The device Programmable Real-Time Unit Subsystem and Industrial Communication Subsystem (PRU-ICSS) consists of dual 32-bit Load / Store RISC CPU cores - Programmable Real-Time Units (PRU0 and PRU1), shared, data, and instruction memories, internal peripheral modules, and an interrupt controller (PRU-ICSS_INTC). The programmable nature of the PRUs, along with their access to pins, events and all SoC resources, provides flexibility in implementing fast real-time responses, specialized data handling operations, customer peripheral interfaces, and in off-loading tasks from the other processor cores of the system-on-chip (SoC).
The each PRU-ICSS includes the following main features:
For more information about PRU-ICSS subsystems interfaces, please see the Device TRM.
To configure the desired virtual mode the user must set MODESELECT bit and DELAYMODE bitfield for each corresponding pad control register.
The pad control registers are presented in Table 4-31 and described in Device TRM, Control Module Chapter.