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TMS320F280039C: Accessing more than one bootloader?

Part Number: TMS320F280039C
Other Parts Discussed in Thread: C2000WARE

Hello,

We have the CAN flash programmer working on our development board. In production we would want to use the default of booting from FLASH (OTP BOOTREG default condition). There will be instances where we will need to update the firmware (reprogram the FLASH) over CAN-FD.

I am trying to understand the best way to perform this operation. If we are booting from FLASH (OTP BOOTREG default condition) is there a way to access/run the on-chip CAN bootloader located in ROM (switch the boot mode to CAN) so that we would still be able to use the CAN flash programmer tool?

Or will we need to link in the BOOT ROM library - C:\ti\c2000\C2000Ware_4_03_00_00\libraries\boot_rom\f28003x\rev0\rom_symbol_libs into our project. On a boot, detect whether we are going to do a firmware update (maybe via a GPIO). In the case we are performing a firmware update call the MCAN_Boot() in the library?

Thanks for any insight you can provide.

Emma