I saw this bug and able to duplicate on another i.Mx51 design, however it seems 
to be fix by my patch attached.
dunno if it's still helpful. or someone can test the patch as well.

** Patch added: "fix_fail_to_read_mmc.patch"
   
https://bugs.launchpad.net/ubuntu/+source/uboot-imx/+bug/506761/+attachment/1771257/+files/fix_fail_to_read_mmc.patch

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https://bugs.launchpad.net/bugs/506761

Title:
  lucid uboot hangs on fatload uImage on fsl TO2 TO2.5 and TO3

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