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AUDIO-AM62D-EVM: USB DFU support is needed

Part Number: AUDIO-AM62D-EVM

I tried to use USB DFU to load tiboot3.bin following the instruction at https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-jacinto7/latest/exports/docs/linux/Foundational_Components/U-Boot/UG-DFU.html

but having questions:

1) after running dfu-util -R -a bootloader -D tiboot3.bin, I see console with the following error:

U-Boot SPL 2025.01-00502-g5350f13b6639 (Jun 26 2025 - 14:32:24 +0000)
SYSFW ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
SPL initial stack usage: 17056 bytes
SPL: failed to boot from all boot devices
### ERROR ### Please RESET the board ###

and dfu-ytil -l showing:

dfu-util 0.11

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2021 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to http://sourceforge.net/p/dfu-util/tickets/

Failed to retrieve language identifiers
Failed to retrieve language identifiers
Failed to retrieve language identifiers
Failed to retrieve language identifiers
Found DFU: [0451:6165] ver=0200, devnum=22, cfg=1, intf=0, path="1-1.3", alt=1, name="UNKNOWN", serial="UNKNOWN"
Found DFU: [0451:6165] ver=0200, devnum=22, cfg=1, intf=0, path="1-1.3", alt=0, name="UNKNOWN", serial="UNKNOWN"

which are different than TI's instruction steps. are they normal?

2) TI instruction showing "Send boot images in this order: tiboot3.bin -> sysfw.itb -> tispl.bin -> u-boot.img". In linux sdcard build, there is no image of sysfw.itb, what is the correct name of the image from the build?

Thanks Aiping