This is a fully functioning PRU interrupt example that works on my BBB revision C board. This example demonstrates the PRU interrupting the host using PRU0 and PRU1.
This example is ready to compile and ready-to-run example that had both the application code and the PRU code together. Hope this helps you. This provides clarity to those trying to figure this out.
git clone https://gitlab.com/brucechidester/pru-interrupt-example.git
or browse to: