How to run C programs on the BeagleBone's PRU microcontrollers

This article describes how to write C programs for the BeagleBone’s microcontrollers. The BeagleBone Black is an inexpensive, credit-card sized computer that has two built-in microcontrollers called PRUs. By using the PRUs, you can implement real-time functionality that isn’t possible in Linux. The PRU microcontrollers can be programmed in C using an IDE, which is much easier than low-level assembler programming. I recently wrote an article about the PRU microcontrollers, explaining how to program them in assembler and describing how they interact with the main ARM processor; so read it for more background.”