How to install pinmux Driver in BeagleBone Black

i Aim is to solve Below Error:

ERROR:

*    debian@beaglebone:~$ nano pinmuxTest1.c*
*    debian@beaglebone:~$ gcc pinmuxTest1.c -l:librobotcontrol.so.1 -o pinmuxTest1.o*
*    debian@beaglebone:~$ ./pinmuxTest1.o*
*    ERROR in rc_pinmux_set, failed to write to pinmux driver: No such device*
*    ERROR in rc_pinmux_set, failed to write to pinmux driver: No such device*
*    ERROR in rc_pinmux_set_default*
*    You probbaly just need a newer kernel*
*    sucess 0 == -1*

Info :

Kernel: 5.4.106-ti-r32

BeagleBoard.org Debian Buster IoT Image 2020-04-06
Debian: 10.9

Currently running on a:
MODEL_BB_BLACK_W
Robot Control library Version:
1.0.5

And my Source code as below.

***$ nano pinmucTest1.c***



*#include<rc/pinmux.h>*
*#include<stdio.h>*
*int main()*
*{*
*        int a;*
*        a = rc_pinmux_set_default();*
*        printf("sucess 0 == %d \n",a);*
*}*

Source code Compile with :

gcc pinmuxTest1.c -l:librobotcontrol.so.1 -o pinmuxTest1.o

Run Source code:

./pinmuxTest1.o

Libaray reference : 

Robot Control Library: Pinmux

Thank you