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TMS570LS3137: CAN Bootloader implementation Issue

Part Number: TMS570LS3137

Hi everyone,

I've been trying to program my HDK over CAN Module for 2 two weeks but actually, I don't understand and know how to do this. I've seen an application note (spna187) about it and have found some example codes but that example was solved by using NICAN produced by National Instruments yet I only have PCAN-USB Module. Also, I couldn't succeed to implement the codes to my project for TMS570LS3137 HDK. Can I do the same thing with PCAN or does anyone have any example which is done by using PCAN? Could you tell me that what are tricks and important things about implementing the code to HDK side and creating a new project working between PCAN and HDK? 

Thank you,

Oguzhan.