AI-64 Running code from R5F cores

Hi again, I am trying to use MCU(r5f) on BBAI-64, but how to upload firmware? → i lost

So, What I would like to ask you is the following.

  1. as I said, how to upload firmware to use MCU?
  2. is there any example code for it? I cannot find any sources from the directory below : ti-processor-sdk-rtos-j721e-evm-08_02_00_05/pdk_jacinto_08_02_00_21/packages/ti/
  3. how to use mikro bus? like editing device tree here : BBAI-64 Pinmux Spreedsheet - #5 by jks

Thank you!