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RTOS/AM3352: USB to USB Connection

Part Number: AM3352

Tool/software: TI-RTOS

Hi,

Is there any application note or reference on how to connect two devices through USB?
In our application we need to communicate between two AM335x's at high speed and low
latency. Have heard about Device to Device connection through USB.
Please let me know if this is possible and if there is any reference we could go through.

Best Regards
Kummi