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Replace Firmware without bootloader

MikeH2112

I have an STM32F429 custom board that when in product only supports CAN bus.

I need to be able to upgrade firmware while in product over CAN bus.  I know the bootloader supports this but sadly our custom board has been designed to use different CAN bus Tx/RX pins than the bootloader expects:

In our design we use the default CAN1 pins:
PD0 - RX
PD1 - TX
The bootloader is doing CAN over non-standard CAN2 pins:
PB5 - RX
PB13 - TX
I already have code in place to allow bitmap data to be uploaded over CAN and programmed to flash.  I'd like to leverage this to upload a binary firmware image and load it over the currently running firmware.  Not sure if anyone has a better idea.  Is there an example of how to do this anywhere?
Thank you.  Any help appreciated.