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pi@raspberrypi:~ $ halrun -I
halcmd: loadrt hal_pi_gpio
Note: Using POSIX realtime
Raspberry Pi 5 Model B Rev 1.0 found
The Pi model 23 is not known to work with this driver but will be assumed to be be using the RPi2+ layout 40 pin connector
HAL_PI_GPIO: can't open /dev/gpiomem:  2 - No such file or directory
If the error is 'permission denied' then try adding the user who runs
LinuxCNC to the gpio group: sudo gpasswd -a username gpio
HAL_PI_GPIO: can't open /dev/mem:  13 - Permission denied
hal_pi_gpio: rtapi_app_main: Operation not permitted (-1)
<stdin>:1: waitpid failed /usr/bin/rtapi_app hal_pi_gpio
<stdin>:1: /usr/bin/rtapi_app exited without becoming ready
<stdin>:1: insmod for hal_pi_gpio failed, returned -1
halcmd:

pi@raspberrypi:~ $ halrun -I
halcmd: loadrt hal_gpio inputs=GPIO6,GPIO12,GPIO13,GPIO16,GPIO17,GPIO18,GPIO19 \
halcmd+: outputs=GPIO20,GPIO21,GPIO22,GPIO23,GPIO24,GPIO25,GPIO26,GPIO27 \
halcmd+:  invert=GPIO20,GPIO27 \
halcmd+:   reset=GPIO21,GPIO22
Note: Using POSIX realtime
halcmd: show pin
Component Pins:
Owner   Type  Dir         Value  Name
     4  bit   OUT         FALSE  hal_gpio.GPIO12-in
     4  bit   OUT         FALSE  hal_gpio.GPIO12-in-not
     4  bit   OUT         FALSE  hal_gpio.GPIO13-in
     4  bit   OUT         FALSE  hal_gpio.GPIO13-in-not
     4  bit   OUT         FALSE  hal_gpio.GPIO16-in
     4  bit   OUT         FALSE  hal_gpio.GPIO16-in-not
     4  bit   OUT         FALSE  hal_gpio.GPIO17-in
     4  bit   OUT         FALSE  hal_gpio.GPIO17-in-not
     4  bit   OUT         FALSE  hal_gpio.GPIO18-in
     4  bit   OUT         FALSE  hal_gpio.GPIO18-in-not
     4  bit   OUT         FALSE  hal_gpio.GPIO19-in
     4  bit   OUT         FALSE  hal_gpio.GPIO19-in-not
     4  bit   IN          FALSE  hal_gpio.GPIO20-out
     4  bit   IN          FALSE  hal_gpio.GPIO21-out
     4  bit   IN          FALSE  hal_gpio.GPIO22-out
     4  bit   IN          FALSE  hal_gpio.GPIO23-out
     4  bit   IN          FALSE  hal_gpio.GPIO24-out
     4  bit   IN          FALSE  hal_gpio.GPIO25-out
     4  bit   IN          FALSE  hal_gpio.GPIO26-out
     4  bit   IN          FALSE  hal_gpio.GPIO27-out
     4  bit   OUT         FALSE  hal_gpio.GPIO6-in
     4  bit   OUT         FALSE  hal_gpio.GPIO6-in-not
     4  s32   OUT             0  hal_gpio.read.time
     4  s32   OUT             0  hal_gpio.reset.time
     4  s32   OUT             0  hal_gpio.write.time

halcmd: