Its a sensor hub (firmware in the device flash)connected on i2c lines with SoC.
Not enough information for people to be able to answer.
Please say which exact peripheral and how it is attached.
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Device Booting
Most likely that sensors will get initialized while the kernel is booting.
This may not be true on all platforms, though. I believe some platforms have the ability to offload sensor processing to other processors on the same SoC.
HTH
-- Shree
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