If your need a timer, each PRU has a ECAP module that can work as a PWM. You can use the ECAP module's timer to set a flag each time period for timing loops. I set a timer period of 1/100th second and the PRU runs a tight loop running a stepper motor. After each step, it waits for the timer to reset, clears the overflow flag and does the next step. That way the main loop has a fixed delay of 1/100th second per step.
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