Correct me if I am wrong, but it appears that you simply want to use ADC 
and PRU pins whose pins DO NOT physically overlap on the board?  The 
cape-bone-iio device tree only grabs the ADC0-ADC7 pins plus analog power 
and ground, so it should not interfere with the PRU pins.

What issue are you getting when you try to load the PRU overlay after 
loading the ADC overlay?

Note:  The adafruit library has a cleanup function in code, but it is 
commented out due to the lockup on load that you are describing.

Zach

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