this is a very old thread, it has been several revisions of both beagle 
boards (e.g. beagle bone black) & raspberry pi e.g. today we've rpi 3 model 
B which sports a quadcore A53 while beagleboard has x15 which is a 'monster 
of a (embedded) board' lol

i actually wished that x15 would be somewhat more economical to afford but 
nevertheless x15 has all the horsepower for very fast io computing (e.g. 
the many RPU units + dual core high performance processes) which puts it in 
a different class to a similar level as high speed FPGAs

fast forward to today, i'd say beagle bone black vs raspberry pi (3) meets 
different needs.

for the pi 3, i actually like the rather low cost high megapixel camera 
high speed (csi) interfaces, quad core a53 and the affordable price point, 
this time round it could really do hd 1080p the downside unfortunately is 
that the cpu / soc technical docs/manuals is not officially released to the 
public, MIPI CSI / DSI proprietary interfaces remains a NDA affair 

for now x15 is somewhat too pricey for my (hobby) purposes but i still find 
the plain old beagle bone black a useful board in many circumstances.
the open documentation and the headers design (all the IO lines is exposed) 
is a big win on the beagle bone black.
it can readily be interfaced with other micro-controller projects such as 
the stm32 F1, stm32 F4, ESP 8266 (for wifi) boards 
the built in lcd controller brought about these commercial LCD / 
touchscreen solutions
http://www.element14.com/4d-systems/4dcape-70t/lcd-cape-module-bbone-black-dev/dp/2451218
http://www.element14.com/element14/bb-view-70/7inch-lcd-display-cape-for-beaglebone/dp/2364757
http://www.element14.com/4d-systems/4dcape-43t/lcd-cape-module-bbone-black-dev/dp/2451217

i bought one of those lcds which very much makes beagle bone black very 
much a mobile computer in which the GPIO lines are very much ready to be 
used.
this puts the beagle bone black into a different use case niche on its own, 
it become a very strong platform for portable monitoring / sensor devices
it can readily be used as a portable oscilloscope or logic analyser
http://beta.beaglelogic.net/

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