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AWR2944: "Illegal operation and instruction traps" Implementation

Part Number: AWR2944

Hello Team,

    I am in need to implement illegal instruction trap monitoring safety implementation.

I have gone through Cortex-R5 Technical Reference Manual section 3.8.6 Undefined instruction

but I am not getting an exact idea on this illegal instruction trap implementation.

Is there any example code about how to configure Undefined instruction and how to know it trapped a illegal operation ?