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LP-AM263: How to configure Open drain buffer in Am263x for I2C communication

Part Number: LP-AM263
Other Parts Discussed in Thread: TMP100

Tool/software:

we are trying to implement I2c communication with TMP100 IC, but in TRM it is mentioned that I2C[1:3] instances are LVCMOS buffer (not implemented in open drain buffer), to make them open drain buffer what are the configurations we need to do and what are the registers we need to modify.
What is the use case of this register "I2C_ICPDRV"?

Thanks in advance...