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PROCESSOR-SDK-J721E: RTOS SDK

Part Number: PROCESSOR-SDK-J721E

Tool/software:

Hi team, 
What I want is a complete step by step guidance on how we can setup rtos sdk in the board and enable ipc between a72 and r5f cores??
I have downloaded the rtos sdk from:

PROCESSOR-SDK-RTOS-J721E Software development kit (SDK) | TI.com 

Then I just want the steps to setup and how can we enable the ipc.