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How to do start DM368 via HPI by uploading customized UBL, UBoot and Linux Kernel?

Hello everyone,

I want to configure DM368 to HPI mode, and then let OMAP starts DM368 by uploading customized UBL, UBoot and Linux Kernel. I know it is feasible, but how to do that? Could anyone provide me any suggestion or document?  If there is the source code, it will be greatly appreciated.

Thanks in advance,

Jeff