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AM2431: Flash from SBL or Main Appimage

Part Number: AM2431
Other Parts Discussed in Thread: UNIFLASH

Tool/software:

Related to previous questions about flashing,

Is it possible from the SBL or the Main M4/R5 program to execute a command (possibly send a char set though UART) to trigger xmodem flashing protocol, where I can then send an appimage and write or overwrite the program?

If possible, is there an example of this I can use to go off of to get me started?