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TDA4VM: how to use the MCU UART usb port to communicate to external devices like raspberry pi ?

Part Number: TDA4VM


We are developing an application using the MCU domain, for which we want to communicate an external device like Raspberry PI over serial to the MCU domain R5F cores. 
we would like to know how we could use the USB port(MCU UART) to send and receive serial data with the external world.
We are using the Jacinto 7 EVM for the development.
Are there any other alternative means by which we can get external data to the R5F cores in the MCU domain?