AM5728: CAN driver issue

Part Number:AM5728

AM335x Can driver in my hand, I want migrate it to AM572x:

I checked the TRMs，noticed that the only difference between  AM572x & AM335x is the baseaddr of CAN controller  Regs.

so, I changed the baseaddr 、mapped the can interruptes, enabled the CAN clock。

Then ，I  test the migrated can driver into LOOPBACK mode:

#echo testing > /dev/can0/tx16

#cat  /dev/can0/rx0

testing

as you see , the driver looks like work properly。however,   after I install this driver in normal mode ,there's no data transforming , I can't detect signel on TX & RX。

Is there are any differences in the operations of the CAN controller ? or any specific regs/operations tp be performed in a certain way for am572x as compared to am335x?

THANKS !!