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AM6442: Mailbox Communication Between Linux (A53) and Bare-Metal (R5F) on AM6442 Sitara

Part Number: AM6442

Tool/software:

I am working with the AM6442 Sitara Processor from Texas Instruments, which features an ARM Cortex-A53 core running Linux and ARM Cortex-R5F cores running bare-metal code. I am trying to implement mailbox-based communication between the A53 core (running Linux) and the R5F cores (running bare-metal).
Here are my specific questions:
1) How do I set up the mailbox driver on the A53 core running Linux?

2) How can I configure the R5F cores (bare-metal) to handle messages from the A53 core?
3)How are interrupts handled in the context of mailbox communication? What are the best practices for synchronizing message passing between the A53 and R5F cores?

4) Are there any example codes or application notes that show how to implement this kind of mailbox messaging between the A53 and R5F cores on the AM6442?