LP-AM243: Multi-Core Scheduling on FreeRTOS AM243x

Part Number: LP-AM243

Tool/software:

I have an application with two tasks that I would like scheduled by a RTOS, ideally dynamically leveraging all four cores on the LP-AM243x.  This thread is two years old and I was wondering if anything had changed regarding support for SMP?

For background one task is responsible for gathering data from the dev board pins and buffering it in a FIFO queue and the second task is responsible for pulling data from the FIFO queue, processing it, and either: 1) sending it out over ethernet, or 2) buffering it to be sent by a separate task (COA still TBD).

If there still isn't support for SMP on the LP-AM243x via FreeRTOS, what is the best way to have two tasks running on separate cores with a shared FIFO queue?

Any examples to support the response are appreciated. 

Thanks in advance, 

Brian