I suggest you see our example code of the ping pong that we already have. There you can find how to configure the RPMSG. You can find the example code if you download our SDK. You can find it on the following web-page.
Thank you for your reply. I have already downloaded your sample code, and have tried running the pingpong code. However, this demo code seems like a point-to-point (1-to-1) communication between the A7 and the M4 core. What I would like to achieve was to create multiple endpoints in the Linux (A7) and connect it multiple endpoints in the M4 core.
Unfortunately, that is all the example that we have. If you require to have multiple endpoints. I suggest you contact professional service support. There could help you with the development of the application that you require to make.