Reload dsp firmware without reboot?

I’m developing software for the C7 DSP on the beaglebone ai64.

It is a bit tedious to reboot each time I update the firmware, since the board some times get stuck and need a power cycle/push reset button to start.

Has anyone gotten it to reload firmware without rebooting?
(PS. I’m using TI SDK, so rtos/rpmsg etc, need to work)