1

AM64x introduction and industrial applications

6/15: EP Webinar

Rich Chen

SoCs

Single-core to quad-core Arm Cortex-A53,

A9 and A8Compute

Functional Safety

& Security

Secure-boot, run-time security, tamper

protection and high-security modules

Deep Learning &

Accelerators

Power-optimized neural network

accelerators, audio DSP, and GPU

Analog

Single-core to quad-core Arm Cortex-R5F

with optional Lock-Step support

High-level integration of high-performance

ADC, DAC, comparators and PWM

Control

ConnectUSB, PCIe, Ethernet Switch, Industrial

Protocols, CAN-FD, and more

Sitara overview

Scalable, cost-optimized portfolio with accelerators, analog integration, robust connectivity,

security and functional safety designed for industrial markets

Power-optimized design SIL2 functional safety-40 to 125C

temperature rangeHiRel DSP

Scalable platform with common software dev elopment kit and pin-to-pin compatibility in common packages

Unified Software PlatformSimplified tools (SysConfig) and libraries

(DSPLIB, TIDL, ...) to accelerate development and performance entitlement

Open source device enablement for

Mainline Linux, RTOS and Bare Metal3P software support …

TI Processors | Three Families

JacintoHigh Performance Processors

High performance analytics – concurrent deep learning

and computer vision

• HMI, Video Acceleration

• Automotiv e ADAS

• Robotics

• Machine Vision

Vision Analytics Networking & Compute

Communication – flexible multiprotocol support, PCIe

switch, Ethernet switch

• Edge Compute

• Edge/IoT Gateways

• Industrial Robots

• Automotiv e Gateways

DSPReal-time Signal Processors

High Performance 32bit and 64 bit DSP with

purpose build acceleration

• Automotiv e Radar

• Audio

• Aerospace and Defense

C6x, C7x

SitaraHighly-integrated cost-optimized SoC’s

MCU+

MPU performance with

MCU ease-of-use & system-level integration

•Motor Driv es

•Building Automation

•PLCs & Remote IO modules

•Solar Energy

•EV-HEV Traction Inv erter

•Robotics

•Audio

MPU

Linux/RTOS based processing with multimedia, networking and analytics

•Graphics/display

•Headless Gateways

•Camera/Video

•HMI

•EPOS

•Digital Cluster

•Driv er Monitoring

•Multi-axis Motor Control

Unified Software Platform

AM64x (17mm x 17mm) Cortex®-A53 based processors

• Cores & Memory– Dual Cortex-A53 up to 1GHz

– Dual or Quad Cortex-R5F up to 800MHz

– >2MB on-chip SRAM

– ECC on all critical memories

– 16b LPDDR4/DDR4 controller with inline ECC

• Functional safety features– 400MHz Cortex-M4F subsystem has freedom from interference to

enable usage as a saf ety monitor

• Dedicated Peripherals I2C, SPI, UART & GPIO

• Tightly coupled memory of 256KB

– Diagnostic tool kit for entire SoC voltage, temp, clock, ECC monitors and Error signaling

• 2xPRU-ICSS-Gb– Enables up to 2x Gb industrial Ethernet protocols

– 1x industrial Ethernet protocol + motor control current and position feedback

• Peripheral / IO Highlight– GPMC (32b parallel bus) and FSI (serial connection for use with TI’s C2000

MCUs) of fer low-latency interfaces to motor control front-end

– PCIe Gen2, USB3.0/2.0, and 2-port Gb Ethernet Switch CPSW provide high-speed (Gbps) connectivity options

– RS485 support on UART

– Octal/Quad-SPI with execution-in-place support

• Integrated analog– 8-channel, 12-bit ADC with 4 Msps

– Simplif ied power solution, Integrated Voltage Monitors

• Package– 17.2 x 17.2mm, 0.8mm ball pitch

AM64x 16nmFF

2 MBShared SRAM w/ ECC

High Speed Interfaces

2 port Gb Ethernet w/1588 & TSN

1x1L PCIe Gen2 (1)

1x USB 3.0/2.0 (1)

General Connectivity and IO

ePWMx9

eCAP x3

eQEPx3

SPI x5

I2Cx4

MMC/SDx2

CAN-FD x2

UART x7

GPIO OSPI ADC

Application Cores

Cortex A53

Cortex A53

256KB L2

16b DDR4/LPDDR4w/ ECC

Security AccelerationCrypto: AES, SHA, PKA, RNG

Low-latency interfaces

GPMC

FSI (6RX, 2TX)

PRU-ICSS-Gb

Industrial Ethernet

Supported Protocols:

TSN, EtherCAT, PROFINET, EtherNet/IP, PROFIBUS, SERCOS 3 and more…

PRU-ICSS-GbMotor control (OR) Industrial Ethernet

• 9x SigmaDelta decimation filters• 3x abolute encoder interfaces• Supported encoders: • Hiperface DSL, EnDat 2.2,

Tamagawa, BiSS C etc.

Real-time Cores

Cortex R5F

64KB TCM

Cortex R5F

64KB TCM

Cortex R5F

64KB TCM

Cortex R5F

64KB TCM

CortexM4F

MCU with FFI

GPIO, 2xUART,

2x I2C, 2xSPI

256 KB SRAM

DTKECC, ESM, BIST, DCC

(1) PCIe and USB 3.0 share the

same SERDES

PowerManager Debug Firewall

System MonitorDMA Timers

System ServicesDCC ESM ECCSecure Boot

IPC

0 A53

1 A53

2 A53

4 R5F2 R5F

AM64x Family Overview

5

• Scalable:

– Spans a broad range of performance levels

to enable pin-to-pin scalable platforms

• Industrial:

– All devices are rated for -40 to 105C junction

temperature support

– 100K Power-on-hours @ 105C

– Optional EtherCAT and functional safety

enablement

• All devices are in a 17x17mm package

– Pin-compatible with AM MCUs

• AM MCUs also available in 11x11mm package

• Secure boot available

• Target of <2W power consumption AM

MCU

AM6442

AM6421 AM6441

AM

MCU

1 R5F

AM6412

AM6411

AM

MCU

AM6442

AM6421

AM64x & AM MCU | Software & pin compatible platform

AM MCU

AM MCU

AM6412

AM6411

AM64x & AM MCU

Target Markets

Servo Drivesw/ Services

PLC

EVM

Remote IOComms Module

Linux Controller

Headless Gateways

Scalability and SW reuse

from AM335x

&

&

&

Servo Drives

AM64x GP EVM

($299)

AM MCU

Launchpad XL($39)

AM64 SK

EVM($99)

High-Performance MCU

Real-time MCU + Linux Services

IO-Link Module Add

On (early planning)

ProtectionRelay

AM64x Power Consumption Estimates

• AM64x provides an optimized power/performance ratio to help bring high-performance control to fanless enclosures

• The Beta Power Estimation Tool is not yet available for download, but use case estimates can be directly provided now!

Use Case 2x A53 1x A53 MCU Only

Device AM6412 AM6441 AM MCU

Power Estimate105C, Strong Silicon

<2.0W <1.7W <1.0W

ARM (A53) 2x A53, 1000MHz, 73% 1x A53, 1000MHz, 80% Disabled

Real Time MCU Disabled 4x R5F, 800MHz, 70% 2x R5F, 800MHz, 70%

Isolated MCU Disabled 1x M4F, 400MHz, 15% Disabled

DDRDDR4, 16b, 800 MHz,

15%

LPDDR4, 16b, 533 MHz,

25%Disabled

ICSS_0 1Gbps Protocols, 70% 1Gbps Protocols, 50% 1Gbps Protocols, 70%

ICSS_1 1Gbps Protocols, 70% 250 MHz, 25% Disabled

PCIe, USB3.0 PCIe Gen2, 25% Disabled Disabled

USB2.0 Disabled USB2.0 HS Disabled

CPSW Disabled 1 port 1Gbps, 10% Disabled

GPMC Disabled 100 MHz, 15% 100 MHz, 25%

Real-time control on AM64x / AM MCU

8

AM64X GP EVM• AM64x System-on-Chip (SoC)

• Memory

– 2GB DDR4 supporting data rate up to 1600MT/s

– 16GB eMMC Flash which can support HS400 speed of operation

– Micro Secure Digital (SD) Card with UHS-1 support

– 512 Mbit OSPI EEPROM

– 1 Kbit Serial Peripheral Interface (SPI) EEPROM

– 1 Mbit Inter-Integrated Circuit (I2C) Boot EEPROM

• I/O Interface

– One CPSW Gigabit Ethernet port and two Industrial Ethernet ports based on the Gigabit Industrial Communication Subsystem (PRU-ICSS-Gb) paired with Texas Instruments Gigabit Ethernet PHY

– One USB2.0 interface with Micro AB connector Expansion Bus

– 10051922-1410ELF - 14-Pin FPC connector to interface with the OSD9616P0992-10 display

– High Speed Expansion (HSE) connector to connect application cards

– 2x5 header - 67997-410HLF FSI connector to connect with the C2000 EVM

– x4 PCIe connector to support 1 lane PCIe Card

• Debug

– XDS110 On-Board Emulator

– Supports 20-pin JTAG connection from external emulator

Useful ResourcesEVM Page

User’s Guide

Demo Setup

Ethernet

USB (UART console)

• Windows/Linux/Mac• Web Browser

• IP addresses on same subnet

• Ethernet Cable• Router for DHCP (optional)• USB cable for console• Appropriate 12V Power Supply• SD Card programmed with SDK and demo

2MBSRAM

andDDR

AM64x EVM

ARMCortex R5F1_0

Bare Metal,

IPC LLD CMSIS

App

128KB TCM

ARMCortex A53

ARMCortex A53

(RPMsg_char and JSON file)

CPSW

Host PC

(Internet Brow ser)

DDR4

Baremetal-------------------------CFFT/FIR/FOC/PIDR5F to/from A53 IPC

RPMsg_char LibIPC LLD

RT Linux----------------------GUI ComposerHTTP ServerCPSW Driver

IPC RPMsg_char

uSD/eMMC

8/16 GB

Flash

HTTP

Benchmark Demo – Architecture (AM64x)

Baremetal

RT Linux

AM64x Enabled

ARMCortex R5F1_1

Bare Metal,

IPC_LLDCMSIS

App

ARMCortex R5F0_0

Bare Metal,

IPC LLD CMSIS

App

128KB TCM

ARMCortex R5F0_1

Bare Metal,

IPC_LLDCMSIS

App

IPC RPMsg_char

4 channels

IPC RPMsg_char

4 channels

Software ComponentsR5F Applications

IPC RPMSG_char library

A53 Application

RT-Linux

HTTP Server

GUI Composer

Internet Browser

Benchmark Demo – GUI

Benchmark Demo – GUI

Real-Time Performance Benchmarks

Function AM MCU

Number of R5Fs 4

R5F Speed 800MHz

Example FOC loop compute time(AM65 result)

0.6us*

1024-point CFFT (AM65 result, Single-Precision

Float)

145us*

256-point CFFT (AM65 result, Single-Precision

Float)

29us*

INT latency (baremetal, context switch +

context save)

68.75ns

TCM Latency 1.25ns/8byte

PWM write latency (AM64 QT result)

8ns/sample+30ns

ADC Read Latency (AM64 QT result, direct read)

128ns/sample

14

• AM64x and AM MCU achieve

real-time performance by

leveraging high-performance

R5Fs with TCM and low-

latency paths to peripherals

• AM64x is able to maintain

real-time performance even

with Linux services running

simultaneously

*Benchmarked on AM65x R5Fs, scaled linearly with R5F speed

SoC Latency Benchmarks

15

Direct Read 4B

FROM TO QT Measurement (ns)

R5F R5F Local TCM 1.25

R5F R5F other TCM 100.2

R5F OCM 76.25

R5F ICSSG0/1 DMEM 165

R5F GPMC 385

R5F DDR 370-1000

R5F QSPI 437

Direct Read 4B

FROM TO QT Measurement (ns)

A53 OCM 134

A53 ICSSG0/1 DMEM 248

A53 GPMC 651

A53 DDR 299-955

A53 QSPI 499

Direct Read 4B

FROM TO QT Measurement (ns)

ICSS0/1 OCM 105

ICSS0/1 ICSS local DMEM 197

Direct Read 4B

FROM TO QT Measurement (ns)

M4F OCM 360

DMA: 350 Bytes

FROM TO QT Measurement (ns)

R5F local TCM R5F local TCM 588

R5F local TCM R5F other TCM 588

R5F OCM 564

R5F ICSSG0/1 DMEM 900

R5F GPMC 3690

Interrupt Latency

From TO OS Total Notes

R5F INT ISR Bare Metal 55 cycles Context save = 28 cycles (includes VFP reg)

• Tables include benchmarks as measured on HW

simulation for AM64x and AM MCU

Isolate real-time SW

AM64x and AM MCU’s memory

structure helps enable software

isolation through:

• 2MB SRAM made up of 8 individual 256KB memory banks that can be merged or left separate as needed

• Dedicated access for each R5F to the crossbar to enable direct, uninterrupted paths for each core in use

• The ability to route A53s directly to DDR to keep SRAM available for R5Fs

16

2MB SRAM

A53 A53 R5F R5F R5F R5F

DD

R

A53 A53 R5F R5F R5F R5F

DD

R1.25MB .5MB

.25

MB

Devi

ce i

nfr

astr

uctu

reE

xam

ple

configura

tion

2MB SRAM

Industrial Communication on AM64x / AM MCU

17

Industrial protocol stacks by TI

18

TI Supported Protocols Firmware and Stacks TI Supported Interfaces (motor encoder)

• TI-supported protocol firmware and stacks

• Dedicated R5F for real-time stack to offload performance from application cores

• Support in Linux and RTOS

• EtherCAT, PROFINET, EtherNet/IP and IO-Link master release for AM64x in April 2021

Integrated real-time protocols Scalable and reusable SW support

AM6x

Cortex A53

(Linux or Linux RT)

Comms Subsystem

Firmware

(PRU)switch

Stack

(R5F)

Cortex R5

Application Cores

(RTOS)

Industrial Communication Engagement Models

19

Previous Model One-stop shop: Directly from TI

Stacks licensed from 3Ps Fully bundled solution directly from TI

Stack support from 3Ps Stack support directly from TI

Licenses available as buyout, per

project, and per familyLicensing included in device

Pre-certified solutions Pre-certified solutions

One stop shop for the first time: Easy engagements starting with AM64x

3P Based Simple

Separate license per protocol One license for all TI-offered stacks

Certified Industrial Communication ProtocolsFaster time to market

20

http://www.ti.com/lit/sprach6

TI offers firmware to enable

multiple industrial protocols on the

PRU-ICSS in Sitara processors

App note pictured on the right for

specific protocols supported

AM64x / AM MCU Industrial applications

21

1. 2x Ethernet ports, 1x USB 3.0 Type A device port

2. On-board Wi-Fi + BT (WL1837MOD)3. Multiple boot options including SD Card

4. On-board emulation with XDS1105. Expansion headers for PRU, MCU, RPi HATs

6. Powered by USB-C cable (5V, 3A)

The AM64x Starter Kit includes on-

board Wi-Fi with an SDK created to get Linux and Wi-Fi running as soon as

USB-C power is applied

AM64x Starter Kit for the Sitara™ AM64x processorSK-AM64

ResourcesFeatures Out-of-Box: Gateway

• SK-AM64 from TI Store

($99 USD)• User’s Guide

• Quick Start Guide • Processor SDK

Available Now!

Ba

ck

pla

ne

IP E

the

rne

t

Wi-Fi /

BLE

Wi-Fi /

BLE

SK-AM64

Device

Device

Lo

ca

l-n

et

IP E

the

rne

t

AM6442Sitara MPU

4

6

1

2

5

3 Ethernet Switch

A Software View

• Linux Networking capability and reliability well established

• TI capabilities utilize common Linux commands• No need to relearn networking for embedded

Wireless to Wired Gateway Demo

USB (UART

console)

Power

Ethernet

1. Build a Bridge

2. Assign IP Addresses

3. Request page from Wireless

• Same as Wireless demo

4. Request page from Wired

Adding More Nodes

USB (UART

console)

• Wired or Wireless• Switch• Daisy Chain• etc.

Power

Ethernet

Adding More Nodes with a Switch

USB (UART

console)

• Easy, validated path to more connections• Additional cost and complexity• Could use a lot of cable• Must decide on number of ports or add more switches

Power

Ethernet Switch

Daisy Chain with Two Connections

USB (UART

console)

Power

Ethernet

• TI Processors typically include twoEthernet interfaces

• Allows simple daisy chained networks that save cost, cabling and complexity

• Powerful Linux network stack enables many topologies

A Wired Gateway Demo

USB (UART

console)

Power

Ethernet

• Let’s simplify back to a wired network for closer examination

• One Console, Controller, and Node• Use statically assigned IP addresses

Ethernet

Console Controller Node

Servo Drive control module: AM64x

29

Encoder

RS485

M

Driver

DriverDriver

PWM

PWM

Trip

Driver

ΔΣModulatorΔΣ

ModulatorDATA

CLK

C2000/

ASIC/FPGA

Arm

Cortex R5F(Industrial

Comms)

Arm

Cortex R5F (Position/Speed)

FSI

100/1000

ETH PHY

100/1000

ETH PHY

Multi-protocol

IndustrialEthernet

ICSSG

MII/RGMII

MII/RGMII

2MB

SRAM

AM64x

SPI/OSPI UART/I2C/SPI/GPIO

Arm

Cortex M4F(Safety Chan 1)

Flash

Safety Channel

External Safety

MCU(Safety Chan 2)

Encoder interface

Encoder interface

ICSSG

9x ΔΣ

9x ePWM

EtherCATProf inet

EtherNet/IPMechatrolink III

TSN

CPSW100/1000

ETH PHY

Arm

Cortex A53(Industry 4.0

Services)

Arm

Cortex A53(Industry 4.0

services)

Diagnostics/Web Serv er

MII/RGMII

GPIO

GPMC

Encoder interface

Arm

Cortex R5F(Industrial

Comms)

Arm

Cortex R5F (Position/Speed)

Parallel or

high speed serial

Optional

HIPERFACE DSL

EnDat 2.2

etc

128KB TCM

Servo Drive control module: AM64x

30

Encoder

RS485

Driver

DriverDriver

PWM

PWM

Trip

Driver

ΔΣModulatorΔΣ

ModulatorDATA

CLKMulti-

protocol

IndustrialEthernet

ICSSG

2MB

SRAM

AM64x

SPI/OSPI

Flash

Encoder interface

Encoder interface

ICSSG

9x ΔΣ

9x ePWM

EtherCATProf inet IRT/RT

EtherNet/IP

CPSW or USB2.0Diagnostics

GPIO

GPMC

Encoder interface

HIPERFACE DSL

EnDat 2.2

128KB TCM

3x M

Benefits of TI Solution• Pre-integrated stacks for EtherCAT,

Profinet IRT, Profinet RT, and

EtherNet/IP• Note: Profinet IRT is the recommended

Conformance Class for Servo

• Keep IP and network traffic secure

with Secure Boot and crypto

accelerators

• Support up to 3 servo motors with a

single SoC

• Save cost & time with safety monitor

integration & documentation available

• Direct software re-use across broad

Sitara portfolio

• Designed for >11-year continuous

operation in 85C ambient

temperatures

Arm

Cortex R5F(Industrial

Comms)

Arm

Cortex R5F (Position/Speed)

Arm

Cortex A53(Industry 4.0

Services)

Arm

Cortex A53(Industry 4.0

services)

Arm

Cortex R5F(Industrial

Comms)

Arm

Cortex R5F (Position/Speed)

Optional

UART/I2C/SPI/GPIO

Arm

Cortex M4F(Safety Chan 1)

External Safety

MCU(Safety Chan 2)

AM642x EVM

C2000 Launchpad(s)

Planned Motor Control Demo

31

TwinCAT

Motion

Control

ARMCortex A53ARM

Cortex A53

ARMCortex R5ARM

Cortex R5ARM

Cortex R5ARM

Cortex R5F

C28x M

Encoder

C28x M

Encoder

FSI

C28x M

EncoderFSI

FSI

Windows PC

Client Visualization

Application

Windows PC

HTTP

AM64x Servo Drive (Demo #1)

AM64x/AM MCU Overview: PLCs & Remote I/O

32

ARMCortex R5F

ARMCortex R5F

PLC/Remote IO example

33

100/1000

ETH PHY

100/1000

ETH PHY

Multi-

protocol

Industrial

Ethernet

ICSSG

MII/RGMII

MII/RGMII

2MBSRAM

AM64x

DDR4/

LPDDR4

DDR Mem

EtherCAT

MechatrolinkIII

PROFINET@TSN

etc

Gb EMAC100/1000

ETH PHY

ARMCortex A53

ARMCortex A53

ARMCortex R5F

ARMCortex R5F

Diagnostics/

Web Server

MII/RGMII

GPIO

PCIe

To backplane or

companion device

USB 2.0

MMC/SD

OSPI

ARMCortex R5F

ARMCortex R5F

Bus Coupler example

34

100/1000

ETH PHY

100/1000

ETH PHY

Multi-

protocol

Industrial

Ethernet

ICSSG

MII/RGMII

MII/RGMII

2MBSRAM

AM64x

DDR4/

LPDDR4

DDR Mem

EtherCAT

Profinet

EtherNet/IP

Mechatrolink III

PROFINET@TSN

Gb EMAC100/1000

ETH PHY

ARMCortex A53

ARMCortex R5F

ARMCortex R5F

Diagnostics/

Web Server

MII/RGMII

GPIO

PCIe

To backplane or

companion device

USB 2.0

MMC/SD

OSPI

Multi-

protocol

Industrial

Ethernet

ICSSG

MII/RGMII

MII/RGMII

100/1000

ETH PHY

100/1000

ETH PHY

EtherCAT

Profinet

EtherNet/IP

Mechatrolink III

PROFINET@TSN

ARMCortex A53

Optional

Resources

• Slides and videos will be posted here:

– E2E Post

• AM64x SK EVM

• AM64x Product Page

• Sitara Webinar on Comms and Real-time

– Includes Presentation and Video

– Dives further into the Software Architecture of the Web Server Application

36

Thank you.

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