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MISTR-3P-POM-AM437X: PRU real-time access to peripherals

Part Number: MISTR-3P-POM-AM437X

Hi, 

Is it possible to ensure the real time capability while PRU-ICSS accesses the resource on L3/L4?

Though TI has provided a reference design about the SPI firmware on PRU (http://www.ti.com/tool/TIDEP0033),

it is an assembly code and a little hard for further development and integration. So, I want to access L3/L4 resource

on PRU-ICSS, but it also means the data path is longer than before and the latency might be non deterministic

due to bus conflict, right?