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Need clarification on USB DFU on AM57XX processors

Is there more detailed description on how the USB DFU should work. I went through TRM but some details are missing. For example it is stated that CH header can be added to the image downloaded, but there is no explanation on how the processor can distinguish between image with or without CH. Next how GP header should work in this case and is it needed? I would like also to know where can I get u-boot default config for GP type processor since only HS default config is available in git.

Thanks.