Is it possible to do formal verification of firmware related functions in JasperGold?

I am currently trying to do formal verification of safety mechanisms in JasperGold. However, part of the safety mechanism is first implemented in Firmware and later, based on this, safety flags are set/reset in HW.

Therefore, my question is that: Whether it is possible to do formal verification of firmware related functions in JasperGold(as in this case, it occurs in the cone of influence COI)? Many Thanks.