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hdvpss_v4l2 binary loading

hi,

I have modified hdvpss v4l2 code, i have compiled and generated  ti816x_hdvpss_512M.xem3 binary . previously i have been using  ti816x_hdvpss_v4l2.xem3(built in binary) loading using firmware loader, now i came to know that we should use slaveloader instead of firmwareloader to load new compiled binary (which is not built in)  built from code whether it is true.

please send me slaveloader command and how to load  ti816x_hdvpss_512M.xem3 binary using slaveloader.