Found this blog post today, which is related to my post from yesterday. Communication in multicore is crucial. In a single core world you can communicate through function calling and synchronize with semaphores and mutexes. This will not work efficiently (or reliably) in a multicore world, the best way to share data is through asynchronous messages.
Jimmy Ray points to the multicore association and more specifically to it's MCAPI. A publicly available reference example of MCAPI is available, complete with examples for you to experiment with. MACPI is a standardized communication and synchronization interface between cores and processors in embedded systems. Note 'cores and processors', it is independent of the OS/middleware.