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AM5728: Cores access to peripherals

Part Number: AM5728

Hello,

I want using AM5728 sitara processor for my project. 

in the first step, I want to know each peripheral is derived by which core,

for example, i2c1 is derived by DSP?or by cortex M-4 core? or by cortex A-15 core?

I read data sheet and technical reference manual, but I didn't find this.

I just find this:

"IPU1 subsystem is available for general purpose usage

IPU2 subsystem is dedicated to IVA-HD support and is not available for other processing"

please refer me to a reference or the section of TRM to know this.

Thanks.