SPRUHZ7K August 2015 – April 2024 AM5706 , AM5708 , AM5716 , AM5718 , AM5718-HIREL
The Programmable Real-Time Unit Subsystem and Industrial Communication Subsystem (PRU-ICSS) consists of:
The programmable nature of the PRU cores, along with their access to pins, events and all device resources, provides flexibility in implementing fast real-time responses, specialized data handling operations, custom peripheral interfaces, and in offloading tasks from the other processor cores of the device.
The device has integrated two identical PRU subsystems (PRU-ICSS1 and PRU-ICSS2). The PRUs have access to all resources on the device through a master port on the L3_MAIN interconnect, and vice versa, the external host processors can access the PRU-ICSS resources through a L3_MAIN slave port.
The PRU-ICSS L2 interconnect, provides access to the various internal and external masters to the resources inside the PRU-ICSS. A subsystem local Interrupt Controller - PRUSS_INTC handles system input events and posts events back to the device-level host CPUs.
The PRU cores are programmed with a small, deterministic instruction set. Each PRU can operate independently or in coordination with each other and can also work in coordination with the device-level host CPU. This interaction between processors is determined by the nature of the firmware loaded into the PRU’s instruction memory.
Figure 30-1 shows an overview of the PRU subsystem.
PRU-ICSS2 UART and eCAP are not supported on the AM570x family of devices.
PRU-ICSS2 IEP I/Os are not pinned out on AM570x. However, some internal features (such as the IEP timer) are still supported.
Also, some PRU-ICSS2 GPI/GPOs are not pinned out on AM570x. See Table 30-2 for details.