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AWR2243: Register mapping datasheet and initialization sequence

Part Number: AWR2243
Other Parts Discussed in Thread: MMWCAS-RF-EVM

We want to develop a linux kernel driver for the AWR2243.
HW environmnet : Using a Jetson AGX Xavier as a Host we want to configure the awr2243 using the SPI interface and receive samples using the CSI interface. The AWR2243 modules are on a mmwcas-rf-evm board.
SW environment : A yocto OS with linux kernel 5.10

Is there a documentation that details the register mapping of the AWR2243 and how to initialize it ?
Moreover, in the boot sequence the awr2243 checks if there is a firmware already present and boots otherwise it waits for the firmware flash from the host. Does the AWR2243 comes prefflashed with a firmware or is it necessary to flash the firmware through SPI at each boot ?