This is caused by a seg fault while trying to parse the fdt argument, as
pxe is always calling do_bootm with argc == 4.

The patch with the fix http://people.canonical.com/~rsalveti/pxe/0001
-cmd_pxecfg-only-call-do_bootm-with-argc-4-if-fdtaddr.patch.

And the binary with the fix included:
http://people.canonical.com/~rsalveti/pxe/3/u-boot.bin

With the fix PXE works as expected:

Texas Instruments X-Loader 1.5.0 (Jun 28 2011 - 01:39:31)
Reading boot sector
Loading u-boot.bin from mmc


U-Boot 2011.06-dirty (Jul 11 2011 - 01:31:39)

CPU  : OMAP4430
Board: OMAP4 Panda
I2C:   ready
DRAM:  1 GiB
MMC:   OMAP SD/MMC: 0
Using default environment

In:    serial
Out:   serial
Err:   serial
Net:   No ethernet found.
Hit any key to stop autoboot:  0 
reading boot.scr

339 bytes read
Running bootscript from mmc0 ...
## Executing script at 82000000
(Re)start USB...
USB:   Register 1313 NbrPorts 3
USB EHCI 1.00
scanning bus for devices... The request port(2) is not configured
EHCI timed out on TD - token=0x80008c80
The request port(2) is not configured
4 USB Device(s) found
       scanning bus for storage devices... 0 Storage Device(s) found
       scanning bus for ethernet devices... 1 Ethernet Device(s) found
Waiting for Ethernet connection... done.
BOOTP broadcast 1
DHCP client bound to address 10.42.43.10
missing environment variable: pxeuuid
missing environment variable: ethaddr
Retreiving file: pxelinux.cfg/0A2A2B0A
Waiting for Ethernet connection... done.
Using sms0 device
TFTP from server 10.42.43.1; our IP address is 10.42.43.10
Filename 'pxelinux.cfg/0A2A2B0A'.
Load address: 0x88000000
Loading: #
done
Bytes transferred = 239 (ef hex)
Config file found
Label: panda-natty
        kernel: panda/uImage
        append: console=ttyO2,115200n8 root=/dev/mmcblk0p2 ro fixrtc vram=48M 
omapfb.vram=0:24M mem=1G@0x80000000 text earlyprintk=ttyO2
        initrd: panda/uInitrd
Enter choice: panda-natty
Label: panda-natty
        kernel: panda/uImage
        append: console=ttyO2,115200n8 root=/dev/mmcblk0p2 ro fixrtc vram=48M 
omapfb.vram=0:24M mem=1G@0x80000000 text earlyprintk=ttyO2
        initrd: panda/uInitrd
Retreiving file: panda/uInitrd
Waiting for Ethernet connection... done.
Using sms0 device
TFTP from server 10.42.43.1; our IP address is 10.42.43.10
Filename 'panda/uInitrd'.
Load address: 0x81600000
Loading: #################################################################
         #################################################################
         #################################################################
         #################################################################
         ############
done
Bytes transferred = 3982715 (3cc57b hex)
Retreiving file: panda/uImage
Waiting for Ethernet connection... done.
Using sms0 device
TFTP from server 10.42.43.1; our IP address is 10.42.43.10
Filename 'panda/uImage'.
Load address: 0x80000000
Loading: #################################################################
         #################################################################
         #################################################################
         #################################################################
         #########################
done
Bytes transferred = 4174480 (3fb290 hex)
## Booting kernel from Legacy Image at 80000000 ...
   Image Name:   Ubuntu Kernel
   Image Type:   ARM Linux Kernel Image (uncompressed)
   Data Size:    4174416 Bytes = 4 MiB
   Load Address: 80008000
   Entry Point:  80008000
   Verifying Checksum ... OK
## Loading init Ramdisk from Legacy Image at 81600000 ...
   Image Name:   Ubuntu Initrd
   Image Type:   ARM Linux RAMDisk Image (uncompressed)
   Data Size:    3982651 Bytes = 3.8 MiB
   Load Address: 00000000
   Entry Point:  00000000
   Verifying Checksum ... OK
   Loading Kernel Image ... OK
OK

Starting kernel ...

Uncompressing Linux... done, booting the kernel.
[    0.000000] Initializing cgroup subsys cpuset
...

** Changed in: u-boot-linaro (Ubuntu)
       Status: New => Incomplete

** Changed in: u-boot-linaro (Ubuntu)
       Status: Incomplete => Confirmed

** Changed in: u-boot-linaro (Ubuntu)
   Importance: Undecided => Medium

** Changed in: u-boot-linaro (Ubuntu)
       Status: Confirmed => In Progress

** Changed in: u-boot-linaro (Ubuntu)
     Assignee: (unassigned) => Ricardo Salveti (rsalveti)

** Also affects: u-boot-linaro
   Importance: Undecided
       Status: New

** Changed in: u-boot-linaro
       Status: New => In Progress

** Changed in: u-boot-linaro
     Assignee: (unassigned) => Ricardo Salveti (rsalveti)

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https://bugs.launchpad.net/bugs/808612

Title:
  pxe fails after loading kernel and initrd

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