1 Features
Processor Cores:
• Single, dual, and quad-core Arm® Cortex®-R5F
MCU with each core running up to 400 MHz
– 16KB I-cache with 64-bit ECC per CPU core
– 16KB D-cache with 32-bit ECC per CPU core
– 64KB Tightly-Coupled Memory (TCM) with 32-
bit ECC per CPU core
– Lockstep or Dual-core capable clusters
Memory Subsystem:
• 2MB of On-Chip RAM (OCSRAM)
– 4 Banks x 512KB
– ECC error protection
– Internal DMA engine support
System on Chip (SoC) Services and Architecture:
• 1x EDMA to support data movement functions
• Device Boot supported from the following
interfaces:
– UART (Primary/Backup)
– QSPI NOR Flash (4S/1S) (Primary)
• Interprocessor communication modules
– SPINLOCK module for synchronizing
processes running on multiple cores
– MAILBOX functionality implemented through
CTRLMMR registers
• Central Platform Time Sync (CPTS) support with
time-sync and compare-event interrupt routers
Media and Data Storage:
• 1x 4-bit Multi-Media Card/Secure Digital
(MMC/SD) interface
• General-Purpose Memory Controller (GPMC)
– 16-bit parallel data bus with 22-bit address bus
– Up to 4MB addressable memory space
– Integrated Error Location Module (ELM)
support for error checking
General Connectivity:
• 6x Universal Asynchronous RX-TX (UART)
• 5x Serial Peripheral Interface (SPI) controllers
• 5x Local Interconnect Network (LIN) ports
• 4x Inter-Integrated Circuit (I2C) ports
• 4x Modular Controller Area Network (MCAN)
modules with CAN-FD support
• 1x Quad Serial Peripheral Interface (QSPI)
• 4x Fast Serial Interface Transmitters (FSITX)
• 4x Fast Serial Interface Receivers (FSIRX)
• Up to 140 General-Purpose I/O (GPIO) pins
Sensing & Actuation:
• Real-time Control Subsystem (CONTROLSS)
• Flexible Input/Output Crossbars (XBAR)
• 5x 12-bit Analog-to-Digital Converters (ADC)
– 6-input SAR ADC up to 4 MSPS
• 6x Single-ended channels OR
• 3x Differential channels
– Highly Configurable ADC Digital Logic
• XBAR Start of Conversion Triggers (SOC)
• User-defined Sample and Hold (S+H)
• Flexible Post-Processing Blocks (PPB)
• 10x Analog Comparators with Type-A
programmable DAC reference (CMPSSA)
• 10x Analog Comparators with Type-B
programmable DAC reference (CMPSSB)
• 1x 12-bit Digital-to-Analog Converter (DAC)
• 32x Pulse Width Modulation (EPWM) modules
– Single or Dual PWM channels
– Advanced PWM Configurations
– Extended HRPWM time resolution
• 10x Enhanced Capture (ECAP) modules
• 3x Enhanced Quadrature Encoder Pulse (EQEP)
modules
• 2x 4-Ch Sigma-Delta Filter Modules (SDFM)
• Additional Signal-multiplex Crossbars (XBAR)
Industrial Connectivity:
• Programmable Real-Time Unit (PRU-SS) and
PRU-Industrial Communication Subsystem (PRUICSS)
– Dual core Programmable Realtime Unit
Subsystem (PRU0 / PRU1)
• Deterministic Hardware
• Dynamic Firmware
– 20-channel enhanced input (eGPI) per PRU
– 20-channel enhanced output (eGPO) per PRU
– Embedded Peripherals and Memory
• 1x UART, 1x ECAP
• 1x MDIO, 1x IEP,
• 1x 32KB Shared General Purpose RAM
• 2x 8KB Shared Data RAM
• 1x 12KB IRAM per PRU
• ScratchPad (SPAD), MAC/CRC
– Digital encoder and sigma-delta control loops
– The PRU-ICSS enables advanced industrial
protocols including:
• EtherCAT®, Ethernet/IP™,
• PROFINET®, IO-Link® for order
– Dedicated Interrupt Controller (INTC)
– Dynamic CONTROLSS XBAR Integration
High-Speed Interfaces:
• Integrated Ethernet switch supporting two external
ports
– RMII (10/100) or RGMII (10/100/1000)
– IEEE 1588 (2008 Annex D, Annex E, Annex F)
with 802.1AS PTP
– Clause 45 MDIO PHY management
– 512x ALE engine-based Packet Classifiers
– Priority flow control with up to 2KB packet size
– Four CPU hardware interrupt pacing
– IP/UDP/TCP checksum offload in hardware
Security:
• Hardware Security Module (HSM) with support for
Auto SHE 1.1/EVITA
• Secure boot support
– Device Take Over Protection
– Hardware-enforced root-of-trust
– Authenticated boot
– SW Anti-rollback protection
• Debug security
– Secure device debug only after proper
authentication
– Ability to disable device debug functionality
• Device ID and Key Management
– Support for OTP Memory (FUSEROM)
• Store root keys & other security fields
– Separate EFUSE controllers and FUSE ROMs
– Unique Public Device Identifiers (UIDs)
• Memory Protection Units (MPU)
– Dedicated Arm® MPU per Cortex®-R5F core
– System MPU - present at various interfaces in
the SoC (MPU or Firewall)
– 8-16 Programmable Regions
• Enable/Privilege ID
• Start/End Address
• Read/Write/Cachable
• Secure/Non-Secure
• Cryptographic Acceleration
– Cryptographic cores with DMA Support
– AES - 128/192/256-bit key sizes
– SHA2 - 256/384/512-bit support
– DRBG with pseudo and true random number
generator
– PKA (public key accelerator) to assist in
RSA/ECC processing
Functional Safety:
• Enables design of systems with functional safety
requirements
– Error Signaling Module (ESM) with designated
SAFETY_ERRORn pin
– ECC or parity on calculation-critical memories
– Built-In Self-Test (BIST) and fault-injection for
CPU and on-chip RAM
– Runtime internal diagnostic modules including
voltage, temperature, and clock monitoring,
windowed watchdog timers, CRC engines for
memory integrity checks
• Functional Safety-Compliant targeted [Industrial]
– Developed for functional safety applications
– Documentation to be made available to aid IEC
61508 functional safety system design
– Systematic capability up to SIL-3 targeted
– Hardware integrity up to SIL-3 targeted
– Safety-related certification
• IEC 61508 planned
• Functional Safety-Compliant targeted [Automotive]
– Developed for functional safety applications
– Documentation to be made available to aid ISO
26262 functional safety system design
– Systematic capability up to ASIL-D targeted
– Hardware integrity up to ASIL-D targeted
– Safety-related certification
• ISO 26262 planned
Technology / Package:
• AEC-Q100 qualified for automotive applications
• 45-nm technology
• ZCZ Package
– 324-pin NFBGA
– 15.0 mm x 15.0 mm
– 0.8 mm pitch

2 Applications
• Single & Multi Axis Servo Drives
• AC Inverter & VF Drives
• Solar Energy
• EV Charging
• Renewable Energy Storage
• Traction Inverters
• Onboard Chargers
• DC-DC Converters
• Battery Management Systems
• Combo Box Architectures
• IO Aggregators
• Domain Controllers

3 Description
The AM263x Sitara™ Arm® Microcontrollers are built to meet the complex real-time processing needs of
next generation industrial and automotive embedded products. The AM263x MCU family consists of multiple
pin-to-pin compatible devices with up to four 400 MHz Arm® Cortex®-R5F cores. As an option, the Arm®
R5F subsystem can be programmed to run in lockstep or dual-core mode for a multiple functional safety
configurations. The industrial communications subsystem (PRU-ICSS) enables integrated industrial Ethernet
communication protocols such as PROFINET®, TSN, Ethernet/IP®, EtherCAT® (among many others), standard
Ethernet connectivity, and even custom I/O interfaces. The family is designed for the future of motor control and
digital power applications with advanced analog sensing and digital actuation modules.
The multiple R5F cores are arranged in cluster subsystems with 256KB of shared tightly coupled memory (TCM)
along with 2MB of shared SRAM, greatly reducing the need for external memory. Extensive ECC is included
for on-chip memories, peripherals, and interconnects for enhanced reliability. Granular firewalls managed by the
Hardware Security Manager (HSM) enable developers to implement stringent security-minded system design
requirements. Cryptographic acceleration and secure boot are also available on AM263x devices.
TI provides a complete set of microcontroller software and development tools for the AM263x family of
microcontrollers.