I've got to be missing something obvious, but I even after several rounds 
of RTFM, I can't seem to figure out how to get the PRU to change the 
direction of a pin or, at the very least, to let it go to a tri-state value.

I would go out over the L3/L4 (although that kinda smashes the whole 
"real-time" thing), but won't that bump into the fact that the processor 
needs to be in supervisor mode?

Any help would be appreciated.

Thanks.

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