What kind of storage does your device use and how is it mapped (aka if it's
eMMC then on which pins it is mapped).
This is how I am doing it for eMMC-based device
0. (In case bootloader is already flashed) - Insert the fel-sdboot formatted
sdcard (search from wiki) that puts device in FEL mode.
1. Connect USB and load uboot via FEL to put device into fastboot mode
$ cat my.env
#=uEnv
bootcmd=fastboot usb 0
$ sunxi-fel uboot u-boot-sunxi-with-spl.bin write 0x43100000 my.env
2. Now device should end up in fastboot mode
$ fastboot oem format
3. Reboot the device (should end up in FEL mode because fel-sdboot sdcard)
$ fastboot reboot
4. Another boot into fastboot mode
$ sunxi-fel uboot u-boot-sunxi-with-spl.bin write 0x43100000 my.env
5. Do the flashing
$ fastboot flash loader1 sunxi-spl.bin
$ fastboot flash loader2 u-boot.img
$ fastboot flash esp esp.img
$ fastboot flash system system.img
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