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AM437x interrupt across PRU-ICSS0/1

Hello, I want to interrupt the PRU-ICSS1 using the PRU-ICSS0, 

In the FAQ I found this.

"For example, on AM437x, the PRU can generate an interrupt on Host 5. The other PRU-ICSS will receive this as system event 56"

I didn't quit understood how can I generate a interrupt in the host 5, because I can only set System events, writing in the SRSRx register.

Should set the system event 56 in the ICSS0 trigger the host 5 and it will trigger the system event 56 in the ICSS1?

Could someone better explain it to me, or show a example of code?

Thanks.