Your PRU isn't running code so remoteproc has nothing to control.  Either 
the firmware file is missing from /lib/firmware or it isn't valid code.

On Sunday, March 10, 2019 at 10:27:40 AM UTC-6, gw wrote:
>
>
> [ 1864.134156] remoteproc remoteproc1: powering up 4a334000.pru
> [ 1864.134336] remoteproc remoteproc1: Direct firmware load for 
> am335x-pru0-fw failed with error -2
>
>

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