Accessing bootstrap by code?

I’d like to use the serial port to download a new firmware to the uController. But I want to do this without checking SMODE0/1 pins. What I want to do is to enter some code in my algorithm that allows me to enter in programming mode by software. I assume the first compiling must be done ““traditionally”” but subsecuents could be done this way.

It is possible to auto-enter into ““Bootstrap from Serial Port A, asynchronous mode”” INDEPENDENTMENT of the status of SMODE0/1, using just some piece of code?

I looking for a jump in the code that take me to this particular point of execution of the boostrap.

Hello, Go through the Chapter 4. How Dynamic C Cold Boots
the Target System from the R2000 processor designer’s hand book, it may help you.