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TMS320F28034: About CAN BootLoader Download

Part Number: TMS320F28034


Dear,

My project is EV-Air Conditioner and I will use TI TMS320F28034 as MCU.

I want to true below function:

I want to use CAN interface to program,just as SCI.

I have checked some manual about Bootloader, it saied need use OTP_KEY  OTP_MODE. But how to set it?

And I also have another question, When I finish the program, how to jump to my  flsh and run my code?

Could you kindly help give some example or some manual to guide? Great thx for your support.