Index: firmware/.cproject
===================================================================
diff -u -r5fae4f2493e4a237ce0aedd2a3c71419ea297993 -r20af599f8e65194a4c14905ed41075ce0980671a
--- firmware/.cproject	(.../.cproject)	(revision 5fae4f2493e4a237ce0aedd2a3c71419ea297993)
+++ firmware/.cproject	(.../.cproject)	(revision 20af599f8e65194a4c14905ed41075ce0980671a)
@@ -50,6 +50,7 @@
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE.2117990509" name="Pre-define NAME (--define, -D)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__TI_VIM_128CH__"/>
+									<listOptionValue builtIn="false" value="WITH_BOOTLOADER"/>
 									<listOptionValue builtIn="false" value="DEBUG_ENABLED"/>
 									<listOptionValue builtIn="false" value="_DG_"/>
 									<listOptionValue builtIn="false" value="__TI_VFPV3D16_SUPPORT__"/>
Index: firmware/App/Services/SystemComm.c
===================================================================
diff -u -rc7ea3969643ead419cbfcd34c3cb203c45bcad71 -r20af599f8e65194a4c14905ed41075ce0980671a
--- firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision c7ea3969643ead419cbfcd34c3cb203c45bcad71)
+++ firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision 20af599f8e65194a4c14905ed41075ce0980671a)
@@ -945,6 +945,12 @@
             handleSetROOnlyMode( message );
             break;
 
+        case MSG_ID_DG_SET_ENTER_BOOTLOADER:
+        case MSG_ID_DG_ENTER_BOOTLOADER_NOW:
+        case MSG_ID_DG_REBOOT_NOW:
+            handleRebootNowRequest( message );
+            break;
+
         // NOTE: This case must be last
         case MSG_ID_DG_TESTER_LOGIN_REQUEST:
             handleTesterLogInRequest( message );
Index: firmware/App/Services/SystemCommMessages.c
===================================================================
diff -u -rc7ea3969643ead419cbfcd34c3cb203c45bcad71 -r20af599f8e65194a4c14905ed41075ce0980671a
--- firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision c7ea3969643ead419cbfcd34c3cb203c45bcad71)
+++ firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 20af599f8e65194a4c14905ed41075ce0980671a)
@@ -77,97 +77,97 @@
 static volatile U16 nextSeqNo = 1;                  ///< Next sequence number.
 /// List of message IDs that are requested not to be transmitted.
 static BLOCKED_MSGS_DATA_T blockedMessagesForXmit = { 0, 0, 0, 0, 0, 0, 0, 0 };
-
-// ********** private function prototypes **********
-
-static BOOL sendTestAckResponseMsg( MSG_ID_T msgID, BOOL ack );
+
+// ********** private function prototypes **********
+
+static BOOL sendTestAckResponseMsg( MSG_ID_T msgID, BOOL ack );
 static BOOL sendAckResponseMsg( MSG_ID_T msgID, COMM_BUFFER_T buffer, BOOL ack );
-static BOOL sendUIResponseMsg( MSG_ID_T msgID, BOOL accepted, U32 reason );
-
-/*********************************************************************//**
- * @brief
- * The serializeMessage function serializes a given message into a given
- * array of bytes.  A sequence # is added to the message here and the ACK
- * bit of the sequence # is set if ACK is required per parameter.  A sync byte
- * is inserted at the beginning of the message and an 8-bit CRC is appended to
- * the end of the message. The message is queued for transmission in the given buffer.
- * @details Inputs: none
- * @details Outputs: given data array populated with serialized message data and queued for transmit.
- * @param msg message to serialize
- * @param buffer outgoing buffer that message should be queued in
- * @param ackReq is an acknowledgement from receiver required?
- * @return size (in bytes) of serialized message populated in given data array.
- *************************************************************************/
-U32 serializeMessage( MESSAGE_T msg, COMM_BUFFER_T buffer, BOOL ackReq )
-{
-    BOOL result = FALSE;
-    BOOL error = FALSE;
-    U32 msgSize = 0;
-    U32 sizeMod, sizePad;
-    U32 i;
-    U08 crc;
-    U08 data[ MAX_ACK_MSG_SIZE ];  // byte array to populate with message data
-
-    // prefix data with message sync byte
-    data[ msgSize++ ] = MESSAGE_SYNC_BYTE;
-
-    // set sequence # and ACK bit (unless this is an ACK to a received message)
-    if ( msg.hdr.msgID != MSG_ID_ACK_MESSAGE_THAT_REQUIRES_ACK )
-    {
-        // thread protect next sequence # access & increment
-        _disable_IRQ();
-            msg.hdr.seqNo = nextSeqNo;
-            nextSeqNo = INC_WRAP( nextSeqNo, MIN_MSG_SEQ_NO, MAX_MSG_SEQ_NO );
-        _enable_IRQ();
-        if ( TRUE == ackReq )
-        {
-            msg.hdr.seqNo *= -1;
-        }
-    }
-
-    // calculate message CRC
-    crc = crc8( (U08*)(&msg), sizeof( MESSAGE_HEADER_T ) + msg.hdr.payloadLen );
-
-    // serialize message header data
-    memcpy( &data[ msgSize ], &( msg.hdr ), sizeof( MESSAGE_HEADER_T ) );
-    msgSize += sizeof( MESSAGE_HEADER_T );
-
-    // serialize message payload (only used bytes per payloadLen field)
-    memcpy( &data[ msgSize ], &( msg.payload ), msg.hdr.payloadLen );
-    msgSize += msg.hdr.payloadLen;
-
-    // add 8-bit CRC
-    data[ msgSize++ ] = crc;
-
-    // pad with zero bytes to get length a multiple of CAN_MESSAGE_PAYLOAD_SIZE (8)
-    sizeMod = msgSize % CAN_MESSAGE_PAYLOAD_SIZE;
-    sizePad = ( sizeMod == 0 ? 0 : CAN_MESSAGE_PAYLOAD_SIZE - sizeMod );
-    for ( i = 0; i < sizePad; i++ )
-    {
-        data[ msgSize++ ] = 0;
-    }
-
-    // if ACK required, add to pending ACK list
-    if ( TRUE == ackReq )
-    {
-        if ( FALSE == addMsgToPendingACKList( &msg, buffer, data, msgSize ) )
-        {
-            error = TRUE;
-            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_MSG_PENDING_ACK_LIST_FULL )
-        }
-    }
-
-    if ( FALSE == error )
-    {
-        // add serialized message data to appropriate out-going comm buffer
-        result = addToCommBuffer( buffer, data, msgSize );
-    }
-
-    return result;
-}
+static BOOL sendUIResponseMsg( MSG_ID_T msgID, BOOL accepted, U32 reason );
 
 /*********************************************************************//**
  * @brief
+ * The serializeMessage function serializes a given message into a given
+ * array of bytes.  A sequence # is added to the message here and the ACK
+ * bit of the sequence # is set if ACK is required per parameter.  A sync byte
+ * is inserted at the beginning of the message and an 8-bit CRC is appended to
+ * the end of the message. The message is queued for transmission in the given buffer.
+ * @details Inputs: none
+ * @details Outputs: given data array populated with serialized message data and queued for transmit.
+ * @param msg message to serialize
+ * @param buffer outgoing buffer that message should be queued in
+ * @param ackReq is an acknowledgement from receiver required?
+ * @return size (in bytes) of serialized message populated in given data array.
+ *************************************************************************/
+U32 serializeMessage( MESSAGE_T msg, COMM_BUFFER_T buffer, BOOL ackReq )
+{
+    BOOL result = FALSE;
+    BOOL error = FALSE;
+    U32 msgSize = 0;
+    U32 sizeMod, sizePad;
+    U32 i;
+    U08 crc;
+    U08 data[ MAX_ACK_MSG_SIZE ];  // byte array to populate with message data
+
+    // prefix data with message sync byte
+    data[ msgSize++ ] = MESSAGE_SYNC_BYTE;
+
+    // set sequence # and ACK bit (unless this is an ACK to a received message)
+    if ( msg.hdr.msgID != MSG_ID_ACK_MESSAGE_THAT_REQUIRES_ACK )
+    {
+        // thread protect next sequence # access & increment
+        _disable_IRQ();
+            msg.hdr.seqNo = nextSeqNo;
+            nextSeqNo = INC_WRAP( nextSeqNo, MIN_MSG_SEQ_NO, MAX_MSG_SEQ_NO );
+        _enable_IRQ();
+        if ( TRUE == ackReq )
+        {
+            msg.hdr.seqNo *= -1;
+        }
+    }
+
+    // calculate message CRC
+    crc = crc8( (U08*)(&msg), sizeof( MESSAGE_HEADER_T ) + msg.hdr.payloadLen );
+
+    // serialize message header data
+    memcpy( &data[ msgSize ], &( msg.hdr ), sizeof( MESSAGE_HEADER_T ) );
+    msgSize += sizeof( MESSAGE_HEADER_T );
+
+    // serialize message payload (only used bytes per payloadLen field)
+    memcpy( &data[ msgSize ], &( msg.payload ), msg.hdr.payloadLen );
+    msgSize += msg.hdr.payloadLen;
+
+    // add 8-bit CRC
+    data[ msgSize++ ] = crc;
+
+    // pad with zero bytes to get length a multiple of CAN_MESSAGE_PAYLOAD_SIZE (8)
+    sizeMod = msgSize % CAN_MESSAGE_PAYLOAD_SIZE;
+    sizePad = ( sizeMod == 0 ? 0 : CAN_MESSAGE_PAYLOAD_SIZE - sizeMod );
+    for ( i = 0; i < sizePad; i++ )
+    {
+        data[ msgSize++ ] = 0;
+    }
+
+    // if ACK required, add to pending ACK list
+    if ( TRUE == ackReq )
+    {
+        if ( FALSE == addMsgToPendingACKList( &msg, buffer, data, msgSize ) )
+        {
+            error = TRUE;
+            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_MSG_PENDING_ACK_LIST_FULL )
+        }
+    }
+
+    if ( FALSE == error )
+    {
+        // add serialized message data to appropriate out-going comm buffer
+        result = addToCommBuffer( buffer, data, msgSize );
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The sendACKMsg function constructs and queues for transmit an ACK message
  * for a given received message.
  * @details Inputs: none
@@ -3838,7 +3838,7 @@
 
 /*********************************************************************//**
  * @brief
- * The handleTestHDCommunicationStatusOverrideRequest function handles a request 
+ * The handleTestHDCommunicationStatusOverrideRequest function handles a request
  * request to override the HD Communication Status.
  * @details Inputs: none
  * @details Outputs: message handled
@@ -4652,4 +4652,28 @@
     sendTestAckResponseMsg( (MSG_ID_T)message->hdr.msgID, status );
 }
 
+/*********************************************************************//**
+ * @brief
+ * The handleRebootNowRequest function handles a
+ * request to reboot the system. A software reset will cause the bootloader
+ * to stay active.
+ * @details Inputs: none
+ * @details Outputs: message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleRebootNowRequest( MESSAGE_T *message )
+{
+    BOOL result = (0 == message->hdr.payloadLen);
+
+    // respond to request immediately with whether it was formatted correctly
+    sendTestAckResponseMsg((MSG_ID_T)message->hdr.msgID, result);
+
+    if (result)
+    {
+        // Trigger a software reset.
+        systemREG1->SYSECR = (0x2) << 14;
+    }
+}
+
 /**@}*/
Index: firmware/source/sys_link.cmd
===================================================================
diff -u -r53110a8d810e392e8f75cf0bf85a3ec07927e846 -r20af599f8e65194a4c14905ed41075ce0980671a
--- firmware/source/sys_link.cmd	(.../sys_link.cmd)	(revision 53110a8d810e392e8f75cf0bf85a3ec07927e846)
+++ firmware/source/sys_link.cmd	(.../sys_link.cmd)	(revision 20af599f8e65194a4c14905ed41075ce0980671a)
@@ -1,36 +1,36 @@
 /*----------------------------------------------------------------------------*/
 /* sys_link.cmd                                                               */
 /*                                                                            */
-/* 
-* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com  
-* 
-* 
-*  Redistribution and use in source and binary forms, with or without 
-*  modification, are permitted provided that the following conditions 
+/*
+* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com
+*
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
 *  are met:
 *
-*    Redistributions of source code must retain the above copyright 
+*    Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 *    Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in the 
-*    documentation and/or other materials provided with the   
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the
 *    distribution.
 *
 *    Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
-*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
-*  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+*  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-*  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
-*  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+*  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+*  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */
@@ -67,18 +67,49 @@
 #if 1
 MEMORY
 {
-    VECTORS (X)  : origin=0x00000000 length=0x00000020
-    CRCMEM  (RX) : origin=0x00000020 length=0x000001E0
-    FLASH0  (RX) : origin=0x00000200 length=0x0013FE00
-    STACKS  (RW) : origin=0x08000000 length=0x00004c00
-    RAM     (RW) : origin=0x08004c00 length=0x0002b400
+    VECTORS (X)  : origin=0x00010000
+                   length=0x00000020
+                   vfill = 0xffffffff
 
+    CRCMEM  (RX) : origin=end(VECTORS)
+                   length=0x000001E0
+                   vfill = 0xffffffff
+
+    FLASH0  (RX) : origin=end(CRCMEM)
+                   length=(0x0013FFFF - end(CRCMEM))
+                   vfill = 0xffffffff
+
+    STACKS  (RW) : origin=0x08000000
+                   length=0x00004c00
+
+    RAM     (RW) : origin=0x08004c00
+                   length=0x0002b400
 #endif
+#if 1
+    ECC_VEC  (R) : origin=(0xf0400000 + (start(VECTORS) >> 3))
+                   length=(size(VECTORS) >> 3)
+                   ECC={algorithm=algoL2R4F021, input_range=VECTORS}
+
+    ECC_CRC  (R) : origin=(0xf0400000 + (start(CRCMEM)  >> 3))
+                   length=(size(CRCMEM)  >> 3)
+                   ECC={algorithm=algoL2R4F021, input_range=CRCMEM }
+
+    ECC_FLA0 (R) : origin=(0xf0400000 + (start(FLASH0)  >> 3))
+                   length=(size(FLASH0)  >> 3)
+                   ECC={algorithm=algoL2R4F021, input_range=FLASH0 }
+#endif
 /* USER CODE END */
 }
 
 /* USER CODE BEGIN (3) */
 /* IGNORE the generated Sections code, overridden below */
+ECC
+{
+    algoL2R4F021 : address_mask = 0xfffffff8 /* Address Bits 31:3 */
+                   hamming_mask = R4         /* Use R4/R5 build in Mask */
+                   parity_mask  = 0x0c       /* Set which ECC bits are Even and Odd parity */
+                   mirroring    = F021       /* RM57Lx and TMS570LCx are build in F021 */
+}
 #if 0
 /* USER CODE END */
 
@@ -88,26 +119,26 @@
 SECTIONS
 {
     .intvecs : {} > VECTORS
-    .text    : {} > FLASH0 
-    .const   : {} > FLASH0 
-    .cinit   : {} > FLASH0 
-    .pinit   : {} > FLASH0 
+    .text    : {} > FLASH0
+    .const   : {} > FLASH0
+    .cinit   : {} > FLASH0
+    .pinit   : {} > FLASH0
     .bss     : {} > RAM
     .data    : {} > RAM
     .sysmem  : {} > RAM
-    
 
+
 /* USER CODE BEGIN (4) */
 #endif
 /* Override Sections with CRCs here */
 #if 1
 SECTIONS
 {
     .intvecs : {} > VECTORS, crc_table( _crc_table, algorithm=CRC32_C )
-    .text    : {} > FLASH0, crc_table( _crc_table, algorithm=CRC32_C )
-    .const   : {} > FLASH0, crc_table( _crc_table, algorithm=CRC32_C )
-    .cinit   : {} > FLASH0, crc_table( _crc_table, algorithm=CRC32_C )
-    .pinit   : {} > FLASH0
+    .text  align(64) : {} > FLASH0, crc_table( _crc_table, algorithm=CRC32_C )
+    .const align(64) : {} > FLASH0, crc_table( _crc_table, algorithm=CRC32_C )
+    .cinit align(64) : {} > FLASH0, crc_table( _crc_table, algorithm=CRC32_C )
+    .pinit align(64) : {} > FLASH0
     .bss     : {} > RAM
     .data    : {} > RAM
     .sysmem  : {} > RAM