Is there documentation on how to write an instantiable HAL component in C? I’ve been making modifications to hal_pru_generic to work on the BeagleBone AI. hal_pru_generic is implemented in such a way that only 4 GPIO ports can be used. The BBB only has 4 GPIO ports, so any pin on the P8 and P9 headers can be used on a single instance of hal_pru_generic. The BeagleBone AI has 8 GPIO ports, so without significant changes to hal_pru_generic, not all pins on the P8 and P9 headers can be accessed from a single instance. The BeagleBone AI does expose many more pins as direct outputs, but I’m unable to instantiate more than one instance of hal_pru_generic in order to take advantage of certain pin configurations. Is it possible to make hal_pru_generic instantiable?
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