AM263x MCU+ SDK  09.02.00
Release Notes 08.00.03

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) 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

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 -
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 -
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 and square wave generation -
ECAP R5F YES ECAP APWM mode -
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 -
EQEP R5F YES Only compiled -
FSI R5F YES Only compiled -
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 -
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 Only compiled -

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-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-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.

Known Issues

ID Head Line Module Reported in release Workaround
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-2253 Flash ID read Flash. Flash ID read is not supported in Board Flash driver. 08_00_02 Edit Flash driver to send command and read ID in Flash_open.
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-2251 Prefetch abort with Debug mode .out's Interrupt. Debug mode .out's which uses multiple interrupts with different priority causes prefetch abort 08_00_02 -

Limitations

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

Upgrade and Compatibility Information

Not Applicable

SOC Device Drivers

Module Affected API Change Additional Remarks
QSPI

QSPI_norFlashInit

QSPI_norFlashReadId

QSPI_norFlashWrite

QSPI_norFlashRead

QSPI_norFlashErase

Board flash driver(Flash) should be used instead of NOR Flash driver(qspi_nor_flash.c) in flash applications. An example QSPI Flash Diag has been added to enable basic bring up of flash in 1s1s1s mode. qspi_nor_flash.c has been removed from driver support and kept as a part of the example. The example doesn't support QUAD mode operation of flash. The API changes required to migrate from NOR Flash driver to Board flash driver are listed below -

QSPI_norFlashInit - Not required, since QSPI initialization will be done already in Flash_open.

QSPI_norFlashReadId - Currently, not a part of the Board flash driver.

QSPI_norFlashWrite - Use Flash_write. No argument change required.

QSPI_norFlashRead - Use Flash_read. No argument change required.

QSPI_norFlashErase - Use Flash_eraseBlk. This API requires Block number as argument instead of address. Address to block number conversion can be done using Flash_offsetToBlkPage.

The qspi_nor_flash_1s driver is a part of the QSPI Flash Diag example and should be used only for basic flash bringup in 1s1s1s mode.
Crossbar SOC_xbarSelectTimesyncXbar0InputSource SOC_xbarSelectTimesyncXbar0InputSource SOC_xbarSelectGpioIntrXbarInputSource SOC_xbarSelectEdmaTrigXbarInputSource SOC_xbarSelectDMAXBarInputSource XBAR Input and Output Macros have been updated. Update the arguments to these API's to reflect the change if XBAR configuration is being done without using Syscfg. -