AM5728: i2C bus sharing between ARM A15 and Cortex M4 cores

Part Number:AM5728

HI,

In one of the projects I am using Sitara AM5728 processor, on my hardware there are 3 peripherals which are on I2C5 bus.

Now presently A15 is controlling 2 peripherals, presently I2C5 is enabled from device tree. I want 3rd I2C based peripheral to be controlled by cortex M4 core. So, is it possible that both M4 and A15 can access the same I2C bus?

Thanks,

Janardan