On Linux side, please have a look to https://wiki.st.com/stm32mpu/wiki/Linux_RPMsg_framework_overview
For M4 side, some OpenAMP examples are provided in STM32CubeMP1 delivery, see https://wiki.st.com/stm32mpu/wiki/STM32CubeMP1_Package_release_note#Available_projects
A getting started also exist, using Rpmsg, for Discovery board, see https://wiki.st.com/stm32mpu/wiki/Getting_started/STM32MP1_boards/STM32MP157C-DK2/Develop_on_Arm%C2%AE_Cortex%C2%AE-M4/Modify,_rebuild_and_reload_a_firmware
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