but I would like to build and run examples on cortex-A(A53) cores , communication between cortex-A and cortex-M can you provide any documents regarding this.
Maybe you should take a look on multicore examples with rpmsg in the SDK demo apps, such as: rpmsg_lite_pingpong_rtos_linux_remote or rpmsg_lite_str_echo_rtos_imxcm7.