Ian and my just were enlightened by the very knowledgable fellow with the nick 
'ds3' how to go about the task

for reference, the thread is here;

http://linuxcnc.mah.priv.at/irc/%23linuxcnc/2013-05-03.html#04:24:30

it would seem to me those lessons apply both to the Raspberry and Beaglebone 
flavors of the driver

-m
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