I am in the middle of struggling while introducing myself to the PRU. I 
want to contribute to the world to help some other struggling individual 
and this seems like the right place to post a solution.

I am using Beaglebone Black Rec C. 
Running the uboot_overlay_pru=AM335X-PRU-RPROC-4-19-TI-00A0.dtbo defined in 
/boot/uEnv.txt

If you do not see the /dev/rpmsg_pru3* devices and you expect them, the zip 
file I have attached has a working solution to make them show up. I believe 
the solution has a lot to do with the right resource file and the PRU code. 
They will not simply just show because you have 2 PRU's. This may seem 
obvious to the more advanced PRU people, but took me a couple of weeks to 
figure this (and other things) out.

Here are my results after days of trying to figure out the magic to get the 
devices to show up:

root@beaglebone:/home/debian/rpmsg_pru# ./run.sh
rpmsg_pru30
rpmsg_pru31

Once the devices show for you:

echo "test30" > /dev/rpmsg_pru30
echo "test31" > /dev/rpmsg_pru31

cat /dev/rpmsg_pru30
<Ctrl> - c

cat /dev/rpmsg_pru31
<Ctrl> - c

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<<attachment: rpmsg_pru.zip>>

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