Thomas Freiherr is working on the libpruio project to allow PRU support 
on the BBB. It is “designed for easy configuration and data handling at 
high speed. libpruio software runs on the host (ARM) and in parallel on 
a Programmable Realtime Unit SubSystem (= PRUSS or just PRU) and 
controls the subsystems”.

http://hackaday.com/2015/02/16/library-upgrade-to-pru-gives-fast-io-on-beaglebone/

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