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doc: ipc: Add detailed protocol specs for ICBMsg backend
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The details of how the ICBMsg communication is done, are hidden
inside the source code. This specification adds details about
the ICBMsg protocol.

Signed-off-by: Dominik Kilian <Dominik.Kilian@nordicsemi.no>
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@doki-nordic @henrikbrixandersen
doki-nordic authored and henrikbrixandersen committed Oct 23, 2024
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