Hello, @Abhiram_m_s
Thanks for the feedback.
- Firstly, you may have the toolchain prepared, according to the BSP38.0UM, you may download it to your host:

Unzip the toolchain to your specific path, for example, /home/test/toolchain
- Secondly, download and compile the kernel source, following 3.2.3 of BSPUM for the details, for example, the kernel source is put to the /home/test/kernel
- At last, compile the modules of IPCF4.9
git clone https://github.com/nxp-auto-linux/ipc-shm.git
git checkout SW32G_IPCF_4.9.0_D2310
make CROSS_COMPILE= /home/test/toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu- PLATFORM_FLAVOR=s32g3 KERNELDIR=/home/test/kernel
Then the new *.ko files would be generated.
Copy them to the RFS of BSP38.0, insmod them as indicated from the IPCF manual.
Hope it helps.
Best Regards
Chenyin