Hi!
The K.15.12.0012 software version should use the BootROM K.15.30 as per its Release Notes [*] (with this assumption I mean that if your HP 5400 zl Switch Series is running K.15.12.0012 then its BootROM should have been updated too and it should have been running on BootROM K.15.30 since the time it received the K.15.12.0012 software update).
Please verify the above assumption by reporting the outputs of show flash and show version CLI commands, as already suggested by @akg7 .
If the above assumption is true then, since the desired target version K.16.02.0032 uses BootROM K.15.30 too (as per its Release Notes, see below), the BootROM of your HP 5400 zl Switch Series is not going to receive any mandatory update during the K.15.12.0012 -> K.16.02.0032 upgrade procedure and, having no other particular prerequisite for this procedure (See Release Notes of K.16.02.0032 and the text notes on the Download Page here as references), you can upgrade directly into software version K.16.02.0032 from K.15.12.0012 without necessarily passing through specific interim software versions.
P.S. the K.15.17 software branch does exist (see here).
Edit [*]: the BootROM K.15.30 was initially introduced starting with K.15.12.0006 software version.