My observations are if you hook up the debug console port and boot 
from eMMC (i.e. not holding BOOT button) you will see something like:

U-Boot SPL 2019.04-00002-gbb4af0f50f (Jul 08 2019 - 11:44:39 -0500)
Trying to boot from MMC2

and if you do boot from sdcard by holding the BOOT button then 
removing and inserting the USB/power cable you see:

U-Boot SPL 2020.01-rc3 (Nov 19 2019 - 02:31:49 +0000)
Trying to boot from MMC1

My observation is that you will see:

Loading Environment from FAT...

if your u-boot expects to have a FAT file system for boot, and:

Loading Environment from EXT4...

if your u-boot expects to have an EXT4 file system for boot.

It seems the yocto u-boot still expects a FAT file system for boot,
whereas the debian/beaglebone.org one expects EXT4.

I suppose I could confirm this by reformatting my sdcard with
FAT file system for boot.

I am able to boot my yocto build with one EXT4 partition on sdcard
by interrupting u-boot at startup and doing the following in u-boot:

setenv loadzimage "load mmc 0:1 ${loadaddr} /boot/zImage"
setenv loadftd "load mmc 0:1 ${fdtaddr} /boot/am335x-boneblack.dtb"
setenv bootargs "console=ttyO0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 
rootwait fixrtc ${optargs}"
run loadzimage
run loadftd
bootz ${loadaddr} - ${fdtaddr}

Comments?
Dave
  

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