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Can TrustZone give permission to use hardware codec to Linux Kernel?


I have few questions. What I understand so far is ARM TrustZone prevents some hardware block to be accessed from non-secure OS like Android.

1. Can TrustZone give permission to Linux kernel or non-secure OS to access ANY hardware block?

2. If yes, how to give that permission from TrustZone?

3. If the answer is no, then what is the way to access any hardware ( for example Hardware Codec) from non-secure OS?

Thank you