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TDA4VM: IPC communication between Main Domain and MCU domain

Part Number: TDA4VM

Hi,

Is it recommended to use IPC as a mode of communication between Main Domain and MCU Domain cores ?

Or any other method is recommended considering safety.
User case we are trying do is Automated Parking on TDA4 platform
 
So please suggest considering these points.

I am using "ti-processor-sdk-rtos-j721e-evm-07_03_00_07".

Please suggest.

Thanks & Regards,

Piyush Datt Gaur