@Jim F: Thank's for the helpfull hint!

@[email protected]

Comment the RPROC line in file /boot/uEnv.txt. It should look like

#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo
uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo

After saving and rebooting, the command ls -l /dev/uio* should output

crw-rw---- 1 root users 243, 0 Apr 29 06:42 /dev/uio0
crw-rw---- 1 root users 243, 1 Apr 29 06:42 /dev/uio1
crw-rw---- 1 root users 243, 2 Apr 29 06:42 /dev/uio2
crw-rw---- 1 root users 243, 3 Apr 29 06:42 /dev/uio3
crw-rw---- 1 root users 243, 4 Apr 29 06:42 /dev/uio4
crw-rw---- 1 root users 243, 5 Apr 29 06:42 /dev/uio5
crw-rw---- 1 root users 243, 6 Apr 29 06:42 /dev/uio6
crw-rw---- 1 root users 243, 7 Apr 29 06:42 /dev/uio7

Regards

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