You could start by looking at  and follow the references from there.
From: Devel <devel-bounces(a)sel4.systems> on behalf of tj5527
Sent: Thursday, 22 February 2018 10:46 AM
Subject: [seL4] IPC
Searching on the sel4 repository, I find there is a manual talking about IPC
In addition to this material, where - particularly source code - would be a good start
point to look into IPC design and implementation?