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Compiler/TMS320F28379D: TMS320F28379D chip using 00IC-XDS100v3 download bootloader.

Part Number: TMS320F28379D

Tool/software: TI C/C++ Compiler

Hello, I am using the chip TMS320F28379D for motor control. We need to use 00IC-XDS100v3 to download bootloader as the boot program. Is there any mature scheme for reference?
Thank you very much for your answer.