AM263x MCU+ SDK  09.02.00
Release Notes 08.01.00

Attention
Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.
Note
The examples will show usage of SW modules and APIs on a specific CPU instance and OS combination.
Unless explicitly noted otherwise, the SW modules would work in both FreeRTOS and no-RTOS environment.
Unless explicitly noted otherwise, the SW modules would work on any of the R5F's present on the SOC.

Device and Validation Information

SOC Supported CPUs EVM Host PC
AM263x R5F AM263x ControlCard (referred to as am263x-cc in code),
AM263x LAUNCHPAD (referred to as am263x-lp in code)
Windows 10 64b or Ubuntu 18.04 64b

Dependent Tools and Compiler Information

Tools Supported CPUs Version
Code Composer Studio R5F 11.1.0
SysConfig R5F 1.11.0 build, build 2255
TI ARM CLANG R5F 1.3.0.LTS
FreeRTOS Kernel R5F 10.4.3
LwIP R5F 2.12.2

Key Features

AM263X LAUNCHPAD not tested/not supported features

Below features are not support on AM263X LAUNCHPAD due to SOC or board constraints,

  • I2C temperature sensor example not validated, due to board limitation.
  • SDFM filter sync cpuread example not validated, due to board limitation.

OS Kernel

OS Supported CPUs SysConfig Support Key features tested Key features not tested / NOT supported
FreeRTOS Kernel R5F NA Task, Task notification, interrupts, semaphores, mutexs, timers Task load measurement using FreeRTOS run time statistics APIs. Limited support for ROV features.
FreeRTOS POSIX R5F NA pthread, mqueue, semaphore, clock -
NO RTOS R5F NA See Driver Porting Layer (DPL) below -

Driver Porting Layer (DPL)

Module Supported CPUs SysConfig Support OS support Key features tested Key features not tested / NOT supported
Cache R5F YES FreeRTOS, NORTOS Cache write back, invalidate, enable/disable -
Clock R5F YES FreeRTOS, NORTOS Tick timer at user specified resolution, timeouts and delays -
CycleCounter R5F NA FreeRTOS, NORTOS Measure CPU cycles using CPU specific internal counters -
Debug R5F YES FreeRTOS, NORTOS Logging and assert to any combo of: UART, CCS, shared memory -
Heap R5F NA FreeRTOS, NORTOS Create arbitrary heaps in user defined memory segments -
Hwi R5F YES FreeRTOS, NORTOS Interrupt register, enable/disable/restore, Interrupt prioritization -
MPU R5F YES FreeRTOS, NORTOS Setup MPU and control access to address space -
Semaphore R5F NA FreeRTOS, NORTOS Binary, Counting Semaphore, recursive mutexs with timeout -
Task R5F NA FreeRTOS Create, delete tasks -
Timer R5F YES FreeRTOS, NORTOS Configure arbitrary timers -

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: QSPI, UART. All R5F's. RPRC, multi-core image format -

SOC Device Drivers

Peripheral Supported CPUs SysConfig Support Key features tested Key features not tested / NOT supported
ADC R5F YES Single software triggered conversion, Multiple ADC trigger using PWM, Result read using DMA, EPWM trip through PPB limit -
Bootloader R5F YES Boot modes: QSPI, UART. All R5F's -
CMPSS R5F YES Asynchronous PWM trip -
CPSW R5F YES MAC loopback, PHY loopback, LWIP: Getting IP, Ping, Iperf -
DAC R5F YES Constant voltage, Square wave generation, Sine wave generation with and without DMA -
ECAP R5F YES ECAP APWM mode, PWM capture -
EDMA R5F YES DMA transfer using interrupt and polling mode, QDMA Transfer, Channel Chaining, PaRAM Linking -
EPWM R5F YES PWM outputs A and B in up-down count mode, Update PWM using EDMA, Valley switching functionality, High resolution time period adjustment capability -
EQEP R5F YES Frequency Measurement, Speed and Position measurement. -
FSI R5F YES RX, TX, polling, interrupt mode, single lane loopback. -
GPIO R5F YES Output, Input and Interrupt functionality -
I2C R5F YES Controller mode, basic read/write -
IPC Notify R5F YES Mailbox functionality, IPC between RTOS/NORTOS CPUs M4F core
IPC Rpmsg R5F YES RPMessage protocol based IPC M4F core
MCAN R5F YES RX, TX, interrupt and polling mode -
MCSPI R5F YES Controller/Peripheral mode, basic read/write, polling, interrupt mode -
MDIO R5F YES Register read/write, link status and link interrupt enable API -
MPU Firewall R5F YES Only compiled -
PINMUX R5F YES Tested with multiple peripheral pinmuxes -
PRUICSS R5F YES Tested with Ethercat FW HAL -
QSPI R5F YES Read direct, Write indirect, Read/Write commands, DMA for read -
SDFM R5F YES Filter data read from CPU, Filter data read with PWM sync -
SOC R5F YES Lock/unlock MMRs, clock enable, set Hz, Xbar configuration -
SPINLOCK R5F NA Lock, unlock HW spinlocks -
UART R5F YES Basic read/write at baud rate 115200, polling, interrupt mode HW flow control not tested, DMA mode not supported
WATCHDOG R5F YES Reset mode -

Board Device Drivers

Peripheral Supported CPUs SysConfig Support Key features tested Key features not tested
EEPROM R5F YES Only compiled -
ETHPHY R5F YES Tested with ethercat_peripheral_beckhoff_ssc_demo example -
FLASH R5F YES QSPI Flash -
LED R5F YES GPIO -

CMSIS

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
- - - - - -

Industrial Communications Toolkit

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
EtherCAT Peripheral FWHAL R5F NO FreeRTOS Tested with ethercat_peripheral_beckhoff_ssc_demo example Reset isolation

Motor Control

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
- - - - - -

Networking

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
LwIP R5F NO FreeRTOS TCP/UDP IP networking stack, DHCP, ping, TCP iperf, TCP/UDP IP Other LwIP features, performance and memory optimizations pending, more robustness tests pending
Ethernet driver (ENET) R5F YES FreeRTOS Ethernet as port using CPSW and ICSS Ethernet as switch
ICSS-EMAC R5F YES FreeRTOS Only compiled Not tested

Demos

Module Supported CPUs SysConfig Support OS Support Key features tested Key features not tested
- - - - - -

Fixed Issues

ID Head Line Module Applicable Releases Applicable Devices Resolution/Comments
MCUSDK-1979 EPWM autogenerated files results in assert errors and repeated function calls EPWM 08_00_02 AM263x Fixed.
MCUSDK-1980 Change optimization level for ti-arm-clang from O3 to Os Build 08_00_02 AM263x Updated optimization level to Os for ti arm clang.Os is O2 plus additional optimizations that are designed to reduce code size.
MCUSDK-2120 QSPI Read, Write and Erase takes more time than expected. QSPI 08_00_02 AM263x Fixed.
MCUSDK-2122 I2C displays two options for selecting the instance in SYSCFG.It should be one. I2C 08_00_02 AM263x Fixed.
MCUSDK-2129 XBAR Input Configuration incorrect Crossbar 08_00_02 AM263x Fixed.XBAR input selection in syscfg is incorrectly selecting the input value when the input is from a previous XBAR. The generated macros for current XBAR are wrong.
MCUSDK-2144 Time Sync XBAR's are interchanged in CSL and Syscfg. Crossbar 08_00_02 AM263x Fixed.
MCUSDK-2231 QSPI EDMA transfer size limited to 32KB QSPI,EDMA 08_00_02 AM263x Fixed.
MCUSDK-2247 Time Sync XBAR naming mismatch between SDK and TRM. Crossbar 08_00_02 AM263x Fixed. Existing Syscfg applications making use of XBAR's will have to be modified to reflect the change.
MCUSDK-2248 QSPI Timeout issue during Flash Block erase QSPI 08_00_02 AM263x Fixed. The timeout value has been increased.
MCUSDK-2249 QSPI Flash Transfer and QSPI Flash Dma Transfer example were not using Board flash driver QSPI 08_00_02 AM263x Fixed. Flash should be used for all QSPI Flash applications. Refer to the updated examples, QSPI Flash Transfer and QSPI Flash Dma Transfer.
MCUSDK-2251 Prefetch abort with Debug mode .out's. Debug mode .out's which uses multiple interrupts with different priority causes prefetch abort Interrupt 08_00_02 AM263x Issue resolved by increasing SVC Stack size.
MCUSDK-2253 Flash ID read is not supported in Board Flash driver. Flash 08_00_02 AM263x Enabled Flash ID read in Board flash driver.
MCUSDK-2255 EPWM High Resolution APIs EPWM 08_00_02 AM263x Fixed. Added EPWM High Resolution APIs.
MCUSDK-2256 Added API for enabling ADC Reference ADC 08_00_02 AM263x Fixed. Added API to enable ADC Reference and integrated with Sysconfig. ADC Reference will be enabled when ADC is selected from Sysconfig.
MCUSDK-2257 Added macros in EPWM clsr file EPWM 08_00_02 AM263x Fixed. EPWM cslr files contains register macros for XCMP and Diode Emulation macros.
MCUSDK-2258 ADC Channel 6 and 7 ADC 08_00_02 AM263x Fixed. Added ADC channels 6 and 7 in ADC Channel enum. These channels are used for calibration.
MCUSDK-2259 Outputxbar pinmux issue XBAR 08_00_02 AM263x Fixed. This issue earlier prevented outputxbar from functioning. After the fix, the outputxbar works as expected.
MCUSDK-2260 Fixed EPWM driver EPWM 08_00_02 AM263x Fixed. A bug that wrote corrupted values to deadband configuration registers.
MCUSDK-2296 EPWM trip zone adv action getting enabled by default EPWM sysconfig 08_00_03 AM263x API call sequence updated in autogenerated code
MCUSDK-2418 Interrupt Nesting Disabled in Free RTOS DPL, FreeRTOS 08_00_02 AM263x Enabled interrupt nesting in Free RTOS
MCUSDK-2465 Remove CMPSS setHysteresis API. Not supported by HW CMPSS drivers 08_00_03 AM263x New APIs added to set hysteresis for high and low comparators
MCUSDK-2468 EPWM deadband sysconfig issue EPWM 08_01_00 AM263x Fixed incorrect code generation in EPWM sysconfig module
MCUSDK-2508 Unable to select EPWM Group 1,2,3 for EPWM output from Sysconfig EPWM 08_00_02 AM263x Unlocked CONTROLSS_CTRL during SOC_setEpwmGroup() function call.
MCUSDK-2555 EPWM_setFallingEdgeDelayCount() and EPWM_setRisingEdgeDelayCount() API doesn't set the bits properly. EPWM 08_00_03 AM263x Corrected the API Implementation.
MCUSDK-2561 Wait Sequence in TCMB Memory Initialization is incorrect SBL 08_00_02 AM263x Updated wait sequence as expected.
MCUSDK-2692 FSI Interrupt not getting triggered FSI 08_00_02 AM263x Issue resolved by fixing Interrupt Xbar input macros

Known Issues

ID Head Line Module Reported in release Workaround
MCUSDK-1016 Semaphore does not function as expected when "post" call is present in multiple ISRs at different priorities DPL, FreeRTOS 08_00_03 Disable interrupt nesting
MCUSDK-2246 XDS110 JTAG Speed JTAG. ISO7221ADR U53 limits TDI/TDO to 1Mbps operation. Need to replace U53 with faster speed grade component. 08_00_02 Replace U53 with faster ISO72x or ISO6721x components. Keep XDS110 TCLK speed at 1 MHz or below until U53 is replaced.
MCUSDK-2252 GPIO Pin Direction GPIO. GPIO Pin Direction not getting automatically configured. 08_00_02 Use GPIO_setDirMode to set pin direction for GPIO pin.
MCUSDK-2254 SBL QSPI bootmode is not working with DMA enabled SBL 08_00_03 -
MCUSDK-2285 Enet lld - Debug gels scripts are not updated for AM263x Enet 08_00_03 -
MCUSDK-2464 ADC sysconfig code generation issue ADC 08_00_03 -
MCUSDK-2703 Interrupt XBAR instance for FSI is static FSI 08_00_03 -
MCUSDK-2704 Enet examples are not working with SBL CPSW, SBL 08_00_03 -

Limitations

ID Head Line Module Reported in release Workaround
- - - - -

Upgrade and Compatibility Information

Not Applicable

SOC Device Drivers

Module Affected API Change Additional Remarks