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Re:PocketBeagle – A $25 open-source USB-key-fob computer by jarmitage on Thursday September 21, 2017 @12:12PM (#15304914)
There's this framework for the PRUs that came out recently but haven't tried it

https://github.com/nesl/Cyclops-PRU

Re:PocketBeagle – A $25 open-source USB-key-fob computer by jdkticom on Thursday September 21, 2017 @03:50PM (#15306768)
That looks pretty neat and I'll have to try it out.

Personally, this is my bare skeleton for working with the PRU: https://gist.github.com/jadonk/2ecf864e1b3f250bad82c0eae12b7....