Attention: Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.; For release notes of Industrial Communications SDK and MCU+ SDK, please refer to AM263X Industrial Communications SDK Release Notes 09.02.00 and AM263X MCU+ SDK Release Notes 09.02.00 respectively.

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

New in this Release

Feature	Module
TIDM-02018 Universal Motor Control Reference Design	Reference Design
SFRA Library and Example	Real Time Libraries
Datalog Library and Example	Real Time Libraries
Control Library	Real Time Libraries
Observer Library	Real Time Libraries

Device and Validation Information

SOC	Supported CPUs	EVM	Host PC
AM263x	R5F	AM263x ControlCard Revision E1 (referred to as am263x-cc in code).	Windows 10 64b or Ubuntu 18.04 64b
AM263x	R5F	AM263x LaunchPad Revision E2 (referred to as am263x-lp in code)	Windows 10 64b or Ubuntu 18.04 64b

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
Tamagawa	R5F	YES	FreeRTOS	Absolute position, Encoder ID, Reset, EEPROM Read, EEPROM Write, 2.5 Mbps and 5 Mbps Encoder Support	-

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
Control	R5F	YES	FreeRTOS, NORTOS	Field Weakening Control, Maximum Torque Per Ampere, Strator voltage frequency generator support	-
Digital Control Library (DCL)	R5F	YES	FreeRTOS, NORTOS	Linear PI, Linear PID, Linear PI with double integrator (PI2), Direct Form 1 (first order), Direct Form 1 (second order), Direct Form 1 (third order), Direct Form 2 (second order), Direct Form 2 (third order), Non-linear PID controller	-
Observer	R5F	YES	FreeRTOS, NORTOS	Sensored eQEP-based encoder, Hall sensor, Sensorless Enhanced Sliding Mode Observer, both speed measurement for sensored (speedcalc) and sensorless (speedfr)	-
SFRA	R5F	YES	FreeRTOS, NORTOS	Software Frequency Response Analyzer support	-
Transforms	R5F	YES	FreeRTOS, NORTOS	Clarke transformation, Park transformation, Inverse Park transformation, Space Vector Generation (SVGEN), Common-mode subtraction approach, DPWM Generation (Part of SVGEN), Maximum Modulation, Minimum Modulation, SVGEN current reconstruction for single-shunt (SVGENCURRENT), Phase voltage reconstruction in overmodulation (VOLTS_RECON)	-
Utilities	R5F	YES	FreeRTOS, NORTOS	Angle Compensation Generator, Step Response, Datalog, Trapezoid generator	-

ID	Head Line	Module	Applicable Releases	Resolution/Comments
PINDSW-7498	ROV is not working for the Industrial Communication SDK Examples which are part of Motor Control SDK	Examples	9.1 onwards	-
PINDSW-7642	Docs: The tool versions of older releases in Release Notes are not correct	Documentation	9.1 onwards	-
PINDSW-7696	Unable to use SBL OSPI boot mode for all the demo applications of Motor Control SDK	Examples	9.1 onwards	-
PINDSW-7940	Transforms: UART Log does not work in transforms_test example	Real Time Libraries	9.1 onwards	-

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

Attention: When migrating from MCU+ SDK, see Migration Guide for more details.