PRU-ICSS

The Programmable Real-Time Unit Subsystem and Industrial Communication SubSystem (PRU-ICSS) consists of dual 32-bit RISC cores (Programmable Real-Time Units, or PRUs), data and instruction memories, internal peripheral modules, and an interrupt controller (INTC). The programmable nature of the PRU-ICSS, along with their access to pins, events and all SoC 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 system-on-chip (SoC).

Overview

The PRU-ICSS hardware can be used for two categories of applications:

• General-purpose applications (using the PRU subsystem)
• Industrial applications (using the ICSS) - Supported by the AM335x ICE board,AM437x IDK board, AM571x IDK board, AM572x IDK board and Industrial Software Kit

This wiki page serves as a hub for PRU subsystem collateral and related resources including software user guides, application notes, training modules, and FAQs. A block diagram of the full PRU-ICSS is shown above.

Hardware Information Technical Documentation (available in device-specific TRMs) AMIC11x AM335x AM437x AM572x / AM571x 66AK2Gx (K2G) PRU Differences Between Devices PRU-ICSS / PRU_ICSSG Feature Comparison Across Devices PRU-ICSS / PRU_ICSSG Migration Guide Miscellaneous PRU Read Latencies	Software Information PRU-ICSS Getting Starting Guide on Linux PRU-ICSS Getting Starting Guide on TI-RTOS Legacy Getting Started Guide Header Files Linux Drivers Remoteproc and RPMsg AM437x Linux PRU Driver PRU-ICSS Ethernet on IDK development boards RTOS Drivers Programmable Real-Time Unit Subsystem (PRUSS) ICSS Ethernet Media Access Controller (ICSS-EMAC) ICSS EMAC LLD developers guide ICSS EMAC LLD debug guide Linux User Space ICSS-EMAC Driver PRU-ICSS / PRU_ICSSG Migration Guide	Development Tools PRU C Compiler (available through the CCS App Center) PRU Optimizing C/C++ Compiler User's Guide PRU Assembly Language Tools User's Guide PRU Assembly Instructions PRU Assembly Instruction Guide
Software Examples Linux Examples PRU Software Support Package (Firmware examples and application loader) Community PRU Projects Processor SDK RTOS Examples with Firmware Source ICSS DUAL EMAC FIRMWARE Doc {Install_Dir}\pdk_am335x_{VER}\packages\ti\drv\icss_emac\firmware\icss_dualemac\docs ICSS Cut-Through Switch Doc {Install_Dir}\pdk_am335x_{VER}\packages\ti\drv\icss_emac\firmware\icss_switch\docs Simple Open Real-time Ethernet protocol (SORTE) Master Doc - {Install Dir}\pdk_{Device Ver}\packages\ti\drv\pruss\example\apps\sorte\firmware\src\master\ Slave Doc - {Install Dir}\pdk_{Device Ver}\packages\ti\drv\pruss\example\apps\sorte\firmware\src\slave\ Also see TI design PRU-ICSS Industrial Software (Drives) Examples with Firmware Source EnDat 2.2 Diagnostic EnDat in Motor Control Doc {Install Dir}\PRU-ICSS-Industrial_Drives_{VER]\interfaces\endat_master\doc Also see TI design Sigma Delta Decimation Filter in Motor Control Doc {Install Dir}\PRU-ICSS-Industrial_Drives_{VER}\interfaces\sddf\doc	Training Material OS Agnostic PRU Evaluation PRU-ICSS Debug on AM335x Programmable Real-Time Unit (PRU) Training Series PRU Training Series Training Slides Building Blocks for PRU Development PRU Compiler Tips and Tricks PRU-ICSS Assembly Language Programming with CCS Hands-on Labs RPMsg Quick Start Guide TI Designs Simple PID Control Reference Design With PRU®-ICSS Through Web Interface Thermal Printing with the PRU-ICSS on the BeagleBone Black Reference Design Simple Open Real-Time Ethernet (SORTE) Device With PRU-ICSS Reference Design EnDat 2.2 System Reference Design	Evaluation Hardware can be ordered from ti.com PRU Cape Getting Started Guide Hardware User Guide AMIC110 Industrial Communication Engine (ICE) AM3359 ICE AM437x Industrial Development Kit (IDK) AM571x IDK AM572x IDK 66AK2Gx (K2G) ICE Support E2E Forums Beaglebone Community PRU FAQ Sitara FAQ