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Re:How to run C programs on the BeagleBone's PRU microcontro... by gregschlom on Tuesday September 20, 2016 @01:31PM (#12541302)
If you're doing anything big with the BeagleBone's PRUs, it's also worth checking LEDscape (https://github.com/osresearch/LEDscape).

It provides a good reference on how to do complex tasks on the PRU.

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