AM263Px INDUSTRIAL COMMUNICATIONS SDK  2026.00.00
Release Notes 2026.00.00

Table of Contents

Attention
Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.
For release notes of MCU+ SDK, please refer to AM263PX MCU+ SDK Release Notes 26.00.00.
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 on all supported EVMs

New in this Release

Feature
PROFIdrive Example (premium only)
PROFINET Example
IO-Link FWHAL

Device and Validation Information

SOC Supported CPUs Boards Host PC
AM263Px R5F AM263Px ControlCard E2 Rev (referred to as am263Px-cc in code).
Windows 11 64b or Ubuntu 22.04 64b or MacOS
AM263Px R5F AM263Px LaunchPad (referred to as am263Px-lp in code).
Windows 11 64b or Ubuntu 22.04 64b or MacOS

Tools, Compiler and Other Open Source SW Module Information

Tools / SW module Supported CPUs Version
Code Composer Studio R5F 20.5.0
SysConfig R5F 1.27.0, build 4565
TI ARM CLANG R5F 4.0.4.LTS
MCU-PLUS-SDK-AM263PX R5F 26.00.00.06
FreeRTOS Kernel R5F 11.1.0
LwIP R5F STABLE-2_2_1_RELEASE
Mbed-TLS R5F mbedtls-2.13.1

Fixed Issues

ID Head Line Module Applicable Releases Resolution/Comments
PINDSW-8517 SYNC1 Generated 1 cycle after first SYNC0 pulse when SYNC1 shift is configured from MainDevice EtherCAT SubDevice 09.02.00 More details in EtherCAT SubDevice Errata
PINDSW-9560 TX_START_DELAY reset to default value when link broken and re-connected to the network during OP EtherCAT SubDevice 2025.00.00 More details in EtherCAT SubDevice Errata
PINDSW-9756 CRC/Alignment Error observed when one SubDevice set to INIT after link re-connection EtherCAT SubDevice 2025.00.00 More details in EtherCAT SubDevice Errata
PINDSW-9787 CRC Error for 8SM application individual SubDevice state transition to INIT EtherCAT SubDevice 2025.00.00 More details in EtherCAT SubDevice Errata
PINDSW-9821 Malformed packet formation for 1 byte mailbox data communication due to cycle budget EtherCAT SubDevice 2025.00.00 More details in EtherCAT SubDevice Errata
PINDSW-9883 PDO misalignment due to start offset in FMMU merge logic for LRD/LWR EtherCAT SubDevice 2025.00.00 More details in EtherCAT SubDevice Errata
PINDSW-9909 Add support for ESI EEPROM over SPI Flash EtherCAT SubDevice 2025.00.00 Refer to ESI EEPROM over SPI Flash
PINDSW-10013 Use bsp_global_mutex_lock_save and bsp_global_mutex_restore in place of HwiP_disable and HwiP_restore EtherCAT SubDevice 2025.00.00
PINDSW-10185 Fix build errors due to Beckhoff stack source patch script error EtherCAT SubDevice 2025.00.00
PINDSW-10390 Add support for configuring TX_CLK_DELAY in the forward path EtherCAT SubDevice 2025.00.00 Refer to TIESC_PROCESS_PATH_TX_CLK_DELAY in tiescbsp.h
MCUSDK-14709 Flash verification error: Read data using Flash_read does not match Flash_write data Flash 10.02.00 fixed in MCU+SDK driver

Known Issues

ID Head Line Module Applicable Releases Workaround
PINDSW-8333 Provide option for setting Sync ISR (FIQ) flag to reduce latency on SYNC0 interrupt EtherCAT SubDevice 10.02.00 Modify PRUICSS_registerIrqHandler in mcu_plus_sdk\source\drivers\pruicss\m_v0\pruicss_m_v0.c with an additional argument for setting/unsetting FIQ:
--- a/source/drivers/pruicss/m_v0/pruicss.h
+++ b/source/drivers/pruicss/m_v0/pruicss.h
@@ -427,6 +427,7 @@ int32_t PRUICSS_registerIrqHandler(PRUICSS_Handle handle,
int32_t intrNum,
int32_t eventNum,
uint8_t waitEnable,
+ uint8_t isFIQFlagSet,
PRUICSS_IrqHandler irqHandler);
/**
diff --git a/source/drivers/pruicss/m_v0/pruicss_m_v0.c b/source/drivers/pruicss/m_v0/pruicss_m_v0.c
index 3a65ff4f..f61ed9c6 100644
--- a/source/drivers/pruicss/m_v0/pruicss_m_v0.c
+++ b/source/drivers/pruicss/m_v0/pruicss_m_v0.c
@@ -249,6 +249,7 @@ int32_t PRUICSS_registerIrqHandler(PRUICSS_Handle handle,
int32_t intrNum,
int32_t eventNum,
uint8_t waitEnable,
+ uint8_t isFIQFlagSet,
PRUICSS_IrqHandler irqHandler)
{
PRUICSS_Object *object;
@@ -281,6 +282,7 @@ int32_t PRUICSS_registerIrqHandler(PRUICSS_Handle handle,
/*TODO: Take priority as an argument to this function*/
hwiParams.priority = 0x1;
hwiParams.intNum = intrNum;
+ hwiParams.isFIQ = isFIQFlagSet;
hwiParams.callback = (HwiP_FxnCallback)PRUICSS_hwiIntHandler;
retVal = HwiP_construct(&(object->pruEvntOutFnMapArray[pruEvtoutNum].hwiObj), &hwiParams);
Recompile the driver from the MCU+ SDK Root folder with the following commands:
gmake -s -f makefile.am263px drivers_r5f.ti-arm-clang.freertos PROFILE=debug
gmake -s -f makefile.am263px drivers_r5f.ti-arm-clang.freertos PROFILE=release
Make sure PRUICSS_registerIrqHandler call within source\industrial_comms\ethercat_subdevice\icss_fwhal\tiescbsp.c takes care for the additional argument and isFIQFlagSet is set to 1 for SYNC0_EVENT.

Upgrade and Compatibility Information

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.

Examples

Module Affected API Change Additional Remarks
EtherNet/IP Adapter Demo N/A Refactor folder structures and naming convention for the Examples. Refer to Overview of EtherNet/IP Adapter Demo

Drivers

Module Affected API Change Additional Remarks