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Update Firmware

Hello everybody.
I have an interconnected network with 20 embedded systems using serial line (USIC/ASC). Each one is based XE164 Infineon microcontroller.
To update the firmware (data / user code) of each system by ASC, you must activate the bootstrap loader with 4 pin levels (/TRST = HIGH, 10.0 = HIGH, 10.1 = HIGH, 10.2 = LOW) manually.
This work can be very laborious and repetitive each time you want to update the program to all systems.
Is there any procedure to enter the firmware directly to the flash memory of each microcontroller?
Thank you very much.

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