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Linux/AM5728: How to write/compile/load code to the 2 DSPs

Part Number: AM5728

Tool/software: Linux

Hardware:TI IDK board and customer board based on it

Software:Proceser SDK

OS:Linux with image came form TI Yocto project

As we know that the 2 DSPs are used for OpenCL and TI has provide firmware to do this.

But we want to use the 2 DSPs by ourselves for we need to port some code that we used on the exists C66 devices.

Is there some guidances?

I assume that the process is as follows:

1,Disable the firmware from being loading to DSP. Remove or stop the application that may use the DSP such as OpenCL, video demos...

2,Write code on CCS and the put the bin to linux filesystem. The code must follow some IPC defines.

3,Application pass data to DSP and get the result follow IPC?

I don't know if I'm right.