LP-AM243: Configuration of interrupts between PRU and R5

Tool/software:

Hello!

I need to synchronize activities between the R5F core and the PRU by means of interrupts.

I have configured the INTC using SysConfig as follows:

Relevant sections of the code running on R5:

{
...
gPruIcss0Handle = PRUICSS_open(CONFIG_PRU_ICSS0);

PRUICSS_registerIrqHandler(gPruIcss0Handle,
                      0,
                      16,
                      16,
                      0,
                      (void*) &finished);

PRUICSS_intcInit(gPruIcss0Handle, &icss0_intc_initdata);

status = PRUICSS_initMemory(gPruIcss0Handle, PRUICSS_DATARAM(PRUICSS_PRU0));
DebugP_assert(status != 0);

status = PRUICSS_initMemory(gPruIcss0Handle, PRUICSS_DATARAM(PRUICSS_PRU1));
DebugP_assert(status != 0);

status = PRUICSS_loadFirmware(gPruIcss0Handle, PRUICSS_PRU0, PRU0Firmware_0, sizeof(PRU0Firmware_0));
DebugP_assert(SystemP_SUCCESS == status);
status = PRUICSS_loadFirmware(gPruIcss0Handle, PRUICSS_PRU1, PRU1Firmware_0, sizeof(PRU1Firmware_0));
DebugP_assert(SystemP_SUCCESS == status);

PRUICSS_sendEvent(CONFIG_PRU_ICSS0, 0); // this is repeatedly called in application code
...
}

void finished(void)
{
    PRUICSS_clearEvent(CONFIG_PRU_ICSS0, 1);
    DebugP_log("ISR Fired \r\n");
    ...
}

Relevant section of code running on PRU:

mainLoop:
    ...
    
    ldi r0.w0, 0x21
    mov r31, r0

l_wait_for_ARM:
    qbbs l_start, r31, 30
    jmp l_wait_for_ARM

l_start:
    ...
    qba mainLoop

I don't see "ISR Fired" appear on the console - implying that the ISR isn't firing.

Please help me resolve this issue.

Also, is there any example project showcasing the configuration of INTC?

Thanks,

Dhruva