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TDA4VM: IPC User Manual

Part Number: TDA4VM

Hi TI,
We are currently working on the TDA4VM board and trying to establish inter-core communication between A72 and R5F.
To proceed effectively, we would like to understand the behavior and architecture of IPC drivers on this platform. 
Please share IPC User Manual(Linux):

IPC driver initialization and configuration flow
RPMsg channel creation and endpoint management
Interaction between Linux (A72) and RTOS (R5F) cores
Any constraints or best practices for reliable communication

Having detailed documentation or a flow diagram would help us gain better clarity and ensure proper implementation.
Thank you for your support.