Now as far as direct memory access to the I2C hardware. Well, it's not
impossible, and is probably already being done in the driver module for the
beaglebone's hardware. In kernel space. So, if you're dead set on learning
that, you'd need to look into the am335x I2C kernel driver source for that.
Not sure exactly where to start with that. But you could start by looking
into the mainboard source file to see which kernel module is being loaded
for the I2C hardware, then track your way back into the source file.

Or you could just start exploring the kernel source, and perhaps run into
the I2C driver source that way too.

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