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AM4378: PRU vs AM3358 PRU

Part Number: AM4378
Other Parts Discussed in Thread: AM3358,

We've selected a SOM from MYIR which has AM4378 processor on it for our painting robot application. I'd like to confirm whether the PRU on this SOM can be used to drive motors (requiring upto 6pwms). FYI, we're able to drive motors(with feedback) with PRU on Beaglebone(AM3358). Is there any difference (with respect to PRU) between  AM4378 on the MYIR SOM when compared to an AM3358 which is on beaglebone black.