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TMS570LS3137 CAN bootloader

Hi TI team,

I want to upload a new code to the MCU via CAN port using the CANBOOTLOADER. 

when the MCU powered, the bootloader should look for CAN frames for a certain time.

           If CAN data is coming, the new code should be downloaded and installed.

           If NO CAN data, the bootloader should give the execution to the existing application code.

How to achieve this?