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AM625SIP: How to sign custom Zephyr.elf (for M4) with custMpk

Part Number: AM625SIP

Tool/software:

I would like to sign my Zephyr application with custMpk. I used script from u-boot: k3_gen_x509_cert.sh:

k3_gen_x509_cert.sh -c 0 -b zephyr.elf -o zephyr.signed -k ./custMpk.key

But, when I load it I get message: "Authentication failed":

=> setenv rproc_id 0; setenv rproc_fw /lib/firmware/dsmr6-zephyr.signed; if test -e mmc 1:2 ${rproc_fw}; then run rproc_load_and_boot_one; fi
This will not be a case any time
403225 bytes read in 43 ms (8.9 MiB/s)
ti_sci system-controller@44043000: Message not acknowledged
Authentication failed!
### ERROR ### Please RESET the board ###

Could you please guide me with some step-by-step instruction to do it right.

Thank you in advance.