It sounds like you're using libprussdrv. In that case it's pretty simple:

   1. Let the PRU code write the counter value to address 0 (= beginning of 
   DRam), ie. a 4 byte integer.
   2. Get a DRam pointer in the ARM code by function prussdrv_map_prumem(), 
   and read the 4 byte interger value from that address.


BR

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