Hi,
I'm not sure to catch your request. What do you mean by 'configure the MPU chip' ?
Do you talk about Flashing the eMMC ? Fusing some OTP ?
With BOOT=0b010 (eMMC), If eMMC FSBL header is not valid (i.e. no magic number, bad CRC), the BootROM will fallback to USB boot. This is useful, e.g. in production when booting from virgin eMMC, to allow flashing with CubeProgrammer without having to play with BOOT pins.
You could find information in https://wiki.st.com/stm32mpu/wiki/STM32MP15_ROM_code_overview
Regards.
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