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TMS320F28075: How to boot to OTP location for having custom bootloader

Part Number: TMS320F28075

Hi,

I am using TMS320F28075 controller in my application. I want to write customize  bootloader in OTP memory. But I am not getting an option to boot to OTP mode for this micrcontroller in bmode value register.

Please let me know how i can boot to OTP location? 

Also for TMS320F28075 does the CAN bootloader in boot ROM  working properly ?

For some older version of TMS320F280x, it is mentioned in errata  that their is issues in  CAN bootloader ROM code  so they recommend to use updated code into OTP memory .