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PROCESSOR-SDK-AM62X: How configure the UART from GPIO and GPIO from UART?

Part Number: PROCESSOR-SDK-AM62X


Tool/software:

Hello TI team,

My application requirement is during application runtime the UART pin should be convert to GPIO for some functionality, and after that this particular pin must be again configure as a GPIO.

What is the step I should follow? 

How to do it with register method or any API is there to change pinmux during run time?