Sure, there's a simple way:

Am Freitag, 3. Januar 2020 09:43:05 UTC+1 schrieb Tallak Tveide:
>
> So my question is: how could I detect that the PRU is ready for use after 
> boot. Just now I am using a `sleep`, but this is not a robust solution.
>
> Extra question: Is there a way to boot the PRU code automatically at boot 
> without having to echo `start` to the `state`file?
>

Drop rprog and use uio_pruss instead. The PRU starts depending on your ARM 
code. Ie early in the boot sequence, like 7 seconds after poweron, and 12 
seconds before network is up and SSH can connect (in a 19 seconds boot).  

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