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TMS570LS20216: copyright question: I would like to use a TI picture in a book I am writing

Part Number: TMS570LS20216


I am currently writing a book "Embedded Software Timing" which will be published by Springer.

In the chapter "Multicore basics" I would like to use the figure below to explain the lock-step concept. I know there are more recent overviews of the Hercules but this old one has a nice emphasis on the lock-step aspects. What do I need to do in order not to violate any copyrights when using this picture? I could not find any form to fill out on the TI website, sorry.

Best regards,