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AM62A7: Modifying resource management and recompile into binary

Part Number: AM62A7

I needed to modify sciclient_defaultBoardcfg_rm.c to allocate particular GPIOMUX router output to the R5F. I'm confused as to how exactly to recompile the file and rebuild SPL.

I made my changed to sciclient_defaultBoardcfg_rm.c manually then attempted to recompile using instructions I found here:

gmake -s -C tools/sysfw/boardcfg SOC=am62ax 

But I get this error:

/bin/bash: line 1: /opt/ti/ccs1281/ccs/utils/tiobj2bin/tiobj2bin: No such file or directory

Moreover, I would I need to rebuild SPL (which would mean rebuilding U-Boot, right?). Is there instructions for this?