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RTOS/AM5728: Communication between ARM and DSP

Part Number: AM5728

Tool/software: TI-RTOS

Now I try to configure the AM5728 about the communicate between ARM and DSP, but I'm a beginner.I have no ideal about it.

1.Can you provide me a example? Where can  I get  more information to further study.

2.NIMU_BasicExample_evmAM572x_armExampleproject

This is a example that I get from TI. But I don't the  function about it. In addition where can I get the Instructions of TI example?