Linux’s drivers assume the hardware is trusted, so for the IOMMU to provide serious protection you need a userspace driver. This can either be one that is designed to run in userspace, or Linux running in a virtual machine.
Furthermore, safe use of the IOMMU generally involves shadow buffers and extra copies to provide byte-granularity protection and to prevent TOCTOU attacks. Premapping buffers can and should help, though it will likely require data copies.
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