Arm + Dsp work in Linux

Hi,

I've got great working Linux on LCDK and on my custom board. As I understand linux works just with ARM processor.

Now I want to work with ARM and DSP in Linux. For example ARM recieved some data from McASP, then I send it to DSP, DSP processed this data and send it back to ARM.

Is there some manual on this subject, or I can work with DSP only from CCS?

p.s.

Linux is from mcsdk.