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TMDSSK3358: Booting AM335x processor with different kernel version than the one in the PROCESSOR-SDK-LINUX-AM335X (Version: 06.03.00.106)

Part Number: TMDSSK3358

The PROCESSOR-SDK-LINUX-AM335X has linux kernel version 4.19.94.

I want to use different kernel version for e.g. Linux version 5.4.x, How should I proceed for this.

What changes needs to be done in the SDK ? Or Any other kernel building flow should be used ?