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J722SXH01EVM: How to boot Ubuntu in an arm based microcontroller?

Part Number: J722SXH01EVM


Tool/software:

We have the u-boot for the arm64 based microcontroller. And we want to use Ubuntu on top of it. The current scenario is I am trying to boot using an SD card which has boot and root partition.
In this scenario, how should the Ubuntu be loaded into respective partitions and allow u-boot to give control to the kernel? Currently it does not go beyond Grub.