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One other data point. If I don't press and hold the boot switch when power is applied and instead wait a few seconds after applying power and then press the boot switch, the pserial command is able to detect the ASIC ID and download the x-loan.bin.
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For UART or USB you do not use the MLO file. When you build u-boot you should have a spl/u-boot-spl.bin file. This is what you send over x-modem. The MLO file is only used for Memory Booting (SD/Card, eMMC) while the u-boot-spl.bin file is used for Peripheral Booting (UART, USB).
It looks like next step is to load u-boot.img, which works nicely. Thanks for the clues everyone!This web-page is a very helpful guide for anyone else trying to boot from the serial port: http://processors.wiki.ti.com/index.php/Sitara_Linux_Training:_UBoot_Board_Port