Color Code	Note
				Yes	Supported in software
				No	Not supported in software
				SDKx.y	Will be supported in SDKx.y
				N/A	Not applicable in hardware
				ANY	New update in this revision
Category	Module	SubModule	Linux on A53	RTOS on R5F	RTOS on M4	RTOS on A53
Memory Map	MAIN Domain Memory Map		Yes	Yes	Yes	No
	MCU Domain Memory Map		Yes	Yes	Yes	No
	Processors View Memory Map		Yes	N/A	N/A	No
	Region-based Address Translation		No	Yes	Yes	No
System Interconnect			Yes	N/A	N/A	No
Initialization	I2C Bootloader Operation		No	N/A	N/A	No
	SPI Bootloader Operation		No	N/A	N/A	No
	QSPI Bootloader Operation		Yes	Yes	N/A	No
	OSPI Bootloader Operation		Yes	Yes	N/A	No
	PCIe Bootloader Operation		No	N/A	N/A	No
	GPMC Bootloader Operation	NOR	No	No	N/A	No
		NAND	Yes	No	N/A	No
	Ethernet Bootloader Operation		Yes	No	N/A	No
	USB Bootloader Operation	Host	Yes	No	N/A	No
		Device	Yes	No	N/A	No
	MMCSD Bootloader Operation	SD Card (4 bit)	Yes	Yes	N/A	No
		SD Card (8 bit)	No	No	N/A	No
		eMMC	Yes	Yes	N/A	No
	UART Bootloader Operation		Yes	Yes	N/A	No
Device Configuration	Power		Yes	Yes	Yes	No
	Reset		Yes	Yes	Yes	No
	Clocking		Yes	Yes	Yes	No
Processors and Accelerators	Dual-R5F MCU Subsystem		Yes	Yes	N/A	No
	Dual-A53 MPU Subsystem		Yes	N/A	N/A	No
	Cortex-M4F Subsystem		No	N/A	Yes	No
	Programmable Real-Time Unit and Industrial Communication Subsystem - Gigabit	General PRU Use	Yes	Yes	No	No
		EtherCAT Device	No	Yes	No	No
		Profinet RT Device	No	Yes	No	No
		Profinet IRT Device	No	Yes	No	No
		EtherNet/IP adapter	No	Yes	No	No
		Ethernet Endpoint (EMAC)	Yes	Yes	No	No
		Ethernet Switch	Yes	No	No	No
		Ethernet HSR	Yes	No	No	No
		IO Link Primary	No	Yes	No	No
		HDSL, EnDat 2.2	No	Yes	No	No
Interprocessor Communication	Mailbox		Yes	Yes	Yes	No
	Spinlock		Yes	Yes	Yes	No
Memory Controllers	DDR Subsystem (DDRSS)	DDR4	Yes	Yes	N/A	No
		LPDDR4	Yes	No	N/A	No
		Inline ECC	Yes	Yes	N/A	No
	Region-based Address Translation (RAT) Module		No	Yes	Yes	No
Interrupts	MCU Domain Interrupt Maps		Yes	Yes	Yes	No
	MAIN Domain Interrupt Maps		Yes	Yes	N/A	No
Time Sync	Time Sync Module (CPTS)		Yes	Yes	No	No
	Timer Manager		No	No	No	No
	Time Sync and Compare Events		Yes	No	No	No
Data Movement Architecture (DMA)	Data Movement Subsystem (DMSS)		Yes	Yes	N/A	Yes
	Peripheral DMA (PDMA)		Yes	Yes	N/A	No
	RingAcc		Yes	Yes	N/A	No
	Secure Proxy		Yes	Yes	N/A	No
	Interrup Aggregator		Yes	Yes	N/A	No
	Packet Streaming Interface Link		Yes	Yes	N/A	No
General Connectivity Peripherals	Analog-to-Digital Converter (ADC)		Yes	Yes	No	No
	General-Purpose Interface (GPIO)		Yes	Yes	Yes	No
	Inter-Integrated Circuit (I2C) Interface	Controller	Yes	Yes	Yes	No
		Target	No	Yes	No	No
	Multichannel Serial Peripheral Interface (MCSPI)	Controller	Yes	Yes	No	No
		Peripheral	No	Yes	No	No
	Universal Asynchronous Receiver/Transmitter (UART)	UART	Yes	Yes	Yes	No
		RS-485	Yes	No	No	No
		IrDA	No	No	No	No
High-speed Serial Interfaces	Gigabit Ethernet Switch (CPSW0)	Switch	Yes	Yes	N/A	No
		EndPoint	Yes	Yes	N/A	No
	Peripheral Component Interconnect Express (PCIe) Subsystem	Root Complex	Yes	Yes	N/A	No
		EndPoint	Yes	Yes	N/A	No
	Universal Serial Bus Subsystem (USBSS)	Host 3.0	Yes	No	N/A	No
		Device 3.0	Yes	No	N/A	No
		Host 2.0	Yes	No	N/A	No
		Device 2.0	Yes	Yes	N/A	No
	Serializer/Deserializer (SerDes)		Yes	Yes	N/A	No
Memory Interfaces	Flash Subsystem (FSS)		No	No	N/A	No
	Octal Serial Peripheral Interface (OSPI)		Yes	Yes	N/A	No
	General-Purpose Memory Controller (GPMC)	FPGA	No	No	N/A	No
		NAND	Yes	No	N/A	No
		NOR	No	No	N/A	No
		etc.	No	No	N/A	No
	Error Location Module (ELM)		Yes	No	N/A	No
	Multimedia Card Secure Digital (MMCSD) Interface	4-bit	Yes	Yes	N/A	No
		8-bit	Yes	Yes	N/A	No
Industrial and Control Interfaces	Enhanced Capture (ECAP) Module	Capture	No	Yes	N/A	No
		PWM	Yes	No	N/A	No
	Enhanced Pulse Width Modulation (EPWM) Module		Yes	Yes	N/A	No
	Enhanced Quadrature Encoder Pulse (EQEP) Module		No	Yes	N/A	No
	Controller Area Network (MCAN)	CAN	Yes	Yes	N/A	No
		CAN FD	Yes	Yes	N/A	No
	FSI	Receiver	No	Yes	N/A	No
		Transmitter	No	Yes	N/A	No
Timer Modules	Global Timebase Counter (GTC)		Yes	Yes	Yes	Yes
	Windowed Watchdog Timer (WWDT)		Yes	Yes	No	Yes
	Timers	Timer	Yes	Yes	Yes	Yes
		Capture	No	No	No	No
		Compare	No	No	No	No
		PWM	No	No	No	No
Internal Diagnostics Modules	Dual Clock Comparator (DCC)		No	Yes	Yes	No
	Error Signaling Module (ESM)		No	Yes	Yes	No
	RTI(WWDG)		No	Yes	Yes	No
	Voltage and Thermal Management(VTM)		No	Yes	Yes	No
	Interconnect Isolation Gasket(STOG)		No	Yes	Yes	No
	Interconnect Isolation Gasket(MTOG)		No	No	Yes	No
	Power OK(POK)		No	Yes	Yes	No
	PBIST(Built In Self Test)		No	Yes	Yes	No
	LBIST(Built In Self Test)		No	No	Yes	No
	Memory Cyclic Redundancy Check (MCRC) Controller		No	Yes	Yes	No
	ECC Aggregator		No	Yes	Yes	No
On-Chip Debug			Yes	Yes	Yes	No