Hello Jacob:
OpenSDA (v1) is a propietary P&E firmware and source code is not available, so you cannot replicate this bootloader on a K20 MCU. The K20 in a FRDM-KL25Z has this version.
On the other hand, there is the new OpenSDAv2 also suitable for K20DX128, which is Open Source and USBDM is already supported with this version.
For detailed information about OpenSDAv2 and USBDM, check the next links:
OpenSDAv2
USBDM
I hope this helps.
Regards!,
Jorge Gonzalez
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