Is there a convenient way to run programs on the M4F subcore?

I’m just beginning with 32-bit arm assembly, and it would be nice to run my tutorial programs on it. I don’t even know where to start, though.

I have not looked into this yet, but the keyword is remoteproc, also here is some interesting stuff suggesting it is possible:

https://lwn.net/Articles/846626/

https://lore.kernel.org/linux-remoteproc/20210805163943.GE3205691@p14s/T/

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Also somewhere in iMX8MQ reference manual I found mentioning that one of the UART ports (UART4) could be assigned directly to M4F core (eg not through the bus and periphery mapping but at boot time). I didn’t find details about it though, perhaps needs some eFuses.

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