It looks like the new way to talk to the PRUs is via remoteproc and RPMsg.  

Does anyone have pointers to some good tutorials?  Or some good debuggers?

ZeekHuge has a Google Summer of Code project (2016) 
<https://github.com/ZeekHuge/BeagleScope>that has some nice remoteproc 
examples, and he
built some nice tools.  

I'm putting together a wiki 
<http://elinux.org/EBC_Exercise_30_PRU_via_remoteproc_and_RPMsg> that shows 
how to setup your Bone to run his examples. 
(http://elinux.org/EBC_Exercise_30_PRU_via_remoteproc_and_RPMsg).
I'm open for additions/corrections so we can have a one stop place for 
those using the PRUs with remoteproc.

--Mark



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