pruss = Icss("/dev/uio/pruss/module")
    core = pruss.core0  # CORE 0 is what we are using
    if core.halted:  # this means the PRU hasn't been initialized
        pruss.initialize()
        print("Initializing both PRUs")
    else:
        core.full_reset()  # reset the core
        print("PRU already initialized")

    # load program
    pru_firmware_file = "PRU_FW.bin"
    with open(pru_firmware_file, "rb") as f:
        core.iram.write(f.read())