Modern SoCs are a circus of various CPU cores, and there's a huge amount of work going on at the companies that design them to make them work together. Even for

Modern SoCs are a circus of various CPU cores, and there's a huge amount of work going on at the companies that design them to make them work together. Even for those SoCs that run open-source software, many of those secondary cores aren't visible to people outside the company creating the SoC. They're hidden behind binary blob "firmware". One of the systems I worked on over 5 years ago had ARM Cortex-A7s running the main OS (could be Linux), talking to a proprietary DSP running some in-house RTOS, talking to an 6502... The systems I'm currently working on have way more and more modern cores than that. As a user, or even as a developper, you wouldn't know. Kudos to Ken for lifting the curtain a bit on the Sitara's PRUs! It's a shame there isn't more developer availability of these cores. I'm kind of shocked that the way to program these is still just through assembly, but really not that surprised.