Linux/AM5728: how does to build IPC in evm am5728?

Part Number:AM5728

Tool/software: Linux

I am new in am5728 and I want to send data to DSP and process it and receive that in ARM what is the best solution for this application.In some document I read IPC is good for that is it true? and how? I use ubuntu 16.04 as host machine and install SDK on it.