optee-ftpm startup problem, the device cannot be mounted under /dev

[wahahaha123]

I followed the steps https://github.com/jbech-linaro/manifest/tree/ftpm , entered make in the build, and after make run, normal world and secure world started normally, but when I started in normal world When executing ftpm, the error

modprobe: module tpm_ftpm_optee not found in modules.dep

but I see that there is the module tpm_ftpm_optee.ko in the directory /lib/modules/6.6.0/drivers/char/tpm. After I manually insmod the tpm_ftpm_optee.ko module, it can be executed successfully, but no session is started in the secure world.
When I started optee, an error like this appeared in the secure world. I wonder if it has something to do with it.

D/TC:0 0 check_ta_store:534 TA store: "Secure Storage TA"
D/TC:0 0 check_ta_store:534 TA store: "REE [buffered]"
D/TC:0 0 mobj_mapped_shm_init:721 Shared memory address range: e300000, 10300000
D/TC:0 0 gic_it_set_cpu_mask:251 cpu_mask: writing 0xff to 0x11d00828
D/TC:0 0 gic_it_set_cpu_mask:253 cpu_mask: 0xff
D/TC:0 0 gic_it_set_prio:266 prio: writing 0x1 to 0x11d00428
I/TC: Initialized
D/TC:0 0 init_primary_helper:1063 Primary CPU switching to normal world boot
D/TC:0   psci_cpu_on:215 core pos: 1: ns_entry 0x401014e0
D/TC:1   init_secondary_helper:1087 Secondary CPU Switching to normal world boot
I/TC: Dynamic shared memory is enabled
D/TC:0 0 core_mmu_alloc_l2:274 L2 table used: 2/4
D/TC:? 0 tee_ta_init_pseudo_ta_session:280 Lookup pseudo TA 7011a688-ddde-4053-a5a9-7b3c4ddf13b8
D/TC:? 0 tee_ta_init_pseudo_ta_session:293 Open device.pta
D/TC:? 0 tee_ta_init_pseudo_ta_session:307 device.pta : 7011a688-ddde-4053-a5a9-7b3c4ddf13b8
D/TC:? 0 tee_ta_close_session:398 csess 0xe171f40 id 1
D/TC:? 0 tee_ta_close_session:417 Destroy session
D/TC:? 0 tee_ta_init_session_with_context:477 Re-open TA 7011a688-ddde-4053-a5a9-7b3c4ddf13b8
D/TC:? 0 tee_ta_invoke_command:673 Error: ffff0009 of 4
D/TC:? 0 tee_ta_close_session:398 csess 0xe171e40 id 1
D/TC:? 0 tee_ta_close_session:417 Destroy session

On the normal world, the error is reported like this

Starting system message bus: done
Set permissions on /dev/tee*: OK
Create/set permissions on /data/tee: OK
Starting tee-supplicant: optee: PTA_CMD_GET_DEVICES invoke function err: ffff0009
------------[ cut here ]------------
WARNING: CPU: 1 PID: 36 at drivers/tee/optee/core.c:84 process_scheduled_works+0xd4/0x440
Modules linked in:
CPU: 1 PID: 36 Comm: kworker/1:1 Not tainted 6.6.0 #20
Hardware name: Generic DT based system
Workqueue: optee_bus_scan optee_bus_scan
 unwind_backtrace from show_stack+0x10/0x14
 show_stack from dump_stack_lvl+0x40/0x4c
 dump_stack_lvl from __warn+0x7c/0x15c
 __warn from warn_slowpath_fmt+0x1a4/0x1b0
 warn_slowpath_fmt from process_scheduled_works+0xd4/0x440
 process_scheduled_works from worker_thread+0x164/0x374
 worker_thread from kthread+0x120/0x13c
 kthread from ret_from_fork+0x14/0x28
Exception stack(0xc28cdfb0 to 0xc28cdff8)
dfa0:                                     00000000 00000000 00000000 00000000
dfc0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
dfe0: 00000000 00000000 00000000 00000000 00000013 00000000
---[ end trace 0000000000000000 ]---
OK
Starting network: OK
Starting network (udhcpc): OK
Starting tpm2-abrmd: device driver not loaded, skipping.

I would like to ask, what is the cause of this?