RTOS/AM5728: Is there any method to use UART in both of ARM and DSP core?

Part Number:AM5728

Tool/software: TI-RTOS

Dear Team,

Is it possible to access UART from both of ARM and DSP?

my customer wants to use UART console in both of the ARM application and DSP application, and want to check if there is a method to use UART console in both of ARM and DSP applications.

Thanks and Best Regards,

SI.