The SMMU (System MMU) allows AXI masters, besides the CPUs, to have a virtualized view of the system memory. The SMMU is analogous to the MMU of the A53 .
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The SMMU requires masters such as DMAs to use virtual addresses rather than physical addresses. The SMMU is transparent to device drivers in Linux as the DMA framework knows how to handle it. The SMMU is equivalent to an IOMMU used in other system architectures.