U-boot

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compiling

Install the arm-none-eabi- toolchain.

Fedora dependencies: 

sudo dnf install -y bison flex ncurses-devel bc make swig python3-devel openssl-devel openssl-devel-engine gnutls-devel

cli

List devices: 

mmc list

ums flashing

Make sure 

CONFIG_CMD_USB_MASS_STORAGE=y
CONFIG_USB_FUNCTION_MASS_STORAGE=y
is set in your u-boot config. Boot and repeatedly press space to drop into a u-boot prompt. Use 
ums 0 mmc 0
to expose the mmc 0 block device via usb port 0. ums docs