pru

Overview ¶

Package pru exposes the Programmable Real-Time Unit Subsystem and Industrial Communication Subsystem (PRU-ICSS) functionality found on many Texas Instruments processors.

This one of the rare way of doing true realtime on a linux microcomputer.

Each PRU is a 32 bits "5ns per instruction" processor running at 200MHz, with 8Kb of program memory and 8Kb of data memory.

The PRU processors can be found on OMAP-L1x8/C674m/AM18xx/AM335x/AM437x/AM57xx/66AK2Gx families of Texas Instrument ARM processors. For example:

- 2x PRUs on am3356, am3357, am3358, am3359 https://www.ti.com/product/am3359

- 4x PRUs on am4376, am4377, am4378, am4379 https://www.ti.com/product/am4379

- 4x PRUs on 66ak2g02; http://www.ti.com/product/66ak2g02

Datasheet ¶

Technical Reference Manual starting at page 199: https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf

List of instructions: http://processors.wiki.ti.com/index.php/PRU_Assembly_Instructions

Picture summary of instructions: http://exploringbeaglebone.com/wp-content/uploads/2014/12/Instruction-Set-Sheet.png

Help ¶

Hands-on videos http://beagleboard.org/pru

https://elinux.org/Ti_AM33XX_PRUSSv2

http://www.righto.com/2016/09/how-to-run-c-programs-on-beaglebones.html

https://credentiality2.blogspot.ca/2015/09/beaglebone-pru-gpio-example.html

http://processors.wiki.ti.com/index.php/PRU_Training:_Hands-on_Labs

http://processors.wiki.ti.com/index.php/PRU_Linux-based_Example_Code