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TMS570LC4357: Dual Lock Step CPUs using same bus

Part Number: TMS570LC4357

Hello,

The TMS570LC4357 part has dual lock step CPUs combined into 1oo1D (Single channel with diagnostic channel) as per the safety manual. How independent are the application CPU and diagnostic CPU? Does both the CPU's share the same bus to access the memory and peripherals?

Regards, Infant Jesuraj