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AM3358: How to boot from USB device

Part Number: AM3358

I have a AM335X EVM and Beaglebone Black, and I can boot from SPI flash. I initially boot from an SD card and use that to transfer the MLO and my own application files into the SPI Flash. After the board is powered on, the bootloader in ROM will load MLO then application file to blink a LED.

Now I want to boot from a USB device. What I want to have is: I plug a USB Device with MLO and my application file, power on the board, then the board can boot my application file stored in USB device.

I did some research but only find few topics ( e2e.ti.com/.../167540 ). Any instructions or links are highly appreciated.

Thank you.