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RTOS/AM5728: Data transfer between RTOS and PRU

Alex2020
Prodigy 120 points

Part Number: AM5728

Tool/software: TI-RTOS

I am developing PRU-ICSS and TI-RTOS applications,but now I have a problem about data communication between PRU and TI-RTOS.I don't know how to achieve it. 

I readed the code and documents in pdk_am57xx_1_0_7/packages/ti/drv/pruss/test and pdk_am57xx_1_0_7/packages/ti/drv/pruss/example, and knew the transmission and reception of events but I am still in doubt about big data communication between PRU and RTOS.

So have there any clear tutorials or samples about big data communication between PRU and TI-RTOS?

Please help me.

Thank you.