Tool/software:
Keywriter firmware is a fixed functionality SW which enables the transitioning of the Secure device life cycle from HS-FS (development variant with out security enforcement) to HS-SE (production variant with security enforced). This device type transition for every SoC can happen only once either in development environment.
Hence atmost care should be taken during this process to avoid bricking of the device.
Following are TI's suggestions and recommended flow for AM263x device