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pi@raspberrypi5:~ $ uname -a
Linux raspberrypi5 6.1.61-rt16-v8_16k-elvrt+ #3 SMP PREEMPT_RT Tue Nov 7 13:13:29 CET 2023 aarch64 GNU/Linux

pi@raspberrypi5:~ $ 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) 
:1:waitpid failed /usr/bin/rtapi_app hal_pi_gpio
:1:/usr/bin/rtapi_app exited without becoming ready
:1: insmod for hal_pi_gpio failed, returned -1

pi@raspberrypi5:~ $ halrun -I
halcmd: loadrt hal_gpio inputs=PIN31,PIN32,PIN33,PIN36,PIN11,PIN12,PIN35 \
halcmd+:                                 outputs=PIN38,PIN40,PIN15,PIN16,PIN18,PIN22,PIN37,PIN13 \
halcmd+:                                 invert=PIN38,PIN13 \
halcmd+:                                 reset=PIN40,PIN15
Note: Using POSIX realtime
halcmd: show pin Component Pins: Owner   Type  Dir         Value  Name      
4  bit   OUT         FALSE  hal_gpio.PIN11-in      
4  bit   OUT         FALSE  hal_gpio.PIN11-in-not      
4  bit   OUT         FALSE  hal_gpio.PIN12-in      
4  bit   OUT         FALSE  hal_gpio.PIN12-in-not      
4  bit   IN          FALSE  hal_gpio.PIN13-out      
4  bit   IN          FALSE  hal_gpio.PIN15-out      
4  bit   IN          FALSE  hal_gpio.PIN16-out      
4  bit   IN          FALSE  hal_gpio.PIN18-out      
4  bit   IN          FALSE  hal_gpio.PIN22-out      
4  bit   OUT         FALSE  hal_gpio.PIN31-in      
4  bit   OUT         FALSE  hal_gpio.PIN31-in-not      
4  bit   OUT         FALSE  hal_gpio.PIN32-in      
4  bit   OUT         FALSE  hal_gpio.PIN32-in-not      
4  bit   OUT         FALSE  hal_gpio.PIN33-in      
4  bit   OUT         FALSE  hal_gpio.PIN33-in-not      
4  bit   OUT         FALSE  hal_gpio.PIN35-in      
4  bit   OUT         FALSE  hal_gpio.PIN35-in-not      
4  bit   OUT         FALSE  hal_gpio.PIN36-in      
4  bit   OUT         FALSE  hal_gpio.PIN36-in-not      
4  bit   IN          FALSE  hal_gpio.PIN37-out      
4  bit   IN          FALSE  hal_gpio.PIN38-out      
4  bit   IN          FALSE  hal_gpio.PIN40-out      
4  s32   OUT             0  hal_gpio.read.time      
4  s32   OUT             0  hal_gpio.reset.time      
4  s32   OUT             0  hal_gpio.write.time

pi@raspberrypi4:~ $ uname -a
Linux raspberrypi4 6.1.54-rt15-v8+ #1 SMP PREEMPT_RT Fri Sep 29 08:29:09 BST 2023 aarch64 GNU/Linux

pi@raspberrypi4:~ $ 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