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 10.00.00 and AM263X MCU+ SDK Release Notes 10.00.00 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
Tamagawa over PRU 3-channel interface	Position Sense Tamagawa
Multiple baud rate support : 2.5 Mbps, and 5 Mbps	Position Sense Tamagawa
EnDat 2.2	Position Sense EnDat
Nikon A-Format Single Channel	Position Sense Nikon A-Format
Multiple baud rate support : 2.5 MHz, 4 MHz, 6.67 MHz, 8 MHz, and 16 MHz	Position Sense Nikon A-Format
BiSS-C Single Channel	Position Sense BiSS-C
Multiple baud rate support : 1 MHz, 2 MHz, 5 MHz, 8 MHz, and 10 MHz	Position Sense BiSS-C

Device and Validation Information

SOC	Supported CPUs	EVM	Host PC
AM263x	R5F	AM263x ControlCard Revision E2 (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
BiSS-C	R5F	YES	FreeRTOS, NORTOS	Single channel, point-to-point connection, control communication, automatic processing delay detection and compensation, Interface speed of 1, 2, 5, 8, and 10 MHz, Boosterpack with LP-AM261	Multi Transmission Mode, Long cable (upto 100 meters)
EnDat	R5F	YES	FreeRTOS, NORTOS	Single channel, Continuous mode, Recovery Time for 2.2 command set, Long cable (upto 100 meters), Boosterpack with LP-AM263	Encoder receive communication command
Nikon A-Format	R5F	YES	FreeRTOS, NORTOS	Single channel, point-to-point connection, baud rates from 2.5 MHz, 4 MHz, 6.67 MHz, 8 MHz, and 16 MHz, up to 40-bit absolute position (single turn + multi turn) data with additional information, Boosterpack with LP-AM261	Daisy Chain Testing, Long cable (upto 100 meters)
Tamagawa over PRU 3-channel interface	R5F	YES	FreeRTOS, NORTOS	Absolute position, Encoder ID, Reset, EEPROM Read, EEPROM Write, 2.5 Mbps Encoder, Boosterpack with LP-AM263	5 Mbps Encoder
Tamagawa over SOC UART	R5F	YES	FreeRTOS, NORTOS	Absolute position, Encoder ID, Reset, EEPROM Read, EEPROM Write, 2.5 Mbps Encoder	5 Mbps Encoder

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	Workaround
PINDSW-8358	BiSS-C/Nikon/EnDat/Tamagawa: Exiting Periodic Trigger mode UART option does not work	Position Sense BiSS-C, Position Sense EnDat, Position Sense Nikon A-Format, Position Sense Tamagawa	10.00.00 onwards	-

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

Module	Affected API	Change	Additional Remarks
Real Time Libraries	-	Moved examples/dcl, examples/sfra, examples/transforms, examples/utilities to examples/rtlibs folder	All exammples using Real Time Libraries are updated to use new path

Module	Affected API	Change	Additional Remarks
Real Time Libraries	-	Moved source/control, source/dcl, source/observers, source/sfra, source/transforms, source/utilities to source/rtlibs folder	All exammples using Real Time Libraries are updated to use new path