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TMS470MF04207: A solution to program to the flash memory of a microcontroller through the CAN interface

Part Number: TMS470MF04207

Hello,
I am looking for a solution to download a program to the flash memory of a microcontroller through the CAN interface.
Please inform me if TI has any solution or any application note is available.
My target application is to program the flash memory of a microcontroller on an electronic control unit in automotives by using the CAN bus communication.
Thank you for your guidance.

With regards,
G. Kim