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AM62X: Can M4F access Ethernet device (CPSW)?

I see the AM62X datasheet interrupt connection that CPSW(ethernet) doesn't connect ISR to M4F(cortex-M4).

1. How can M4F use CPSW?

2. Or use Main ESM's error interrupt to route to MCU ESM?

3. Or when A53 get CPSW interrupt, CPSW driver translate IPI interrupt to M4F?