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TPS65921 getting started

Other Parts Discussed in Thread: TPS65921

I am new to using the TPS65921 devices and I am looking for some basic information. How do I access the internal registers? Is it through the I2C or USB? Can I set the register value to ensure the same start-up state each time or does the device start in a default state power-up then allow register config across the I2C interface.

Thanks