The AM243x is designed for best-in-class real-time performance and provides high performance Arm® Cortex®-R5F cores, Tightly-Coupled Memory banks, configurable SRAM partitioning, and dedicated low-latency paths to and from peripherals for rapid data movement in and out of the SoC.
https://www.pls-mc.com/products/ti-sitara-am243x-microcontrollers/

