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RTOS/AM5728: Initializing PRU from either DSP or IPU

Part Number: AM5728

Tool/software: TI-RTOS

I'm just getting started on the PRU/DSP/IPU development on my custom board.

I have the IPU and DSP firmware loaded from Linux. And now I'd like to get the PRU initialized by either the IPU or DSP.

I specifically do not want the Linux kernel to do anything on the PRU.

My questions:

1. Is this possible? 

2. If possible, which component of TI-RTOS /  SYS/BIOS do I look to enable this?

Thanks.