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AM62P-Q1: AM62Px: Custom SW for e-fuse writing

Part Number: AM62P-Q1

I would like to run a custom software on the R5F core that can receive a CAN frame that triggers e-fuse writing for the enforcement of Secure Boot.

If this is possible, can you provide with an example or links to the relevant documentation (e.g., API for Secure Boot e-fuse writing)?