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Build commands for p2041rdb
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cd /path/to/poky_directory/ 
TEMPLATECONF=meta-el-standard/conf/template.p2041rdb/ . ./oe-init-build-env /path/to/build-dir
bitbake enea-image-standard

Boot commands for p2041rdb
=============================
NFS boot commands:
setenv serverip <TFTP Server IP>

tftp 1400000 </path/to/kernel_file>

tftp 13f0000 </path/to/dtb_file>

setenv bootargs "'root=/dev/nfs rw nfsroot=<NFS Server IP>:{NFSROOTFS} ip=dhcp console=ttyS0115200 memmap=16M$0xf7000000 mem=4080M max_addr=f6ffffff'"

bootm 0x1400000 - 0x13f0000