This is the TrustZone project. 
U-Boot is in Secure World. Linux 2.6.35 is in Normal World.

Setup Environment:
    export CROSS_COMPILE=arm-none-linux-gnueabi-
    export ARCH=arm


1. To compile U-Boot:
(1) make mx53loco_defconfig
(2) sudo dd if=u-boot.imx of=/dev/mmcblk0 bs=512 seek=2

2. To Compile Linux-2.6.35:
(1) make imx5_defconfig
(2) make 
(3) make uImage
(4) sudo dd if=arch/arm/boot/uImage of=/dev/mmcblk0 bs=512 seek=2048

Change U-Boot parameters:
(1) setenv bootargs_base 'setenv bootargs console=ttymxc0,115200'
(2) setenv bootargs_mmc 'setenv bootargs ${bootargs} ip=192.168.10.1 root=/dev/mmcblk0p1 rootwait rw' 
(3) setenv bootcmd_mmc 'run bootargs_base bootargs_mmc;mmc dev 0;mmc read ${loadaddr} 0x800 0x4000;bootm'
(4) setenv bootcmd 'run bootcmd_mmc'
(5) saveenv
(6) run bootcmd

3. File System

Create and format rootfs partition (/dev/mmcblk0p1) on SD card.

Run sudo fdisk /dev/mmcblk0

u [switch the unit to sectors instead of cylinders]
d [repeat this until no partition is reported by the ‘p’ command ]
n [create a new partition]
p [create a primary partition]
1 [the first partition]
8192 [starting at offset sector #8192, i.e. 4MB, which leaves enough space
for the kernel, the boot loader and its configuration data]
[using the default value will create a partition that spans to the
 last sector of the medium]
w [ this writes the partition table to the medium and fdisk exits]
 
sudo mkfs.ext4 /dev/mmcblk0p1

Go to the downloaded rootfs.
sudo cp -rpa [A-z]* /media/844b21c5-9e3b-4b5c-907d-afa9e582f39a/

sync