Catalina Boot Firmware Images:

These are the flash.bin built artifact from U-Boot which contain the
OEI's, SM, SPL, ARM Trusted Firmware, DDR Training blobs, and u-boot.itb.
This includes everything related to boot firmware with the exception of
the U-Boot environment.

These can be booted directly over USB via the SDP Protocol (assuming
the boot device is not programmed) or updated via U-Boot and Linux.

Binary Images:
 - flash using U-Boot or Linux to SOC-specific offset of boot device
   see http://trac.gateworks.com/wiki/catalina/firmware#boot-firmware
 - flash.bin - for i.MX95 Catalina boards