Something I have been thinking about recently. I have seen a few bootloaders out there that let you load an image over UART (for example) - and that is great for iteration.
However you have to power cycle your device, now this could be me being ultra lazy.. but I was thinking it would be nice if I had a boot loader than ran at EL2. It could then be provide a "Wait for new kernel" function that could be called from EL1 (via a trap)
This call would be done when the kernel panics or when you initiate it manually. The bootloader would reset all the relevant state, and then run the "Receive kernel" function as if it had just been power cycled.
I suppose one advantage (over lazyness and saving a couple of seconds each time) is you can run a suite of tests, one after the other without manual intervention - but each test would run as if the system was freshly booted.
Anyway, it was just some idle thoughts and I was curious if other people have done this? or even think it is a good idea?