ConnectX-6 Dx: NIC-to-NIC Packet Transfer Without CPU (PeerDirect Support?)

I have two ConnectX-6 Dx NICs in my server running Ubuntu 22.04.
Is there any way to transmit packets directly from one port to another between these two NICs without CPU involvement?

I couldn’t find any documentation on how to use PeerDirect between two ConnectX-6 NICs.

Any guidance would be appreciated. Thanks!