PyPRUSS is a Python binding for controlling the PRUs on BeagleBone.

For examples and inspiration: http://hipstercircuits.com/?cat=5

http://wiki.thing-printer.com/index.php?title=PyPRUSS_on_BeagleBone

git clone https://bitbucket.org/intelligentagent/pypruss.git  
cd pypruss
python setup.py install
export LD_LIBRARY_PATH=/usr/local/lib  

Note that you must load the uio_pruss kernel module. There is a function for loading and unloading this in the library called modprobe() with an optional argument for the DDR size. To do it manually its "modprobe uio_pruss". This must be done on every boot.

Update: It appears there is trouble with the pasm compiler. The following might not work..

cd PyPRUSS/examples/blinkled  
make  
python blinkled.py  

You should then see three of the user leds blink 10 times.

There are a few other examples in there as well, have a look at them for other functions.