Cannot enable UIO on BeagleBone Blue 5.10.109-bone-rt-r63 kernel

[yuri-rage]

I am trying to use the UIO driver for PRU on a Blue board with the 5.10.109-bone-rt-r63 kernel and cannot get it working. I have achieved success with 4.19, but it appears something has changed in 5.10. I have blacklisted the RPROC driver.

Here is the config-pin and version.sh output:

sudo config-pin -l P8_15
ERROR: open() for /sys/firmware/devicetree/base/ocp/P8_15_pinmux/pinctrl-names failed, No such file or directory

sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[674bb55e34e94e3837f4f55790c7d1a52c9e149f]
eeprom:[A335BNLTBLA21722EL001769]
model:[TI_AM335x_BeagleBone_Blue]
dogtag:[BeagleBoard.org Debian Buster Console Image 2022-03-02]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot SPL 2019.04-g923f8b8 (Jan 02 2022 - 19:05:15 +0000)]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-boneblue.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-UIO-00A0]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
UBOOT: Loaded Overlay:[BB-I2C1-00A0]
kernel:[5.10.109-bone-rt-r63]
device-tree-override:[dtb=am335x-boneblue.dtb]
/boot/uEnv.txt Settings:
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
uboot_overlay_options:[dtb_overlay=/lib/firmware/BB-I2C1-00A0.dtbo]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20220705.6-0~buster+20220705]
pkg:[bb-usb-gadgets]:[1.20220713.0-0~buster+20220713]
pkg:[bb-wl18xx-firmware]:[1.20211222.2-0~buster+20211222]
pkg:[kmod]:[26-1]
WARNING:pkg:[librobotcontrol]:[NOT_INSTALLED]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin i2c tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
[   29.856408] Bluetooth: hci0: change remote baud rate command in firmware
[   46.468330] Bluetooth: hci0: change remote baud rate command in firmware
dmesg | grep pru
[    2.564961] sysfs: cannot create duplicate filename '/bus/platform/devices/4a300000.pruss'
dmesg | grep pinctrl-single
[    2.139114] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper