In the AM571x Technical Reference Manual Rev. I Section 33.3.3 Overall Booting Sequence there is a check "Initial software image valid?" after Steps 5 and 6 and before step 7.
I couldn't find information on what kind of check the boot ROM performs.
I am interesting in this option because if the image in the permanent eMMC boot memory, for example, becomes corrupted then this check should fail and the boot process executed next device in the list which can be an USB port and allow the user to load new software through the USB port.
There is a boot sequence - eMMC -> USB. This sequence will allow to always boot from the eMMC and automatically switch to the USB only when the norma code in the eMMC has become corrupt. This is the booting schema that would be perfect for us.
There is a USB -> eMMC sequence that will allow the USB to be used any time it is required but it is not practical for normal boot from eMMC because it has to wait for USB timeout, which is 6 seconds.