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AM67: Main domain R5F user programmable?

Part Number: AM67

Tool/software:

Hello,

Is the R5F core in the MAIN SOC domain on AM67 user programmable? Or is this intended only to be used as the runtime management core? My understanding is that the WKUP_R5F can be used after device initiation, but is that also true for the runtime management core? 

Munan