Hello Wenjie Zhang,
The serial download mode may also be triggered when the selected boot option is not available. For example, if you set it to boot from the SD card slot and no card is available it will jump to the serial download mode. This may be the reason why the MFGtools keep showing it as HID_compliant device. The serial download mode is not dependent on u-boot as it’s triggered by the processors ROM code.
It is possible that the boot selection is not passing through or that the selected boot device is not working correctly.
If the MFGtool is succeeding communication was possible and both the i.MX and the DDR and image destination (in this case the eMMC) should be in working order.
I hope this helps!
Regards,