Which DMA is best for PCIe based FPGA to GPU

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Xavier
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For transferring video streaming data from FPGA PCIe to GPU and from GPU back to FPGA PCie using RDMA do we need the FPGA DMA or the AGX SoC PCIe DMA and which is best ?

Will the FPGA DMA operation have access to GPU memory ?

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Please check below threads to see if can gain some ideas:
PCIe DMA on Tegra (Xavier NX) - Jetson & Embedded Systems / Jetson AGX Xavier - NVIDIA Developer Forums

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