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The OPTEE-OS CSU driver for NXP i.MX SoC devices lacks security access configuration for several models, resulting in TrustZone bypass because the NonSecure World can perform arbitrary memory read/write operations on Secure World memory. This involves a DMA capable peripheral.
Use CWE-732, Linaro vendor hub and Op-Tee product page to widen CVE-2021-36133 into its surrounding weakness, vendor, and product context.
Compare it with CVE-2019-1010292, CVE-2019-1010298 and CVE-2019-1010297 for nearby disclosures in the same product family.