Hello,
Seems that the front-end code of CST 3.3.1(also for CST3.1) has the issue. "-c" doesn't really work to input the public certification.
Need to add a ":" after c in cst.c in front end code and then rebuild the cst tool, then it can work.

I tried with below command and it work by updated cst binary.
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./cst -o csf_enc.bin -c IMG1_1_sha256_2048_65537_v3_usr_crt.pem -i csf_uboot_enc.txt
./openssl cms -decrypt -binary -in dek.bin -inform DER -inkey IMG1_1_sha256_2048_65537_v3_usr_key.pem -out decrypted_dek.bin --passin pass:test
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Please note that the dek.bin's size is 439 bytes(not 16 bytes) after you really encrypt the dek by the first command.
Hope it helps!
BR,
Ivan.