Interesting.  On more recent distributions I did not have to use the -f 
option.
In some earlier TI documentation, rmmod -f was the recommended method to 
remote the PRU RemoteProc module.
But there have been changes since then and the PRU RemoteProc framework has 
continued to mature.

Please see the documentation in this project for another method to control 
RemoteProc from sysfs in user-space:

https://www.hackster.io/Greg-R/pru-pid-motor-speed-controller-with-beaglebone-green-ccb805?ref=search&ref_id=remoteproc&offset=1

Follow the link to the github repository.  The documentation is in the doc 
directory.  Look for the PDF file.
Also there is a link to ZeekHuge's github repository where you can find 
more information.

Regards,
Greg

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