Hi Frenoy
flashloader documentation describes flashing procedures, they use ROM indirectly.
>Is there any documentation or guide on using the on-chip boot ROM directly?
I am afraid no. ROM only provides simple commands for loading application to memory.
Since flash programming requires complex procedures (depending on used external memories),
additional application (like secondary Kinetis Bootloader described in flashloader documentation )
is needed for that.
Best regards
igor