I solved with two changes in device-tree files:
in imx7d.dtsi
I put status = "okay";
in rpmsg: rpmsg {
in imx7d-pico-pi-qca-m4.dts
I put:
reserved-memory {
rpmsg_vrings: vrings0@0x8ff00000 {
reg = <0x8fff0000 0x10000>;
no-map;
};
};
&
&rpmsg{
memory-region = <&rpmsg_vrings>;
vdev-nums = <1>;
reg = <0x9fff0000 0x10000>;
status = "okay";
};