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RTOS/TMDSEVM572X: Sending data from PRU to A15

Part Number: TMDSEVM572X

Tool/software: TI-RTOS

Hi,

I am having GP EVM AM572x(processor_sdk_rtos_am57xx_3_02_00_05).

I want to send data from PRU to ARM a15 core in a application which is running on TI RToS.

Is there any lab available for TI_RTOS where the data communication between ARM and PRU is explained.

Thanks,

Anjana Pathak