According AN555 pdf description
The Image Vector Table (IVT) is a mandatory part of the boot image, and its structure is defined as:
uint32_t: A type representing a 32 bit unsigned integer.
Header: Header identifying the type of data structure (0xD1), its size (0x0020), and HAB
version (0x40). For i.MX28, this is D100 2040h.
*entry: Absolute address of the first instruction to execute from the image.
reserved1: Reserved and should be zero.
*dcd: Absolute address of the image Device Configuration Table (DCD). If using
bootlets to configure i.MX28, this field should be set to NULL.
*boot_data: Absolute address of the Boot Data structure. This should be set to NULL for
*self: Absolute address of the IVT. Used internally by the ROM.
*csf: Absolute address of the Command Sequence File (CSF) used by the HAB library.
This field must be set to NULL when not performing a secure boot.
reserved2: Reserved and should be zero.
"The IVT is a block of data that must reside on the boot device." this line what's meaning? The IVT how to reside on the boot device?