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CCS/AM5728: Bare-metal CAN

Part Number: AM5728

Tool/software: Code Composer Studio

I need to use DCAN bare-metal on am572x but meet some trouble

I was trying to transplant the am335's  dcan code,and found register in these funtions are totally different from am572x.

DCANModuleClkConfig()
DCANAintcConfigure();

So therefore I want to ask for a dcan programming(bare-mental ) guide on am572x.Thanks ahead!