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J721S2XSOMXEVM: Regarding Bsp+os image on j721s2 board of Ti linux

Part Number: J721S2XSOMXEVM

Tool/software:

Hi,
1). We are currently working with the following board combination:
     Jacinto7 Common Processor Board (J721EXCP01EVM)
     System on Module (J721S2XSOMG01EVM)


2). Our goal is to generate the BSP + OS image (TI-Linux). We followed the instructions provided in the TI Processor SDK Linux guide:
https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-j721s2/11_00_00_08/exports/docs/linux/Overview/Processor_SDK_Linux_create_SD_card.html
Processor SDK Linux - Create SD Card
In Section 1.1.4, the guide refers to a rootfs.wic image. However, we were only able to locate the following files:
    tisdk-adas-image-j721s2-evm.rootfs.tar.xz
    tisdk-tiny-image-j721s2-evm.rootfs.tar.xz


3). We would like to know:
How can we obtain or generate the rootfs.wic image?
How do we enable the following drivers in the OS image?
Mailbox driver
Shared memory
RPMsg (Remote Processor Messaging)