Linux/AM4378: Motion control in PRU

Part Number:AM4378

Tool/software: Linux

Hi sir,

I am running a real time control project using processor AM4378. In this project a minimum latency is required, and  it is possible to implement the control function in the PRU as described in spry246b .

There are few questions as follows :

1. How much memory size can be used to implement the control algorithm ? Is there any limitation except for the RAM size ?

2. The control algrithm may use some math functions like sin /cos/ tan/... etc,  and some types of variables such as float, double,...  Is it okay to do it in PRU ?

3. Can ETHERCAT master be executed in PRU for the same reason of a minimun latency?

Best regards,

richard