For those who may be interested I have been developing a Java library that is 
designed to work on all single board computers. It makes use of dynamically 
loaded providers for the actual device communication. There is an in-built 
provider that supports GPIO and PWM via sysfs, I2C via SMbus and SPI via kernel 
ioctl (via a small JNI library).
This in-built provider should be portable to any Linux based SBC. The library 
currently provides support for BBB, Pi, Odroid C2, CHIP, Asus TinkerBoard as 
well as Arduino connected via USB (these are the boards that I own).
For the Beaglebone Black you can use either the in-built provider or 
alternatively one based on the BBBIOlib that uses memory mapped GPIO access for 
high performance.
Website: http://www.diozero.com/

Feedback is very much welcome. 

Matt

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