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CC2652R: Add communication between CC2652R and C2000

Part Number: CC2652R
Other Parts Discussed in Thread: LAUNCHXL-CC26X2R1

I want to realize a bidirectional communication channel between 2 MCUs (using exactly LAUNCHXL-CC26x2R1 and LaunchPad F28379D)

What is the recommended protocol to be used for that ? (I see the PMBus SW library available on C2000 for example); is it a good choice ? is this library available for the CC26x2R1 ?
My channel will be used to send to F28397D signals that will be next sent(/received) by CAN communication (every 100ms, a 500kBauds CAN not charged by more than 30% of load).

Samuel