Seems to have a C66x DSP instead of the OMAPs C64x, though I have no idea what that actually means in terms of compatibility. Otherwise they seem to be sufficiently similar, same CPUs, same GPUs, same video decoder. A few differences (if I understand correctly, the AM5x is doubled up on everything with two GPUs, two DSPs, and four M4s) but nothing that should actually halt something written for one being directly compatible with the other.