Bill, I have been studying this myself, it is complex, and the learning 
curve looks to be pretty steep to a newbie embedded programmer.
Here's as clear of an explanation as I have been able to find:

http://processors.wiki.ti.com/index.php/PRU-ICSS_Remoteproc_and_RPMsg

>
I've got the PRU Cape and that combined with the Debian distro and version 
4 kernel it is pretty easy to run the example code using the kernel driver. 
 Understanding what is going on is another story.  If you go to 
exploringbeaglebone.com and look in the chapter "Extra Content Linux Kernel 
Programming" there are 3 articles which guide you through the workings of 
kernel drivers.

Regards,
Greg

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