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SK-AM62P-LP: Need inputs on configuring and enabling the UART5 AM625

Part Number: SK-AM62P-LP

Tool/software:

In our current project, we are planning to use the UART5 on AM625P, could you please suggest us how to enable and configure it, we observed it's on A53 Core, can we use it on R5 core.

Could you please share the PIN configuration and Linux configurations of UART5.