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OMAP-L138: How do I set pinmux registers for this part?

Adam Wozniak66
Intellectual 920 points
Part Number: OMAP-L138

www.ti.com/.../sprab63b.pdf refers to www-s.ti.com/.../sprab63.zip which gives me 404 not found.

www.ti.com/.../omap-l138.pdf mentions only that PINMUX0-PINMUX19 exists, and each entry is 4 bits wide, but gives no other details.

How do I set the PINMUX registers?