Attention

1. Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.

2. There is a known issue of PMIC Watchdog resetting the SOC every 10 mins in CCS Gel flow. This has been fixed in SBL flow by disabling PMIC Watchdog using I2C interface. Use Flash SBL NULL if CCS Debug is needed or Add the same logic for PMIC Watchdog disable in application if CCS debug using Gel flow is mandatory.

3. Networking examples support has been tested only on AM261x-LP board.

4. SDK Datasheet is not generated for AM261x. This will be available in the next SDK release.

5. This is an early access release for AM261x SOM Board with limited testing to enable early development for customers. Basic validation of every IP has been done except Networking components and USB.

6. There is a known issue of OSPI Phy Tuning not working on AM261x LP and SOM Board. So, Phy tuning is disabled by default in Examples and SBL OSPI.

7. DFU Utils tool is not supported on Mac systems due to a build issue.

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.

New in this Release

Feature	Module
SOM Board Basic Support	SDK Infra
Derby PMIC Driver and Example support	SDK Infra
Basic Ethernet MAC and Switch Support	Networking
LwIP TCP/IP stack and gPTP TimeSync stack	Networking
Auto PHY (DP83TG720-EVM-AM2) and Industrial PHY (DP83826-EVM-AM2) Support	Networking

Modules Not tested/supported in this release

• USB and Networking support on AM261x SOM Board.
• OSPI Phy Tuning on AM261x LP and SOM Board.

Device and Validation Information

SOC	Supported CPUs	EVM	Host PC
AM261x	R5F	AM261x Launchpad (referred to as am261x-lp in code).	Windows 10 64b or Ubuntu 18.04 64b or MacOS
AM261x	R5F	AM261x SOM (referred to as am261x-som in code).	Windows 10 64b or Ubuntu 18.04 64b or MacOS

Dependent Tools and Compiler Information

Tools	Supported CPUs	Version
Code Composer Studio	R5F	12.8.1
SysConfig	R5F	1.21.2 build, build 3837
TI ARM CLANG	R5F	4.0.1.LTS
FreeRTOS Kernel	R5F	11.1.0
LwIP	R5F	STABLE-2_2_0_RELEASE
Mbed-TLS	R5F	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
-	-

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. Examples: adc_soc_continuous_dma, adc_alternate_dma_trigger	Single software triggered conversion, Multiple ADC trigger using PWM, Result read using DMA (normal and alternate triggers), EPWM trip through PPB limit, PPB features, Burst mode, Single and Differential mode, Interrupt with Offset from Aquisition Window, EPWM/ECAP/RTI triggered conversions, Trigger Repeater for Undersampling and Oversampling, Global Force on Multiple ADCs, Internal DAC Loopback to Calibration Channels, Safety Checker and Aggregator, Open Short Detection feature	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, digital filter, Calibration	CMPSS Dac LoopBack feature
CPSW	R5F	YES	No	MAC & PHY loopback(DP83826-EVM-AM2) with RMII 100Mbps, MAC & PHY loopback(DP83TG720-EVM-AM2) with RGMII 1Gbps, LWIP (DP83TG720-EVM-AM2, DP83826-EVM-AM2): Getting IP, Ping, Layer 2 MAC, Layer 2 PTP Timestamping and Ethernet CPSW Switch support, TSN stack	MII mode
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	yes. Example : ecap_edma	ECAP APWM mode, PWM capture, DMA trigger in both APWM and Capture Modes, Signal Monitoring features	-
EDMA	R5F	YES	NA	DMA transfer using interrupt and polling mode, QDMA Transfer, Channel Chaining, PaRAM Linking	-
EPWM	R5F	YES	Yes. Example: epwm_dma, epwm_xcmp_dma	Multiple EPWM Sync from Top Module, PWM outputs A and B in up-down count mode, Trip zone, Update PWM using EDMA, Valley switching, High resolution time period adjustment, chopper module features, type5 features, global load and link feature	-
EQEP	R5F	YES	NA	Speed and Position measurement. Frequency Measurement, speed direction, cw-ccw modes	-
FSI	R5F	YES	YES	RX, TX, polling, interrupt, DMA mode, 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
LIN	R5F	YES	YES	RX, TX, polling, interrupt, DMA mode.	-
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	-
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	Phy Support
RTI	R5F	YES	No	Counter read, timebase selection, comparator setup for Interrupt, DMA requests	Capture feature, fast enabling/disabling of events not tested
SDFM	R5F	YES	No	ECAP Clock LoopBack, Filter data read from CPU, Filter data read with PWM sync, triggered DMA read from the Filter FIFO	-
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	-

Trigonometric Operations

Peripheral	Supported CPUs	SysConfig Support	DMA Supported	Key features tested	Key features not tested / NOT supported
TMU	R5F	NO	NA	TMU Operations, Pipelining, Contex Save	Square Root, Division Operations. more than 1 Interrupt Nesting for the contex save is not Supported.

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	-
IOEXPANDER	R5F	YES	IO configurability	-
PMIC	R5F	YES	Watchdog Reset and disable	-

Networking

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
Time-Sensitive Networking(gPTP-IEEE 802.1AS)	R5F	NO	FreeRTOS	gPTP IEEE 802.1 AS-2020 compliant gPTP stack, End Nodes and Bridge mode support, YANG data model configuration	Multi-Clock Domain
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, scatter-gather	Other LwIP features
Ethernet driver (ENET)	R5F	YES	FreeRTOS	Ethernet as port using CPSW, MAC & PHY loopback with RMII 100Mbps(DP83826-EVM-AM2), MAC & PHY loopback with RMII 100Mbps(DP83TG720-EVM-AM2), Layer 2 MAC, Packet Timestamping, CPSW Switch, CPSW EST, interrupt pacing, Policer and Classifier	MII mode
ICSS-EMAC	R5F	YES	FreeRTOS	Switch and MAC features, Storm Prevention (MAC), Host Statistics, Multicast Filtering	Promiscuous Mode

Fixed Issues

ID	Head Line	Module	Applicable Releases	Applicable Devices	Resolution/Comments
MCUSDK-13754	AM261x: Port 1 RX not working with DP83826-EVM-AM2 PHY	Networking	10.00.00 onwards	-
MCUSDK-13748	Am261x adc_soc_software_sync and adc_sw_interleaved_averaging example not working	ADC	10.00.00 onwards	-
MCUSDK-13748	ADC reference monitor instance doesn't match the refernece buffer instance	ADC	10.00.00 onwards	updated the monitor instances.
MCUSDK-13164	AM26x: EPWM DeadBand example failure	EPWM	10.00.00 onwards	phase shift adds a tbclk delay. added another EPWM instance to sync.
MCUSDK-13634	EPWM: Remove eventsUsed from Action Qualifier Syscfg.	EPWM	10.00.00 onwards	removed unused eventUsed element from the examples syscfg
MCUSDK-13747	EPWM DE example is failing due to incorrect pwmsyncoutxbar	EPWM	10.00.00 onwards	updated the pwmxbarsyncout cslr files.
MCUSDK-13670	SDFM ECAP loopback example used explicit HW_REG_RD	SDFM	10.00.00 onwards	updated the register read with corresponding API.
MCUSDK-13851	AM261x does not have support for UART4 and UART5.	UART	10.00.00	AM261x	Added UART4 and UART5 instance support in SysCfg.
MCUSDK-13773	EEPROM Read-Write not working properly.	I2C	10.00.00	AM261x	EEPROM Address was incorrect.

Known Issues

ID	Head Line	Module	Reported in release	Workaround
MCUSDK-13865	HRPWM Deadband sfo example has 1ns jitter	EPWM	10.00.00 onwards	-
MCUSDK-13755	AM261x: 10% RX align code and CRC errors in port 2	Networking	10.00.00 onwards	-
SMCUAPPS-972	AM261x: Gel files upgrade to program the HSDIVIDER clock correctly	MCU Apps	10.00.01 onwards	-
MCUSDK-13828	AM261x: ENET: Iperf TCP failing with 1Gbps	Networking	10.00.01 onwards	-
MCUSDK-13829	AM261x: ENET: EST fails for priority 0 with IND phy	Networking	10.00.01 onwards	-
MCUSDK-13836	Networking examples not working in SBL null and SBL OSPI boot mode	SBL	10.00.01 onwards	Load the image in DEV/CCS boot mode
MCUSDK-13847	AM261x: GPTP lwIP debug example doesnt fit in RAM	Networking	10.00.01 onwards	-
MCUSDK-13513	AM263Px, AM261x: UDP IPERF TX is unstable with 100Mbps link speed	Networking	10.00.01 onwards	-
MCUSDK-14052	AM261x: OSPI Phy tuning fails on am261x LP	OSPI	10.00.00 onwards	-
MCUSDK-14054	MMCSD: SysCfg sanity failure on AM26x devices	MMCSD	10.00.01 onwards	Use default configuration as in SDK examples.
MCUSDK-14055	SBL DFU and SBL DFU Uniflash Example failure	USB	10.00.01 onwards	-
MCUSDK-14056	Klocwork issues on USB Driver	USB	10.00.01 onwards	-
PINDSW-7715	Dual EMAC instance not working with both ports together for icss_emac_lwip example	ICSS-EMAC	10.00.01 onwards	None
PINDSW-7746	Low iperf values in TCP and UDP	ICSS-EMAC	10.00.01 onwards	None
PINDSW-8118	Enabling DHCP mode in icss_emac_lwip example causes assert	ICSS-EMAC	10.00.01 onwards	None
MCUSDK-13201	HRPWM waveform not generating (in updwon count) when prescaler is non-zero and HRPE is enabled	EPWM	10.00.01 onwards	None
MCUSDK-13834	EQEP: EQEP frequency measurement example is not working as expected	EQEP	10.00.01 onwards	None
-	-	-	-	-

Errata

ID	Head Line	Module	SDK Status
-	-	-	-

Limitations

ID	Head Line	Module	Reported in release	Workaround
-	DP83TG720-EVM-AM2 and DP83826-EVM-AM2 dont work simultaneously for switching traffic in AM261-LP boards	Networking	10.00.00 onwards	-
-	-	-	-	-

Upgrade and Compatibility Information

Compiler Options

Module	Affected API	Change	Additional Remarks
-	-	-	-

SOC Device Drivers

Module	Affected API	Change	Additional Remarks
ADC	ADC_setupSOC	updates to enumeration ADC_Channel	The Channel 6 for the AM261x is present at "7" while the Cal Channel is present at "6"
-	-	-	-

Networking

Module	Affected API	Change	Additional Remarks
-	-	-	-