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Setting up to develop for BeagleBone Black / Black Wireless

I have been working with the BBB and BBBw on some small projects for the past couple of years mostly writing in C for the ARM side using Cloud9 running right on the Beaglebone.  I now need to use the PRUs and think CCS probably provides better tools.

My development host is a Windows 10 PC and I connect to the Beaglebone using USB or the Wireless over wi-fi.  

I do not have a debug probe device and prefer not to purchase one.  I have read mixed reviews about whether they would be valuable in my application.

So, is there any documentation on how to develop in CCS on Windows10 and then execute the code on the BB over USB or wi-fi to test it?   I suspect without the probes, some debug capabilities will be lost but I am ok with that for now.

I'm lost right now so I'd appreciate any help that you can provide.


WC