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AM623: Usage of A53 serial port

Part Number: AM623

Tool/software:

Hi, TI expert! 

I have a development environment for am6234, with our own evaluation board.

The software SDK version is PROCESSOR-SDK-LINUX-RT-AM62X-08.06.00.42.

May I ask if it is possible to use the serial port of A53 core in R5 core?

For example, I want to run the firmware generated by compiling the MCU SDK in the R5 core, using the main_uart0 serial port of the A53 core in the firmware,as shown in the above figure.

If possible, where can I find the corresponding instructions?

Regards,

Li