EXT_SITMPUSW-237	Application gets stuck with BCDMA and PKTDMA instants	UDMA	AM64x, AM243x
EXT_EP-13056	VTM module sensor reset sequence modification for reliable functionality	SDL	AM64x, AM243x
EXT_EP-13057	SDL DCC Seed Value Calculation Deviates from TRM Guidelines	SDL	AM64x, AM243x
EXT_EP-12719	Throughput drops to 95.5% with bidirectional mixed traffic	Ethernet (ICSSG)	AM64x, AM243x
EXT_EP-13075	Forwarding stall with random size packets at 100% bi-directional 1Gbps load	Ethernet (ICSSG)	AM64x, AM243x

Known Issues

ID	Head Line	Module	Applicable Devices	Workaround
EXT_SITMPUSW-21	DMA not working with ADC FIFO 1	ADC	7.3.0 onwards	AM64x, AM243x	Use ADC FIFO 0
EXT_SITMPUSW-153	MCU+ SDK CCS Project Build Generates Invalid/Redundant Boot Image Files	Build	10.01.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-83	DPL - configure HwiP_MAX_INTERRUPTS based on SOC supported values	DPL	09.00.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-24	[SA2UL][PKA] ECDSA Sign/verify not working with P-521 and BrainPool P-512R1 Curves	ECDSA	08.03.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-81	MCU+ SDK: EPWM_tbTimebaseClkCfg does not choose the optimal pre-scaler combination	EPWM	10.00.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-251	MCU+ SDK Example Projects using incorrect ARMv7 MPU Attributes for Peripheral Register Region	Examples	11.01.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-86	The configurations of GPIO interrupt routers are based on banks rather than individual pins.	GPIO	09.00.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-82	AM64/AM243: M4F core getting hangs when doing IPC with Linux	IPC	08.06.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-260	MCSPI Performance Numbers under MCU+ SDK documentation are not updated	McSPI	11.01.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-263	Design choice for Security Handover is not documented	MMCSD	11.01.01 Onwards	AM64x AM243x	-
EXT_SITMPUSW-262	mmcsd_raw_io_emmc_lld example is not working	MMCSD	11.01.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-273	AM64x PCIe as End Point throwing error when changing BAR aperture	PCIE	08.06.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-26	AM64X PCIe MSI error when connected to Linux Root Complex	PCIE	08.06.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-22	Pcie_benchmark, Pcie_buf_transfer, Pcie_legacy_irq, Pcie_msi_irq and Pcie_msix_irq are broken on 9.2.1 release"	PCIE	09.02.01 Onwards	AM64x AM243x	-
EXT_SITMPUSW-25	AM243x/AM64x: last 512KB of memory is not accessible in dev boot mode flow	SBL	08.04.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-111	UART DMA LLD Build issue	UART	11.02.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-257	Roadmap for XIP Secure boot support	XIP	11.01.00 Onwards	AM64x AM243x	-
EXT_SITMPUSW-23	[Docs] Sysfw RM/PM documentation doesn't specify AM243x	Docs	8.0.0 onwards	AM243x	-
EXT_SITMPUSW-131	AM64X/AM243X: ENET: TCP/IP bidirectional throughput drops during iperf testing	Ethernet (ICSSG)	11.01.00 onwards	AM64x, AM243x	-
EXT_SITMPUSW-132	AM64X/AM243X: ENET: Enet VLAN ICSSG Example throws assert during channel open	Ethernet (ICSSG)	11.01.00 onwards	AM64x, AM243x	-
EXT_EP-12276	ECC: Firewall related aggregators failures - ECC Aggregators SDL_SMS0_SMS_TIFS_ECC, SDL_SMS0_SMS_HSM_ECC, SDL_SA3_SS0_SA3SS_AM62A_DMSS_ECCAGGR and SDL_SA3_SS0_SA3SS_AM62A_SA_UL_ECC_AGGR fail because of firewall access issues faced by SDL	SDL	10.01.00 onwards	AM64x, AM243x	No known workaround
EXT_EP-13067	AM64x: PBIST: A53 forcebit power off failure in M4F applications	SDL	11.02.00 onwards	AM64x	No known workaround
EXT_EP-13068	AM64x: AM243x: ECC: Aggregator failures in ecc applications.	SDL	11.02.00 onwards	AM64x, AM243x	No known workaround

Errata

ID	Head Line	Module	SDK Status
i2278	MCAN: Message Transmit order not guaranteed from dedicated Tx Buffers configured with same Message ID	MCAN	Open
i2279	MCAN: Specification Update for dedicated Tx Buffers and Tx Queues configured with same Message ID	MCAN	Open
i2310	USART: Erroneous clear/trigger of timeout interrupt	UART	Implemented
i2311	USART: Spurious DMA Interrupts	UART	Implemented
i2312	MMCSD: HS200 and SDR104 Command Timeout Window Too Small	MMCSD	Open
i2313	GPMC: Sub-32-bit read issue with NAND and FPGA/FIFO	GPMC	Implemented
i2326	PCIe: MAIN_PLLx operating in fractional mode, which is required for enabling SSC, is not compliant with PCIe Refclk jitter limits	PCIe	Open
i2329	MDIO interface corruption,	CPSW, ICSSG	Open
i2331	CPSW: Device lockup when reading CPSW registers	CPSW, SBL	Implemented
i2345	CPSW: Ethernet Packet corruption occurs if CPDMA fetches a packet which spans across memory banks	CPSW	Implemented
i2401	CPSW: Host Timestamps Cause CPSW Port to Lock up	CPSW	Open
i2402	CPSW: Ethernet to Host Checksum Offload does not work	CPSW	Open

Limitations

ID	Head Line	Module	Reported in Release	Applicable Devices	Workaround
EXT_SITMPUSW-27	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

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.

The below table captures the list of migration document sections when migrating from one version to another. The migration for a particular module will be applicable, if you are migrating from older version listed to newer version listed on the table below.

Module	Migration guide	Older version	Newer version
Examples	Migrating examples to 11.01.00 from older versions ‍	<= 11.00.00	>= 11.01.00
Networking	Version Updates from earlier SDKs to Latest ‍	<= 11.01.00	>= 11.02.00
OSPI_HLD	OSPI HLD Migration Guide ‍	<= 11.01.00	>= 11.02.00
OSPI_LLD	OSPI LLD Migration Guide ‍	<= 11.01.00	>= 11.02.00