AM263Px MCU+ SDK: Release Notes 09.01.00

| AM263Px MCU+ SDK 26.00.00 |

Release Notes 09.01.00

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.

Attention
  Current PMIC support in SDK is bare minimum meant to power up the modules and should not be used beyond this including safety use-case etc

Note
  This SDK release supports AM263Px-LP board (ZCZ_C) package with limited validation. Please refer to test report for details

# Key New features

- Hardware resolver support (RESOLVER)
- Smart placement (Smart Placement)
- OptiFlash Support (OptiFlash Memory Technology)
- Memory Configurator (Memory Configurator)
- Uniflash tool support (TI Uniflash Tool)
- OSPI NAND flash support without DMA (OSPI Nand Flash IO)
- Trigonometric Math Unit (TMU) support (TMU Operations and Benchmarking)

# Modules Not tested/supported in this release

- Ethernet phy (ETHPHY) board driver
- ICSS-EMAC

## Device and Validation Information

SOC | Supported CPUs | EVM | Host PC
--- | --- | --- | ---
AM263Px | R5F | AM263Px ControlCard E2 Rev (referred to as am263Px-cc in code). | Windows 10 64b or Ubuntu 18.04 64b
AM263Px | R5F | AM263Px LaunchPad (referred to as am263Px-lp in code). | Windows 10 64b or Ubuntu 18.04 64b

## Dependent Tools and Compiler Information

Tools | Supported CPUs | Version
--- | --- | ---
Code Composer Studio | R5F | 12.5.0
SysConfig | R5F | 1.18.0 build, build 3266
TI ARM CLANG | R5F | 3.2.0.LTS
FreeRTOS Kernel | R5F | 10.4.3
LwIP | R5F | STABLE-2_2_0_RELEASE
Mbed-TLS | R5F | mbedtls-2.13.1

## Key Features

### Experimental Features

Attention
  Features listed below are early versions and should be considered as "experimental".
  Users can evaluate the feature, however the feature is not fully tested at TI side.
  TI would not support these feature on public e2e.
  Experimental features will be enabled with limited examples and SW modules.

Feature | Module
--- | ---
GUI for UART Uniflash Tool | Bootloader

### 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 | -
CpuId | R5F | NA | FreeRTOS, NORTOS | Verify Core ID and Cluster ID that application is currently running on | -
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: OSPI, UART. All R5F's. RPRC, multi-core image format | Force Dual Core Mode

### SOC Device Drivers

Peripheral | Supported CPUs | SysConfig Support | DMA Supported | Key features tested | Key features not tested / NOT supported
--- | --- | --- | --- | --- | ---
ADC | R5F | YES | Yes. Example: adc_soc_continuous_dma | Single software triggered conversion, Multiple ADC trigger using PWM, Result read using DMA, EPWM trip through PPB limit, PPB limits, PPB offsets, burst mode oversampling, differential mode, Offset, EPWM triggered conversion | PPB Aggregrator features, trigger repeaters, external channel selection
Bootloader | R5F | YES | Yes. DMA enabled for SBL OSPI | Boot modes: OSPI, UART. All R5F's | -
CMPSS | R5F | YES | NA | Asynchronous PWM trip | -
CPSW | R5F | YES | No | MAC loopback, PHY loopback, LWIP: Getting IP, Ping, Iperf, Layer 2 MAC, Layer 2 PTP Timestamping and Ethernet CPSW Switch support | -
DAC | R5F | YES | Yes. Example: dac_sine_dma | Constant voltage, Square wave generation, Sine wave generation with and without DMA, Ramp wave generation, Random Voltage generation | -
ECAP | R5F | YES | No | ECAP APWM mode, PWM capture | -
EDMA | R5F | YES | NA | DMA transfer using interrupt and polling mode, QDMA Transfer, Channel Chaining, PaRAM Linking | -
EPWM | R5F | YES | Yes. Example: epwm_dma | PWM outputs A and B in up-down count mode, Trip zone, Update PWM using EDMA, Valley switching, High resolution time period adjustment, type5 feature | -
EQEP | R5F | YES | NA | Speed and Position measurement. Frequency Measurement | -
FSI | R5F | YES | Yes. Example: fsi_loopback_dma | RX, TX, polling, interrupt mode, Dma, single lane loopback. | - FSI Spi Mode
GPIO | R5F | YES | NA | Output, Input and Interrupt functionality | -
I2C | R5F | YES | No | Controller mode, basic read/write | -
IPC Notify | R5F | YES | NA | Mailbox functionality, IPC between RTOS/NORTOS CPUs | M4F core
IPC Rpmsg | R5F | YES | NA | RPMessage protocol based IPC | M4F core
MCAN | R5F | YES | No | RX, TX, interrupt and polling mode, Corrupt Message Transmission Prevention, Error Passive state, Bus Off State, Bus Monitoring Mode | -
MCSPI | R5F | YES | Yes. Example: mcspi_loopback_dma | Controller/Peripheral mode, basic read/write, polling, interrupt and DMA mode | -
MDIO | R5F | YES | NA | Register read/write, link status and link interrupt enable API | -
MMCSD | R5F | YES | NA | MMCSD 4bit, Raw read/write | file IO, eMMC
PINMUX | R5F | YES | NA | Tested with multiple peripheral pinmuxes | -
PMU | R5F | NO | NA | Tested various PMU events | Counter overflow detection is not enabled
OptiFlash | R5F | Yes | NA | FLC, RL2, RAT functionality, XIP with RL2 enabled | OptiShare
OSPI | R5F | YES | Yes. Example: ospi_flash_dma | Read direct, Write indirect, Read/Write commands, DMA for read | -
RTI | R5F | YES | No | Counter read, timebase selection, comparator setup for Interrupt, DMA requests | Capture feature, fast enabling/disabling of events not tested
RESOLVER | R5F | YES | No | Angle and Speed Calcution. input Band Pass Filter, Manual Phase Gain Correction and Manual Ideal Sample Selection Mode calculation | Tuning
SDFM | R5F | YES | No | Filter data read from CPU, Filter data read with PWM sync | -
SOC | R5F | YES | NA | Lock/unlock MMRs, clock enable, set Hz, Xbar configuration, SW Warm Reset, Address Translation | -
SPINLOCK | R5F | NA | NA | Lock, unlock HW spinlock | -
UART | R5F | YES | Yes. Example: uart_echo_dma | Basic read/write at baud rate 115200, polling, interrupt mode | HW flow control not tested, DMA mode not supported
WATCHDOG | R5F | YES | NA | Reset mode, Interrupt mode | -

### Board Device Drivers

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

### Networking

Module | Supported CPUs | SysConfig Support | OS Support | Key features tested | Key features not tested
--- | --- | --- | --- | --- | ---
LwIP | R5F | YES | FreeRTOS | TCP/UDP IP networking stack with and without checksum offload enabled, TCP/UDP IP networking stack with server and client functionality, basic Socket APIs, netconn APIs and raw APIs, DHCP, ping, TCP iperf, scatter-gather, DSCP priority mapping | Other LwIP features
Ethernet driver (ENET) | R5F | YES | FreeRTOS | Ethernet as port using CPSW, MAC loopback and PHY loopback, Layer 2 MAC, Packet Timestamping, interrupt pacing, Policer and Classifier | RMII mode, CPSW EST, MDIO Manual Mode, CBS (IEEE 802.1Qav), Strapped PHY (Early Ethernet)

### Safety Diagnostic Library

Module | Supported CPUs | SysConfig Support | OS support | Key features tested | Key features not tested / NOT supported
--- | --- | --- | --- | --- | ---
MCRC | R5F | NA | NORTOS | Full CPU, Auto CPU Mode and Semi CPU Auto Mode | -
DCC | R5F | NA | NORTOS | Single Shot and Continuous modes | -
PBIST | R5F | NA | NORTOS | Memories supported by MSS PBIST controller. | -
ESM | R5F | NA | NORTOS | Tested in combination with RTI, DCC | -
RTI | R5F | NA | NORTOS | WINDOWSIZE_100_PERCENT, WINDOWSIZE_50_PERCENT ,Latency/Propagation timing error(early)(50% window),Latency/Propagation timing error(late)(50% window) | -
ECC | R5F | NA | NORTOS | ECC of MSS_L2, R5F TCM, MCAN, VIM, ICSSM, TPTC | R5F Cache
ECC Bus Safety | R5F | NA | NORTOS | AHB, AXI, TPTC | -
CCM | R5F | NA | NORTOS | CCM Self Test Mode,Error Forcing Mode and Self Test Error Forcing Mode. | -
R5F STC(LBIST), Static Register Read | R5F | NA | NORTOS | STC of R5F, R5F CPU Static Register Read | -

Note: This is Engineering Release for SDL.
Note: SDL is validate only on ControlCard.

## Fixed Issues

ID | Head Line | Module | Applicable Releases | Applicable Devices | Resolution/Comments
--- | --- | --- | --- | --- | ---
- | - | - | - | -

## Known Issues

ID | Head Line | Module | Reported in release | Workaround
--- | --- | --- | --- | ---
MCUSDK-11507 | ENET: CPSW MAC port is stuck forever and dropping all the Rx/Tx packets with reception of corrupts preamble | CPSW | 09.00.01 | None
MCUSDK-12312 | ROM bootloader fails when booting from Macronix Flash on AM263Px-LP | SBL | 09.01.00 | Use UART/CCS Boot
MCUSDK-12313 | OSPI Phy Tuning not working on Macronix Flash on AM263Px-LP | SBL | 09.01.00 | Use UART/CCS Boot
MCUSDK-12289 | 32 KB TCM is used in examples sysconfig MPU module, size should be 64 KB | Common | 09.01.00 | Use 64KB TCM in user application
MCUSDK-12278 | Sysconfig: Missing EPWMxSYNCPER configuration | EPWM | 09.01.00 | Use HRPWM_setSyncPulseSource API to configure EPWMxSYNCPER
MCUSDK-12265 | SDFM example failure on am263px-lp | SDFM | 09.01.00 | None
MCUSDK-12264 | EQEP position speed example failure on am263px-lp | EQEP | 09.01.00 | None
MCUSDK-12263 | ECAP APWM example failure on am263px-lp | ECAP | 09.01.00 | None
MCUSDK-12262 | EPWM deadband example failure | EPWM | 09.01.00 | None
MCUSDK-12247 | Syscfg: ouptutxbar generated code doesnt change the instance | XBAR | 09.01.00 | Use XBAR driver API to configure the output xbar instance
MCUSDK-11675 | INDAC write only works if MPU for flash is only configured as Strongly-ordered | OSPI | 09.01.00 | None
MCUSDK-12340 | RGMII1 clock is getting set in gel/CCS boot flow for am263px-lp | Networking | 09.01.00 | Use UART boot mode

## Errata

ID | Head Line | Module | SDK Status
--- | --- | --- | ---
i2311 | USART: Spurious DMA Interrupts | UART | Implemented
i2354 | SDFM: Two Back-to-Back Writes to SDCPARMx Register Bit Fields CEVT1SEL, CEVT2SEL, and HZEN Within Three SD-Modulator Clock Cycles can Corrupt SDFM State Machine, Resulting in Spurious Comparator Events | SDFM | Open
i2345 | CPSW: Ethernet Packet corruption occurs if CPDMA fetches a packet which spans across memory banks | CPSW | Implemented
i2350 | McSPI data transfer using EDMA in 'ABSYNC' mode stops after 32 bits transfer | McSPI | Open
i2356 | ADC: Interrupts may Stop if INTxCONT (Continue-to-Interrupt Mode) is not Set | ADC | Implemented
i2324 | No synchronizer present between GCM and GCD status signals | Common | Open
i2401 | CPSW: Host Timestamps Cause CPSW Port to Lock up | CPSW | Open

## Limitations

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

## Upgrade and Compatibility Information

### Compiler Options

Module | Affected API | Change | Additional Remarks
--- | --- | --- | ---
- | - | - | -

### SOC Device Drivers

Module | Affected API | Change | Additional Remarks
--- | --- | --- | ---
Memory configurator | SysConfig | Remove array for memory region names | User needs to delete the memory configurator entry and add the memory configuration again via SysConfig. A button to initialize the memory configuration to default is provided.

### Networking

Module | Affected API | Change | Additional Remarks
--- | --- | --- | ---
- | - | - | -