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RTOS/PROCESSOR-SDK-AM335X: Running Linux and RTOS

Part Number: PROCESSOR-SDK-AM335X
Other Parts Discussed in Thread: AM3358, SYSBIOS, AM3359

Tool/software: TI-RTOS

We would like to run TI-RTOS (SYSBIOS) through PRU and Linux-3.2 on AM335x at a  time on AM3358 or AM3359.

Is this possible ?

If yes, is there any Hand shaking mechanism between TI-RTOS (SYSBIOS)  PRU and Linux-3.2 on AM335x to send some data from micro controller to AM335x.