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SK-AM62A-LP: How are peripheral interface resources allocated by am62a and mcu r5f and dm r5f

Part Number: SK-AM62A-LP
Other Parts Discussed in Thread: SYSCONFIG

Tool/software:

As for am62ax and processors, a53, mcu r5f, dm r5f and c7x are mentioned in the document. According to the mcu sdk document, there are main domain, mcu domain and DM domain, and the mcu can access the peripheral resources of the other two domains. Only access the main domain GPIO/I2C/SPI/UART, as well as the DM domain I2C, it is not clear, first of all, how the mcu's own peripheral resources are allocated, such as which gpio/i2c interface is allocated to the mcu, the corresponding gpio pin name and so on, there is no documentation. Is it through sysconfig? Is there any specific file that can be shared, about the A53 core, about the peripheral resources can only be found from dts, if so, this is too inhuman, can you explain it in detail, or the document can also be ok.

thank you for you reply!

Demon Wu