beagleboard/beaglebone-blue

how to use PRU-ICSS uart to send/receive data?

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my device is beaglebone blue. I refer to the https://github.com/MarkAYoder/PRUCookbook/tree/master/docs/04debug/code
when i When I execute this script :uart_setup.sh
export PRUN=0
export TARGET=uart1
echo PRUN=$PRUN
echo TARGET=$TARGET

Configure tx

config-pin P9_24 pru_uart

Configure rx

config-pin P9_26 pru_uart

then it will report error:
x$ config-pin P9.24 pru_uart
dash: echo: I/O error
Cannot write pinmux file: /sys/devices/platform/ocp/ocp:P9_24_pinmux/state
debian@beaglebone:/sys/devices/platform/ocp/ocp:P9_24_pinmux

Doesn't it need to be configured of the BBBLUE?