[BPI-R2 Pro] Update Miniloader/SPL or use it on SD card

Hello. Is there way to update Miniloader/SPL on EMMC? I am always getting this error when trying to flash it via upgrade_tool:

sudo upgrade_tool ul rk356x_spl_nand_v1.07.bin
Not found config.ini
Program Data in /home/user/Linux_Upgrade_Tool_v1.65
Loading loader...
Loading loader failed,err=-2006!

Or maybe there is option to boot idbloader.img located on SD card?

same to flash idbloader/sdcard to emmc when booted from sdcard