Many header files are packaged in SDK which defines macros
which can be directly used when coding in assembly, path = <sdk/source/pru_io/firmware/>
with extension .inc
Documentation for those can be found here: PRU Source Macros Documentation
Refer to pru-software-support-package/include for available library files available for development in C. And follow pru-software-support-package/labs to get started with using these libraries.