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RTOS/AM5728: Boot from DSP

Part Number: AM5728
Other Parts Discussed in Thread: AM5726

Tool/software: TI-RTOS

I am new to the TI C66xx and Sitara Processors. I am trying to find a DSP that meets my requirements. At the moment, the AM5726/28 are my top choices, however I have had issues with booting from the ARM processor to gain access to the built-in DSP (i.e. when the ARM crashes, does the DSP also crash, etc). The cost increase and the required CAN, SPI, I2C, and GPIO connections are what makes the C66xx family insufficient for my usage. I plan to use either Bare Metal or RTOS; not the Linux OS. 

My inquiry is in regards to getting the DSP to become the master boot core, rather than going through the A15 ARM to get there. Is this possible booting from an external source (microSD card?) or is there an adjustment I can make within the hardware to make it permanently boot from DSP? 

Other threads I've reviewed: 

https://e2e.ti.com/support/arm/sitara_arm/f/791/t/572416?AM5728-Cores-boot-sequence

https://e2e.ti.com/support/arm/sitara_arm/f/791/t/557897?AM572x-GPIO-ARM-and-DSP-control

https://e2e.ti.com/support/arm/sitara_arm/f/791/t/509681

Thank you in advance.