It can be seen from TRM that am5708 has there EDMA module.
One system-level EDMA
One DSP internal EDMA (per DSP)
One EVE internal EDMA (per EVE)
How are system-level EDMA channels allocated to ARM and DSP?
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As you mentioned, you can refer to chapter 16 of the TRM for EDMA details. You can also see chapter 5 (section 5.3) for details on DSP subsystem.
Anything which is specific to any core other than ARM, TRM will have prefixes for that (DSP_EDMA, etc.). If any prefixes are not there, you can assume that to be common for all cores.