This tutorial has SPI, I2C, PWM, GPIO, ADC, and UART. Its in Python, but it almost exclusively uses the sysfs interface, so porting it to C, or the language of your choice, should be very simple.
https://learn.adafruit.com/setting-up-io-python-library-on-b...
I think they also have a similar library for the RPi.
Platforms like the BBB and RPi have a lot of beginner-level tutorials, but as soon as you try to do anything out of the ordinary (PWM a pin, or issue repeated I2C start), you end up on your own.