This is just a link to a pdf for now, I plan on converting it to a regular blog post and taking down the link when I retest this with the latest stuff. Be aware that I created the document a few months ago and I haven't used it in a while so I expect some of the versions of the tools and sources has changed by now.
Update from Charles Hamilton's comment:
"on page 25 of the pdf, you have the BBB address as 192.168.2.7, and it should be 192.168.7.2."
Here is the end result showing the bbb_hellow_world.c debug session.