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TMS320F28374D: Directly accessing CPU2_CLA2 with CPU1

Part Number: TMS320F28374D

Hello TI team,

I'm currently working with a TMS320 F28374D and want to use the CPU2_CLA1 for additional calculations. 

I try to avoid the route from CPU1 to CPU2 and then to CPU2_CLA1 for calculation and all the way back.

Is there any possibilty to start a task on CPU2_CLA1 directly using only CPU1?

Thank you in advance!

Best regards,

Viktor