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I would recommend starting with our OpenCL training material: https://training.ti.com/introduction-opencl-ti-embedded-processors and this blog: https://e2e.ti.com/blogs_/b/toolsinsider/archive/2016/10/07/using-opencltm-to-offload-to-c66x-dsps-on-sitara-am572x-processors.
The OpenCL User's Guide is located at: http://downloads.ti.com/mctools/esd/docs/opencl/intro.html
TI's OpenCL implementation handles the mechanics of offloading code from the ARM to C66x DSPs on a heterogeneous application processor such as the Sitara AM572x using industry standard APIs. The offloaded code running on the DSPs consist of OpenCL C kernels. These kernels can call out to existing optimized DSP libraries. See http://downloads.ti.com/mctools/esd/docs/opencl/extensions/standard-c-code.html.
Ajay