What are the basic steps to be followed for booting G55S AM62Ax SBC SOM?

TI Boards & Solutions TI AM62A
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Please make sure the below points are taken care of:

  1. The UART baud rate is set to 115200.

  2. The boot mode pins are properly configured for booting.—eMMC boot is selected

  3. Follow the QSG link below,

    Get started with TI AM62Ax based Single Board Computer - iWave Systems

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Please find the detailed product information here:
TI AM62Ax based Single Board Computer