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Hi Jian,
The lockstep is the mode of operation of the dual ARM Cortex-R5F CPUs. The device has one module called CCM-R5F. During CPU lockstep mode, the outputs of the two CPUs are compared on each CPU clock cycle by this module. Any miscompare is flagged as an error of the highest severity level. The outputs of the two VIMs in lockstep are also compared on each cycle by this module.
The lockstep is the operation mode by default.