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TMS320F28377D-EP: Assistance regarding firmware development support for TMS320F28377D-EP

Part Number: TMS320F28377D-EP
Other Parts Discussed in Thread: TMS570LC4357-SEP, , HALCOGEN, C2000WARE, TMS320F28377D, SYSCONFIG

Tool/software:

Hello Team,
We are exploring the above mentioned microcontrollers (TMS320F28377D-EP and TMS570LC4357-SEP) for one of our products fpr a motor control application in Robotic arm
However, we encountered that TMS570LC4357-SEP does not have strong development support. We are using the latest CCS version 20.0.1.4
So, We would greatly appreciate your assistance in this regard to know which of these have a strong, readily available compliant peripheral driver libraries support that we can utilize for our application.
Also is there any tool available to generate software for TMS320F28377D-EP just like there exists HALCoGen for TMS570LC4357-SEP.
I appreciate your swift response in this manner.
Thanks,
Sourabh