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+# PRU firmware for 12 x PWM output and RC input
+
+RC AllInOnePRU can be used with BeagleBone Black
+
+* Written in [PRU Assembly](http://processors.wiki.ti.com/index.php/PRU_Assembly_Reference_Guide)
+* 1 channel RCInput with 5ns accuracy
+* 12 channel RCOutput with 1us accuracy 
+
+## Build and install pasm (PRU Assembler) 
+1. `git clone https://github.com/beagleboard/am335x_pru_package.git`
+2. `cd am335x_pru_package`
+3. `sudo make install`
+
+## Rebuild RCAioPRU.p
+1. `cd ardupilot/Tools/Linux_HAL_Essentials/pru/aiopru`
+2. `make`
+