Pynq to standalone processor communication

I am working with ZCU111 board. I have been using the board together with Pynq for a while and that’s fine. The FPGA is a UltraScale+ and has a QuadCore ARM A53, and two Cortex R5 cores. I am planning on using those Cortex R5 for some real-time processing.

I would like to know how to run standalone code in those Cortex R5 processors, while still using the Pynq for system control.

Thanks a lot,