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TMS320F28069M: ROM reprogramming

Part Number: TMS320F28069M


Greetings! My uC(TMS320F28069M) is in GetMode. In this mode I menaged to program it and it is running correctly using my XDS100v3. Now I want to reprogram it with another firmware. Do I have to execute any procedure at start up by changing the boot modes(pins GPIO34, TDO, TRST), to load first a program into the RAM or somehow to prevent booting the current program?  Or I can reprogram it directly in GetMode? 

Thanks!