PRU-ICSS includes the following main features:
- Two PRU CPUs
- 21 Enhanced General-Purpose Inputs (EGPI) and 21 Enhanced General-Purpose Outputs (EGPO)
- Asynchronous capture [Serial Capture Unit (SCU)] with EnDat 2.2 protocol and Sigma-Delta demodulation support
- Multiplier with optional accumulation (MAC)
- CRC16/CRC32
- 12-KiB program RAM per PRU CPU (signified IRAM0 for PRU0 and IRAM1 for PRU1)
- 8-KiB data RAM per PRU CPU (signified RAM0 for PRU0 and RAM1 for PRU1)
- Two high-performance master (initiator) ports on the L3_MAIN interconnect - one per PRU
- 32-KiB general purpose memory RAM (signified RAM2) shared between PRU0 and PRU1
- One Scratch-Pad (SPAD) memory
- 3 Banks of 30 × 32-bit registers
- Broadside direct connect between PRU cores within subsystem. Optional address translation for PRU transaction to External Host
- 16 software events generated by two PRUs
- One Ethernet MII_RT module (PRUSS_MII_RT_CFG) with two MII ports and configurable connections to PRUs
- MDIO Port (PRUSS_MII_MDIO) to control extenal Ethernet PHY
- Industrial Ethernet Peripheral (IEP) to manage/generate Industrial Ethernet functions
- 16550-compatible UART with a dedicated 192-MHz clock to support 12-Mbps PROFIBUS
- Industrial Ethernet timer with 7/9 capture and 16 compare events
- Enhanced Capture Module (ECAP)
- Interrupt Controller (PRUSS_INTC)
- Up to 64 input events supported
- Interrupt mapping to 10 interrupt channels via an interrupt crossbar
- 10 Host interrupts (2 to PRU0 and PRU1, 8 outputs to device level)
- Each system event can be enabled and disabled
- Each host event can be enabled and disabled
- Hardware prioritization of events
- Two level-sensitive DMA requests generated by the local PRUSS INTC to the device DMA Crossbar
- One Slave (target) port for memory mapped register and internal memories access through device L3_MAIN
- Two (master and slave) 32-bit ports for low-latency interface between PRU-ICSS subsystems
- Flexible power management support
- Integrated 32-bit interconnect
- Parity control supported by all memories
Note: There is no Sigma-Delta modulator inside the PRU. However, Sigma-Delta support is enabled through digital filtering hardware in the PRU to perform Sinc filtering.
PRU-ICSS unsupported features:
- PR1_PRU0 GPI and GPO signals are not pinned out
- Only 8 bits are supported of the 32-bit ECAT Digital Data Input
- Only 8 bits are supported of the 32-bit ECAT Digital Data Output
- UART Modem interface is not supported