The TI PRU compiler is at /usr/bin/clpru on my BeagleBone (from Adafruit, with Debian). If it's not on your BeagleBone, you can download it here: http://elinux.

The TI PRU compiler is at /usr/bin/clpru on my BeagleBone (from Adafruit, with Debian). If it's not on your BeagleBone, you can download it here: http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#TI_PRU_Code_Generation_Tools http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#TI_PRU_... I'd recommend using the CCS IDE (as I describe in the article) rather than the command line compiler, but it's up to you. You'll still probably encounter frustration - it's not an Arduino experience for sure.