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TMS320DM368: what are the options to flash a NAND via a TMS320DM368

Part Number: TMS320DM368
Other Parts Discussed in Thread: SEGGER

Hi all, I have done a lot of research, but I have not been able to find how this process can be carried out.

I have a DM368 on a drone mainboard with a NAND but the NAND needs to be reflashed.

I have access to a JTAG connector and a UART but I do not have access to change the boot mode as there is no known boot mode pins for this board.

I have a Jlink debugger and a couple different USB to 232 adaptors. I can see the NAND boot failing via the UART port but cant change the boot mode to use the slh_dm36x.exe flashing tool (would be too easy).

So my questions are ,

1. Is there some magical way that I can flash a good UBL into the NAND?

2. Can I use the JTAG to do this ?
a. If so what hardware do I need?
b. What software do I need?
c. What configuration do I need to provide to the software?

3.What are the other options?

I know this tech is old but I would really apricate some assistance from anyone who has used it in the past. A lot of the old articles for this are no longer available.

I have asked this question on the Segger forum but their response is that they don't support the DM368 (they do support other ARM9 and AMR926EJ-S devices). There are some incomplete articles in their forums that imply it is possible but its missing critical parts of the puzzle.

Thanks