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Accessing AM3505 Boot Rom code after boot

Is it possible to use the boot ROM code after the unit has been booted?  For example, can I use it for reading a USB device, or the Ethernet device?

I couldn't find anything in the AM35x ARM Microprocessor Technical Reference Manual that talked about that.

If it is possible, what are the functions that are accessible and what are the function prototypes?

Thanks in advance,

Matt Gessner