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AM3351: TFTP boot >> Yocto build for Beaglebone Black board

Part Number: AM3351

I want to start development using the BBB  I have build the yocto image and I am able to boot from SD card.  I now want to burn the MLO and uboot image into flash and then netboot (tftp boot).

My real product will not use a SD card for production.  Is thee a step by step guide available to walk me through setting this up.  I want to run everything on the BBB hardware and not a mount point on my PC.

Thank you for your help