Cascada was my project to port the Diminuto systems programming library to the BeagleBoard. This turned out to be a whole lot easier than I anticipated, such that there was no need to spin off a separate source code repository. All the necessary changes are in the Diminuto distribution. Mostly it was just some minor changes to the Diminuto Makefile to use the correct tool chain and compiler options.
Here are some articles that my alter-ego Chip Overclock has written about Cascada: