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Linux/AM3352: eMMC flash procedure

Part Number: AM3352

Tool/software: Linux

I have custom board - based on AM3352 and I am using Linaro GCC 7.3-2018.05, ti-processor-sdk-linux-am335x-evm-04.03.00.05.

On my board I have wired Ethernet which is working, and I have one eMMC (NO SD-CARD).

I want to know how to transfer my uImage, rootfs  image to eMMC. 

I can transfer file from host to target via tftp in u-boot, but don't know how to format eMMC and write to it, how to package uImage, rootfs and any other files e.g. .dtb etc...

If someone can give me instruction that will be very helpful to speed-up my work, or any pointer will be also useful.

thx.

nu.