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AM335X: Programming the device

Part Number: AM3359

Hello, 

I recently got into developing embedded systems. I have a lot of the information down but I don't understand how the microprocessor is programmed I've searched online and I keep getting information on coding which I already understand. My question is how do you communicate with the hardware? I'm designing using the am3359 can any one tell me how it's done or give me helpful links to the information.