SYSBIOS Industrial SDK Migration guide from 1.1 to 2.1

Migration guide from 1.1 to 2.1 Industrial SDK

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Revision History

Revision	Date	Description
1.0	30-Jul-2015	Created initial version of the document

Introduction

This document is the Migration Guide for Industrial SDK from 01.01.00.xx to 02.01.00.01

The purpose of this document is to:

• Explain differences between Industrial SDK from 01.01.00.xx to 02.01.00.01
• Describe some of the architectural and functional improvements in Industrial SDK over the previous version and give information about why these changes are useful.
• Give information on how application writers can migrate to this version of Industrial SDK from the previous version.

New in this release

Brief details of what's new in this release(not related to protocols supported)

• Starterware 02.01.01.01 (Documentation here - {IA_SDK_HOME}\starterware\docs
• Support for AM335x SoC and common code base for AM335x and AM437x
• Board support project({IA_SDK_HOME}/board})
  • Abstracts most of the board information to access peripherals
• LLD(Low Level Driver) support
  • ICSS_EMAC LLD ({IA_SDK_HOME}\os_drivers\lld\emac)
  • PRU_ICSS LLD ({IA_SDK_HOME}\os_drivers\lld\pruss)
• Usage of standard ti_header and ti_image.exe(instead of custom isdk_image.exe)
• Same binary(_ti.bin) for SD card and SPI/QSPI Flash(more info about booting in {IA_SDK_HOME}\starterware\docs)
• GNU Compiler v4.8.4

Not supported in this release

Brief details of what's not supported in this release(w.r.to previous release)

• NOR Bootloader/Flasher
• IRAM modes for EtherCAT, Profibus
• SPI Bootloader Fast boot mode
• SPI Bootloader booting app from SD card
• SD card based SPIflasher App
• CPSW based Ethernet
• AM335x IDK, AM335x ICE v1
• LWIP SYSBIOS based example
• Removed "platform" library
• TI Compiler tool chain

API changes

UART Console

The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
os_drivers\include\osdrv_uart.h	starterware\include\utils\console_utils.h	Starterware directly supports UART console.

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
UartOpen	CONSOLEUtilsInit and CONSOLEUtilsSetType	Initializes UART	Initializes UART and pinmux. Does NOT support ISR	More info in starterware/docs
UARTPutString	CONSOLEUtilsPrintf	Prints information on the console	uartInstance not required as input	More info in starterware/docs
UARTGetChar	CONSOLEUtilsScanf	Used to get information from the console	Not ISR based. This is a blocking API, recommended to use in the lowest priority task.	More info in starterware/docs

Digital Input/Output

The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
platform\am335x\include\plat_led.h	board\include\board_support.h	Board info abstracted in board_support.
platform\am335x\include\plat_utils.h	board\include\board_support.h	Board info abstracted in board_support.

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
LEDInit	board_init	Initializes peripherals as per input	Use BOARD_LED_DIGOUT as input parameter.	More info in board/docs
McSPIInit	board_init	Initializes peripherals as per input	Use BOARD_LED_DIGIN as input parameter.	More info in board/docs
LEDDIGOUTSetVal	Board_setDigOutput	Sets the digital Output LEDs	Same inputs	More info in board/docs
UTILsReadHVS and UTILsReadHVS2	Board_getDigInput	Reads the digital input(HVS)	Input buffer returns the value	More info in board/docs

Tri Color LED

The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
platform\am335x\include\plat_led.h	board\include\board_support.h	Board info abstracted in board_support.

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
LEDInit	board_init	Initializes peripherals as per input	Use Eg: BOARD_TRICOLOR1_RED as input parameter.	More info in board/docs
LEDDriveTriColorLeds	Board_setTriColorLED	Sets/resets the Tri color LED	Input pin name and value. Sets/Clears only one LED	More info in board/docs

Flash storage

The APIs exposed for SPI Flash(on AM335x ICEv2) and QSPI(on AM437x IDK) are the same now(abstracted in board).
The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
os_drivers\include\osdrv_spiflash.h	board\include\board_support.h	Board info abstracted in board_support.
os_drivers\include\osdrv_qspi.h	board\include\board_support.h	Board info abstracted in board_support.

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
SpiFlashInit	board_init	Initializes SPI Flash	Use BOARD_FLASH_MEMORY as input. board_init resolves board difference internally	More info in board/docs
QSPIInit	board_init	Initializes QSPI Flash	Use BOARD_FLASH_MEMORY as input. board_init resolves board difference internally	More info in board/docs
SpiFlashRead	Board_readFlashStorage	Reads data from the Flash storage	NA	More info in Board/docs
SpiFlashWrite	Board_writeFlashStorage	Writes data to the Flash storage	NA	More info in Board/docs
QSPILibRead	Board_readFlashStorage	Reads data from the Flash storage	No need to provide the QSPI object	More info in Board/docs
QSPILibWrite	Board_writeFlashStorage	Writes data to the Flash storage	No need to provide the QSPI object	More info in Board/docs

LCD Display

The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
os_drivers\include\osdrv_oledlcd.h	board\include\board_support.h	Board info abstracted in board_support.

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
OLEDInit	board_init	Initializes LCD Display. Clears content	Use BOARD_LCD_DISPLAY as input	More info in board/docs
OLEDDeactivateScroll	Board_setLCDScroll	Activate/De-activate LCD scrolling	Takes input as enable/disable	More info in board/docs
OLEDContinuousScroll	Board_setLCDScroll	Activate/De-activate LCD scrolling	Takes input as enable/disable	More info in board/docs
OLEDShowString	Board_setLCDString	Sets the string to be displayed in LCD	Takes input - LCD string and line number	More info in board/docs
OLEDFillRAM(0x00)	Board_clearLCDString	Clears LCD	Added this API to clear LCD	More info in board/docs

Rotary Switch

The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
os_drivers\include\osdrv_rotaryswitch.h	board\include\board_support.h	Board info abstracted in board_support.

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
RotarySwitchInit	board_init	Initializes Rotary switch	Use BOARD_ROTARY_SWITCH as input	More info in board/docs
RotarySwitchRead	Board_getRotarySwitchPosition	Reads the rotary switch position	NA	More info in board/docs

ICSS EMAC LLD

ICSS Switch driver is now replaced by ICSS EMAC LLD. This module now supports both Switch and Emac functionalities. The configuration of the ICSS EMAC LLD is done with the help of ICSSEMAC Handle which is explained below

ICSS EMAC Handle

/*
*  @brief   EMAC handle containing pointers to all modules required for driver to function
*
*/
typedef struct ICSSEMAC_Config{
/*! Pointer to a driver specific data object */
void                   *object;
/*! Pointer to a driver specific hardware attributes structure */
void          		   *hwAttrs;
} ICSSEMAC_Config;

ICSS EMAC LLD Handle Object

/*
*  @brief     ICSSEMAC_Object
*             Handle containing pointers to all modules as well as Initialization Config
*/
typedef struct ICSSEMAC_Object{
/*! PRUICSS Handle details where the EMAC driver will be based on       */
PRUICSS_Handle            pruIcssHandle;
/*! Pointer to initial configuration structure                          */
ICSSEMAC_InitConfig       *emacInitcfg;
/*! Mac Table Pointer for Learning module. Not applicable for Emac mode */
HashTable_t               *macTablePtr;
/*! Pointer All Driver specific Callback  structure                     */
ICSSEMAC_CallBackObject   *callBackHandle;
/*! Pointer to  Emac driver Firmware statistics structure               */
void                      *pruStat;
/*! Pointer to Emac Driver host statistics structure                    */
void                      *hostStat;
/*! Pointer to Storm Prevention structure */
void                      *stormPrevPtr;
/*! Rx Task Handle for the emac instance.Required for receiving packets */
void                      *rxTaskHandle;
/*! Rx Semaphore Handle for the emac instance.Required for receiving packets */
void                      *rxSemaphoreHandle;
/*! Rx interrupt handler */
void                      *rxintHandle;
/*! Link interrupt handler */
void                      *linkintHandle;
/*! Pointer to store any data from High Level Driver  */
void                      *pvtInfo;
/*! Link status for the ports */
uint8_t                   linkStatus[MAX_PORT_NUMBER];
} ICSSEMAC_Object;

ICSS EMAC LLD Handle HW attrs

/*
*  @brief   Handle containing base addresses for all memories and modules
*
*/
typedef struct ICSSEMAC_HwAttrs{
/*! Base address configuration required for Emac driver operations */
ICSS_EmacBaseAddressHandle_T emacBaseAddrCfg;
} ICSSEMAC_HwAttrs;

ICSS_EmacBaseAddressHandle_T

/*
*  @brief     ICSS_EMAC Base address configuration addresses required by low level driver
*/
typedef struct ICSSEMAC_Object{
/*! MDIO Base register */
uint32_t    prussMiiMdioRegs;
/*! DataRam 0 Base Address */
uint32_t    dataRam0BaseAddr;
/*! DataRam 1 Base Address */
uint32_t    dataRam1BaseAddr;
/*! L3 OCMC Base Address */
uint32_t    l3OcmcBaseAddr;
/*! PRUSS Shared RAM Base Address */
uint32_t    sharedDataRamBaseAddr;
/*! Pruss INTC Register Base Address */
uint32_t    prussIntcRegs;
/*! PRU0 Control register Base Address */
uint32_t    prussPru0CtrlRegs;
/*! PRU1 Control register Base Address  */
uint32_t    prussPru1CtrlRegs;
/*! PRUSS IEP register Base Address */
uint32_t    prussIepRegs;
/*! Pruss CFG register Base Address */
uint32_t    prussCfgRegs;
/*! MII RT Config register Base Address */
uint32_t    prussMiiRtCfgRegsBaseAddr;
} ICSS_EmacBaseAddrCfgParams;

ICSSEMAC_InitConfig

/*
*  @brief     ICSS EMAC Init Configuration Structure
*/
typedef struct {
/** Phy address of the ports.For mac each handle will have single port only
*   And Two for Switch handle
*/
uint32_t phyAddr[MAX_PORT_NUMBER];
/** Flag to enable Half duplex capability. Firmware support also is required to
* 	enable the functionality
*/
uint8_t halfDuplexEnable;
/** Flag to enable Interrupt pacing */
uint8_t enableIntrPacing;
/** Number of packets threshold for Pacing Mode1 */
uint16_t pacingThreshold;
/** Queue Priority separation for RT and NRT packets
* 	If packets are in Queue <=ethPrioQueue, they will be forwarded to NRT callback
* 	and others to RT callback
*/
uint8_t ethPrioQueue;
/** Flag to enable learning. Not applicable for Mac mode */
uint8_t learningEn;
/**Port Mask. Indication to LLD which ports to be used
* Valid values:ICSS_EMAC_MODE_SWITCH,ICSS_EMAC_MODE_MAC1,ICSS_EMAC_MODE_MAC1
*/
uint8_t portMask;
/**Rx interrupt number*/
uint8_t rxIntNum;
/**Link interrupt number*/
uint8_t linkIntNum;
/**Macid to be used for the interface*/
uint8_t* macId;
/**Pacing mode to be used(MODE1/MODE2)*/
uint8_t intrPacingMode;
} ICSSEMAC_InitConfig;

The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
os_drivers\include\ICSS\icss_common.h	os_drivers\lld\emac\icss_emacCommon.h	LLD support
os_drivers\include\ICSS\icss_iSwitchDrv.h	os_drivers\lld\emac\icss_emacDrv.h	LLD support. Now Supports Switch and Emac features
os_drivers\include\ICSS\icss_learning.h	os_drivers\lld\emac\icss_emacLearning.h	LLD support
os_drivers\include\ICSS\icss_pruInit.h	os_drivers\lld\emac\icss_emacFwInit.h	LLD support
os_drivers\include\ICSS\icss_statistics.h	os_drivers\lld\emac\icss_emacStatistics.h	LLD support. Added Emac support
os_drivers\include\ICSS\icss_stormControl.h	os_drivers\lld\emac\icss_emacStormControl.h	LLD support
os_drivers\include\ICSS\icss_switch.h	os_drivers\lld\emac\icss_emacSwitch.h	LLD support. Now Supports Switch and Emac features
os_drivers\include\ICSS\icss_iSwitchDrv.c	os_drivers\lld\emac\icss_emacDrv.c	LLD support. Now Supports Switch and Emac features
os_drivers\include\ICSS\icss_learning.c	os_drivers\lld\emac\icss_emacLearning.c	LLD support
os_drivers\include\ICSS\icss_pruInit.c	os_drivers\lld\emac\icss_emacFwInit.c	LLD support
os_drivers\include\ICSS\icss_statistics.c	os_drivers\lld\emac\icss_emacStatistics.c	LLD support
os_drivers\include\ICSS\icss_stormControl.c	os_drivers\lld\emac\icss_emacStormControl.c	LLD support

The below table lists the files removed

Industrial SDK 1.1.0.x	Reason for change
os_drivers\include\ICSS\icss.h	APIs are not used
os_drivers\include\ICSS\icss_miimdio.h	MDIO driver moved from driver to OSdriver
os_drivers\include\ICSS\icss_miimdio_regs.h	MDIO driver moved from driver to OSdriver
os_drivers\include\ICSS\icss_switch_init_cfg.h	Unused header file
os_drivers\include\ICSS\pruss_register.h	Unused header file
os_drivers\include\ICSS\tiswitch_pruss_intc_mapping.h	Moved to application for better flexibilty in Interrupt mapping
os_drivers\include\ICSS\icss.c	APIs are not used
os_drivers\include\ICSS\icss_miimdio.c	MDIO driver moved from driver to OSdriver
os_drivers\include\ICSS\icss_learning_asm.s	File not used

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
ICSSSwitchInit	ICSS_EmacInit	API to init the EMAC driver in MAC/Switch mode
LoadPruFirmware	PRUICSS_pruWriteMemory	Load the firmware to PRUSS	Removed the API.Use PRUSS LLD API instead
LoadStaticTable	ICSS_EmacLoadStaticTable	Loads multicast static table to ICSS memory	API Renamed
StartSwitch	PRUICSS_pruEnable	Start/Enable the PRU	Removed the API.Use PRUSS LLD API instead
StopSwitch	PRUICSS_pruDisable	Stop/Disable the PRU	Removed the API.Use PRUSS LLD API instead
RegisterPort0ISRCallback	ICSS_EmacRegisterPort0ISRCallback	Callback function to process protocol specific handler for link0 status ISR	Renamed to align to LLD format
RegisterPort1ISRCallback	ICSS_EmacRegisterPort1ISRCallback	Callback function to process protocol specific handler for link1 status ISR	Renamed to align to LLD format
TxPacket	ICSS_EmacTxPacket	Queues a frame which has to be transmitted in the right port queue	Renamed to align to LLD format
TxPacketEnqueue	ICSS_EmacTxPacketEnqueue	API to copy a packet to Tx Queue memory on L3 for TX	Renamed to align to LLD format
RxPktGet	ICSS_EmacRxPktGet	Retrieves a frame from a host queue and copies it in the allocated stack buffer	Renamed to align to LLD format
RxPktInfo	ICSS_EmacRxPktInfo	Retrieves the information about the received frame which is then used to dequeue the frame from the host queues	Renamed to align to LLD format
GetMaxQueueFillLevel	ICSS_EmacGetMaxQueueFillLevel		Renamed to align to LLD format
RegisterProtocolCallback	NULL	Register the function to process the protocol specific packets	Removed the API.Now the Call back need to be provided in ICSSEMAC Handle
RegisterTxExceptionCallback	NULL	Register callback function for TX exception.	Removed the API.Now the Call back need to be provided in ICSSEMAC Handle
ICSSIoctl	ICSS_EmacIoctl	IOCTL API to control Driver operation	Renamed to align to LLD format.Now supports more commands
ICSSALEInit	NULL	Initializes Learning module and clears ALE table	Removed the API. Use ICSS_EmacIoctl instead
ICSSALEAgeOutNow	NULL	Removes (free up) any aged table entry	Removed the API. Use ICSS_EmacIoctl instead
ICSSALEClearTable	NULL	Clears ALE table entries	Removed the API. Use ICSS_EmacIoctl instead
ICSSALECounter	NULL	Increments time counters in both the port tables.It is called periodically to implement Ageing.	Removed the API. Use ICSS_EmacIoctl instead
RegisterLearningCallBack	NULL	API to register the learning exception function	Removed the API.Now the Call back need to be provided in ICSSEMAC Handle
updateHashTable	NULL	Update the learning table used to map MAC Id's and ports	Removed the API. Use ICSS_EmacIoctl instead
findMAC	NULL	Find given a MAC ID which port the packet need to be transmitted	Removed the API. Use ICSS_EmacIoctl instead

PRUSS

PRUSS drivers is now the PRU-ICSS LLD. All APIs in this LLD takes a PRU-ICSS Handle as an input. The handle is defined as -

PRU-ICSS Handle

/*
*  @brief     brief PRUICSS Global configuration
*
*/
typedef struct PRUICSS_Config {
/*! Pointer to a driver specific data object */
void                   *object;
/*! Pointer to a driver specific hardware attributes structure */
void          		   *hwAttrs;
} PRUICSS_Config;

PRU-ICSS LLD Handle Object

/*
*  @brief      PRUICSS Object
*
*  The application must not access any member variables of this structure!
*/
typedef struct PRUICSS_V1_Object
{
int                 instance;         /* PRUICSS write semaphore*/
void*               pruBinBuff[2];         /* Buffer data pointer */
unsigned int        buffLen[2];
PRUICSS_IrqFunMap   pruEvntOutFnMapArray[PRUICSS_MAX_WAIT_EVENTS];
}PRUICSS_V1_Object;

PRU-ICSS LLD Handle HW attrs

/*
*  @brief      PRUICSS hardware attributes
*
*  The application must not access any member variables of this structure!
*/
typedef struct PRUICSS_HWAttrs {
/*PRUICSS Peripheral's base address */
unsigned int      baseAddr;
unsigned int      version;
} PRUICSS_HwAttrs;

The below table lists the file name differences between the versions

Industrial SDK 1.1.0.x	Industrial SDK 2.1.0.1	Reason for change
os_drivers\include\osdrv_pruss.h	os_drivers\lld\pruss\pruicss.h and os_drivers\lld\pruss\pruicss_v1.h	LLD support
starterware\include\pruss.h	os_drivers\lld\pruss\pruicss.h and os_drivers\lld\pruss\pruicss_v1.h	LLD support

The below table lists API differences between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
UTILsICSSInit	PRUSSDRVInit	Initializes PRUSS clock	Takes the handle as input, sets the corresponding Peripheral base address	More info in os_drivers/docs
PRUSSDRVPruReset	PRUICSS_pruReset	Resets PRU	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruDisable	PRUICSS_pruDisable	Disables PRU	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruEnable	PRUICSS_pruEnable	Enables PRU	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruWriteMemory	PRUICSS_pruWriteMemory	Writes the given data to PRU memory	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruExecProgram	PRUICSS_pruExecProgram	Executes the program in the specified PRU	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruSendEvent	PRUICSS_pruSendEvent	Generates an INTC event	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruClearEvent	PRUICSS_pruClearEvent	Clears an INTC event	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruWaitEvent	PRUICSS_pruWaitEvent	Waits for a System event to happen	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruSendWaitCearEvent	PRUICSS_pruSendWaitCearEvent	Generates and INTC event, waits for AINTC event and clears an INTC event	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVRegisterIrqHandler	PRUICSS_registerIrqHandler	Registers an Interrupt Handler for an event	Takes the handle as input. The ISR args of type PRUICSS_IrqArgs should also be passed. pruEvtOutNum should be the ARM side event number and eventNum should be the PRU-ICSS event number	More info in os_drivers/docs
PRUSSDRVSetPRUBuffer	PRUICSS_setPRUBuffer	Sets the buffer pointer for PRU	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVMapPruMem	PRUICSS_mapPruMem	Returns the address of PRU components	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruIntcInit	PRUICSS_pruIntcInit	Does Interrupt-Channel-host mapping	Takes the handle as input	More info in os_drivers/docs
PRUSSPinMuxConfig	PRUICSS_pinMuxConfig	Configure PIN_MUX_SEL	Takes the handle as input	More info in os_drivers/docs
PRUSSDRVPruIntcInit	PRUICSS_pruIntcInit	Does Interrupt-Channel-host mapping	Takes the handle as input	More info in os_drivers/docs

Pinmux Module

Starterware Pinmux module is used in the ISDK 2.1.0.1 for Pin configuration.The Pinmux tool is used to generate the Pinmux file(separate file for Boards) which contains required pin configuration details.More details on Pinmux tool here.The pinmux file can be found in Starterware_Root/board/SOCNAME folder

The user needs to pass the PINMUX_config structure(CHIPDB Id of the Module, Module instance number and the subdevice). More information can be obtained from the following starterware files

• Starterware_Root/board/SOCNAME/SOCNAME_BOARDNAME_pinmuxdata.c
• Starterware_Root/include/SOCNAME/chipdb_defs.h

PINMUX_config Structure

/*
*  @brief     Structure which holds the Pinmux configuration details 
*
*/
typedef struct _mux_config_test{
/*! CHIPDB ID of the Module to be configured. Values available in chipdb_defs.h */
chipdbModuleID_t    moduleid;
/*! Particular Instance number of the Module */
uint32_t            instnum;
/*! Subdevice that needs to be configured. Assigning 0 will configure all the pins under the CHIPDB Module */
uint32_t            subdevice;
} PINMUX_config;

The below table lists API difference between the versions

Industrial SDK 1.1.0.x : API Name	Industrial SDK 2.1.0.1 : API Name	Industrial SDK 2.1.0.1 : Functionality	Industrial SDK 2.1.0.1 : Changes	Notes
PinMuxConfig	Board_pinMuxConfig	Does Pinmux configuration	The new API makes use of Starterware Pinmux module for configuraion

Technical Support and Product Updates

The support and comunity for Sitara Processors is at http://www.ti.com/lsds/ti/arm/sitara_arm_cortex_a_processor/support.page The Sitara E2E forum is at http://e2e.ti.com/support/arm/sitara_arm/default.aspx