working with TI PRU CAPE in Debian?

I bought the TI PRU Cape thinking it would be a good way to learn to use the BBB PRU. But I have not been able to find a tutorial on using the cape on a BBB in an ‘out-of-the-box’ configuration running Debian.

Does this exist? If so, a link would be much appreciated.

With a 4.1.x based kernel:


Looking at the first link, the “Hands-on Labs” will be what you are looking for. Specifically, Lab4 onwards.