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AM623: About the method of clock synchronization of A and M nuclei

Part Number: AM623

Tool/software:

Kernel A runs the Linux system and kernel M runs the FreeRTOS system. I want to achieve millisecond clock synchronization between them. Currently, there is no external clock that can be used together, so it may be achieved by giving the clock to core M for timing. If IPC is used, how long does it take for M core to receive A message from A core? Can you do it in less than a millisecond?