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SK-AM62P-LP: Question on eMMC Boot SPL vs SBL

Part Number: SK-AM62P-LP
Other Parts Discussed in Thread: UNIFLASH, AM62P

Tool/software:

I've run through the reference manual from both MCU+ SDK and Linux SDK, but couldnt conclude a straightforward way to boot from eMMC.

My final goal is to boot up both R core and A core without SD card involvement, purely on eMMC, require method to update MCU R5 image and also A core Linux Kernel.

##MCU+ SDK SBL, referring to https://software-dl.ti.com/mcu-plus-sdk/esd/AM62X/11_00_00_16/exports/docs/api_guide_am62x/SBL_BOOTING_LINUX_EMMC.html##

using python script uart_uniflash.py with cfg file default_sbl_emmc_linux_hs_fs.cfg, which require linux App(bl31, bl32, uboot-spl), hsm App, uboot.img 

by using this script, without SD card, I'm not able to write in rootfs, then how to replace rootfs in it?

and in this mode the sbl_emmc_linux_stage1.release.hs_fs.tiimage is it equivalent to tiboot3.bin, uboot-spl in linux App is it euivalent to tispl.bin?

MCU R5 and WKUP R5 can run normally, but not A core, how to flash rootfs?

###Linux SPL, referring to 

https://software-dl.ti.com/processor-sdk-linux/esd/AM62PX/11_00_09_04/exports/docs/linux/Foundational_Components/U-Boot/UG-DFU.html

https://software-dl.ti.com/processor-sdk-linux/esd/AM62PX/11_00_09_04/exports/docs/linux/Foundational_Components/U-Boot/UG-Memory-K3.html#

using dfu-util , able to write in tiboot3.bin, tispl.bin, uboot.img, rootfs(ext4 image)

can bootup MCU R5, WKUP R5, A core into Linux console, but how to replace the MCU R5/WKUP R5 image with this method?

###Blank flash###

How to do blank flash on this EVK?

It is very confusing between both of SBL and SPL, should I just focus on one of it or anyhow I have to combine them 2 in order to achieve my goal.

Any simple explanation or guidance would be much appreciated now.