Hello Justin Delva,
In fact page 5 of attached document describes how to boot rootfs filesystem from SD card. It assumes that FIT Images(including Linux, device tree and rfs) has already been deployed on NOR Flash at 0x5_8110_0000.
In the default u-boot environment, variables kernel_start, kernel_load and kernel_size are defined as the following.
kernel_size=0x3000000
kernel_start=0x581100000
kernel_load=0xa0000000
So please program kernel itb image kernel-ls2085ardb.itb onto NOR Flash at 0x5_8110_0000 first.
If your problem remains, please provide the result of "pri" command in u-boot.
Have a great day,
Yiping
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