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	-	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

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
-	-	-	-	-	-

SOC Device Drivers

Peripheral	Supported CPUs	SysConfig Support	Key features tested	Key features not tested / NOT supported
ADC	R5F	YES	Software triggered conversion	-
Bootloader	R5F	YES	Only compiled	-
CMPSS	R5F	YES	Only compiled	-
DAC	R5F	YES	Constant voltage and square wave generation	-
ECAP	R5F	YES	ECAP APWM generation mode	-
EDMA	R5F	YES	DMA transfer using interrupt and polling mode, QDMA Transfer, Channel Chaining, PaRAM Linking	-
EPWM	R5F	YES	Different Frequency, Duty cycle, interrupt mode	-
EQEP	R5F	YES	Frequency measurement	-
FSI	R5F	YES	Only compiled	-
GPIO	R5F	YES	Only compiled	-
I2C	R5F	YES	Controller mode, basic read/write	-
IPC Notify	R5F	YES	Low latency IPC between RTOS/NORTOS CPUs	-
IPC Rpmsg	R5F	YES	RPMessage protocol based IPC, All R5F cores	M4F core
MCAN	R5F	YES	Only compiled	-
MCSPI	R5F	YES	Only compiled	-
MDIO	R5F	YES	Only compiled	-
MPU Firewall	R5F	YES	Only compiled	-
PINMUX	R5F	YES	Only compiled	-
PRUICSS	R5F	YES	Only compiled	-
QSPI	R5F	YES	Read direct, Write indirect, Read/Write commands, DMA for read	-
SDFM	R5F	YES	Only compiled	-
SOC	R5F	YES	lock/unlock MMRs, get CPU name, clock enable, set Hz	-
SPINLOCK	R5F	NA	Lock, unlock HW spinlocks	-
UART	R5F	YES	Basic read/write, 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	Only compiled	-
FLASH	R5F	YES	Only compiled	-
LED	R5F	YES	Only compiled	-

CMSIS

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

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
-	-	-	-	-	-

Demos

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

Fixed Issues

NA

Known Issues

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

Limitations

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

Upgrade and Compatibility Information

Not Applicable

SOC Device Drivers

Module	Affected API	Change	Additional Remarks
-	-	-	-