There are two examples, one for PRU0 and another for PRU1.  So you will get 
rpmsg_pru30 for PRU0, and rpmsg_pru31 for the other.
So if you are seeing rpmsg_pru31, this is a major step forward and you have 
it working!!!
Also note the "c" at the first column of the ls; this indicates a character 
device.  It's good news.

So I think the scripts prumodin and prumodout must be looking for the wrong 
file names.  It is probable they are not consistent as kernel changes are 
rolled out.
So:

ls /sys/bus/platform/devices

Do you see PRU related entries as shown in the set-up documentation?  There 
are probably small differences which are breaking the scripts.

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