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Linux/AM5728: Setting a pin as GPIO - where should it be done?

Part Number: AM5728

Tool/software: Linux

Using TISDK 4.02 and AM5728 custom board, I am trying to figure out what the best way is to set a pin to GPIO output with pullup.

Can I do it in U-Boot (in mux_data.h) and not worry about it in Kernel? Or should I create a gpio property in my device tree and do another pinmux?