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TDA4VM: How to signed boot image ?

Part Number: TDA4VM


Dear Expert 

Follow this thread, we can use TI dummy key make secure boot, 

but it just explain "tiboot3.bin" and  "sysfw.bin"

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/956483/processor-sdk-dra8x-tda4x-secure-boot-on-tda4vm-with-ti-dummy-key

my question is :

base on previously steps, my question is "How to signed u-boot.img, linux kernel, dtb, or remote core firmwares, and boot from sd-card?"

We need a very clear step by step explain.

Many Thanks

Gibbs