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TMS320F28378D: Arbitration CPU1/CPU2 on the same Data Bridge ?

Part Number: TMS320F28378D


I have noticed that on the same bridge, CPU1 and CPU2 are connected.
In the case of CAN CPU1/CPU2 selection is done with CPUSEL8.

If the 2 CPUs access 2 different CAN at the same time, Is there a time arbitration?

Best regards