AFAIK there is no such a guide.

I'm not a cross-compiling expert. But it should be possible to install 
libpruio in the cross-compiler environment. The compiler needs the header 
files in the include directory and the linker needs the binary in the lib 
directory.

Anyway, since libpruio is a hardware driver for AM335x CPU the testing have 
to be done natively.

Regards

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