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RTOS/AM5728: ipc between two a15 processors

Part Number: AM5728

Tool/software: TI-RTOS

Hi

I have my rtos project running on a15_0 processor,and now i want to run some algorithms on another a15 processor. I read example under '\ipc_3_50_02_02\examples\AM572X_bios_elf\ex02_messageq', but it seems that the a15 processor must be used only for host, my question is that can i run rtos on the two a15 processors separately  and use ipc to communicate with each other a15?

If the answer is not. then how to communicate with each other a15 processor running rtos?