Embedded systems are mainly used in real world application. Where in real world application, there are time constrains, so Linux would not be competent for such application. This paper deals with design, implementation and testing of real time drivers for I2C and UART processor controllers on Beaglebone Black. Embedded Board runs with Linux 3.8.13 and real time co-kernel, Xenomai-2.6.3. Beaglebone Black has cortex A8 processor with 1GHz frequency. Xenomai Real Time Driver Model (RTDM) drivers are made for I2C and UART processor controller and their performance parameters were tested.