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PROCESSOR-SDK-AM335X: UART emulation with PRU_ICSS

Part Number: PROCESSOR-SDK-AM335X

Tool/software:

https://software-dl.ti.com/processor-sdk-linux/esd/docs/latest/linux/Foundational_Components/PRU-ICSS/Linux_Drivers/pru-sw-uart.html
As of Processor SDK Linux v6.1, AM335x supports up to 6 additional UARTs through PRU-ICSS GPIO pins. The UART function is implemented in PRU firmware.
I want to emulate UART with PRUs in my bare metal AM335x project. How can I reach these PRU firmware files?