Hi, Terry,
I have to say this is a wrong concept that you load bootloader via JTAG then load application code via JTAG, the correct step is
1)you load bootloader via JTAG port.
2)after the bootloader starts up, your bootloader code loads application code via uart with S-record format. The application code can not run without bootloader, because the application code Reset vector points to bootloader entry point.
I attach the an4275.pdf, which is based on MC56F82xx rather than MC56F82xxx.
Hope it can help you
BR
XiangJun Rong