cd <path-to-tisdk>/board-support/k3-image-gen-<version>
make CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=am64x_sr2 SOC_TYPE=hs-fs SBL=./prebuilt-images/u-boot-spl.bin-am64xx-evm SYSFW_DIR=./prebuilt-images #for HS-FS SR2.0
make CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=am64x SOC_TYPE=gp SBL=../prebuilt-images/u-boot-spl.bin-am64xx-evm SYSFW_DIR=../prebuilt-images #for GP SR1.0
for GP need ti-sci-firmware-am64x-gp.bin can be download here