pico-imx6: Add initial support

Add the initial support for the pico-imx6 variants.

DDR initialization is based on the TechNexion's U-Boot code.

Signed-off-by: Fabio Estevam <festevam@gmail.com>
Signed-off-by: Fabio Berton <fabio.berton@ossystems.com.br>
Signed-off-by: Otavio Salvador <otavio@ossystems.com.br>

13 files changed, 1155 insertions, 0 deletions

diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
index 90e877322b..7a0b05b8ca 100644
--- a/arch/arm/dts/Makefile
+++ b/arch/arm/dts/Makefile
@@ -560,6 +560,7 @@ dtb-y += \
 	imx6dl-icore-rqs.dtb \
 	imx6dl-mamoj.dtb \
 	imx6dl-nitrogen6x.dtb \
+	imx6dl-pico.dtb \
 	imx6dl-sabreauto.dtb \
 	imx6dl-sabresd.dtb \
 	imx6dl-wandboard-revb1.dtb \
@@ -578,6 +579,7 @@ dtb-y += \
 	imx6q-logicpd.dtb \
 	imx6q-nitrogen6x.dtb \
 	imx6q-novena.dtb \
+	imx6q-pico.dtb \
 	imx6q-sabreauto.dtb \
 	imx6q-sabrelite.dtb \
 	imx6q-sabresd.dtb \
diff --git a/arch/arm/dts/imx6dl-pico.dts b/arch/arm/dts/imx6dl-pico.dts
new file mode 100644
index 0000000000..43763c1faa
--- /dev/null
+++ b/arch/arm/dts/imx6dl-pico.dts
@@ -0,0 +1,17 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright 2018 Technexion Ltd.
+//
+// Author: Wig Cheng <wig.cheng@technexion.com>
+//	   Richard Hu <richard.hu@technexion.com>
+//	   Tapani Utriainen <tapani@technexion.com>
+
+/dts-v1/;
+
+#include "imx6dl.dtsi"
+#include "imx6qdl-pico.dtsi"
+
+/ {
+	model = "TechNexion PICO-IMX6 DualLite/Solo";
+	compatible = "technexion,imx6dl-pico", "fsl,imx6dl";
+};
diff --git a/arch/arm/dts/imx6q-pico.dts b/arch/arm/dts/imx6q-pico.dts
new file mode 100644
index 0000000000..bfc6f9c744
--- /dev/null
+++ b/arch/arm/dts/imx6q-pico.dts
@@ -0,0 +1,17 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright 2018 Technexion Ltd.
+//
+// Author: Wig Cheng <wig.cheng@technexion.com>
+//	   Richard Hu <richard.hu@technexion.com>
+//	   Tapani Utriainen <tapani@technexion.com>
+
+/dts-v1/;
+
+#include "imx6q.dtsi"
+#include "imx6qdl-pico.dtsi"
+
+/ {
+	model = "TechNexion PICO-IMX6 Quad";
+	compatible = "technexion,imx6q-pico", "fsl,imx6q";
+};
diff --git a/arch/arm/dts/imx6qdl-pico.dtsi b/arch/arm/dts/imx6qdl-pico.dtsi
new file mode 100644
index 0000000000..50379d04b7
--- /dev/null
+++ b/arch/arm/dts/imx6qdl-pico.dtsi
@@ -0,0 +1,424 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright 2018 Technexion Ltd.
+//
+// Author: Wig Cheng <wig.cheng@technexion.com>
+//	   Richard Hu <richard.hu@technexion.com>
+//	   Tapani Utriainen <tapani@technexion.com>
+
+#include <dt-bindings/gpio/gpio.h>
+
+/ {
+	aliases {
+		mmc0 = &usdhc3;
+		usb0 = &usbotg;
+	};
+
+	chosen {
+		stdout-path = &uart1;
+	};
+
+	reg_2p5v: regulator-2p5v {
+		compatible = "regulator-fixed";
+		regulator-name = "2P5V";
+		regulator-min-microvolt = <2500000>;
+		regulator-max-microvolt = <2500000>;
+		regulator-always-on;
+	};
+
+	reg_3p3v: regulator-3p3v {
+		compatible = "regulator-fixed";
+		regulator-name = "3P3V";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-always-on;
+	};
+
+	reg_1p8v: regulator-1p8v {
+		compatible = "regulator-fixed";
+		regulator-name = "1P8V";
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <1800000>;
+		regulator-always-on;
+	};
+
+	reg_usb_otg_vbus: regulator-usb-otg-vbus {
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_usbotg_vbus>;
+		compatible = "regulator-fixed";
+		regulator-name = "usb_otg_vbus";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		gpio = <&gpio3 22 GPIO_ACTIVE_LOW>;
+	};
+};
+
+&audmux {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_audmux>;
+	status = "okay";
+};
+
+&can1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_flexcan1>;
+	status = "okay";
+};
+
+&can2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_flexcan2>;
+	status = "okay";
+};
+
+&clks {
+	assigned-clocks = <&clks IMX6QDL_CLK_LDB_DI0_SEL>,
+			  <&clks IMX6QDL_CLK_LDB_DI1_SEL>;
+	assigned-clock-parents = <&clks IMX6QDL_CLK_PLL3_USB_OTG>,
+				 <&clks IMX6QDL_CLK_PLL3_USB_OTG>;
+};
+
+&ecspi2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_ecspi2>;
+	cs-gpios = <&gpio2 27 GPIO_ACTIVE_HIGH>;
+	status = "okay";
+};
+
+&fec {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_enet>;
+	phy-mode = "rgmii-id";
+	phy-reset-gpios = <&gpio1 26 GPIO_ACTIVE_LOW>;
+	status = "okay";
+};
+
+&hdmi {
+	ddc-i2c-bus = <&i2c2>;
+	status = "okay";
+};
+
+&i2c1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c1>;
+	status = "okay";
+};
+
+&i2c2 {
+	clock-frequency = <100000>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c2>;
+	status = "okay";
+};
+
+&i2c3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c3>;
+	status = "okay";
+};
+
+&pcie {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pcie_reset>;
+	reset-gpio = <&gpio5 21 GPIO_ACTIVE_LOW>;
+	status = "okay";
+};
+
+&pwm1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm1>;
+	status = "okay";
+};
+
+&pwm2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm2>;
+	status = "okay";
+};
+
+&pwm3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm3>;
+	status = "okay";
+};
+
+&pwm4 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm4>;
+	status = "okay";
+};
+
+&ssi1 {
+	status = "okay";
+};
+
+&uart1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart1>;
+	status = "okay";
+};
+
+&uart2 {  /* Bluetooth module */
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart2>;
+	fsl,uart-has-rtscts;
+	status = "okay";
+};
+
+&uart3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart3>;
+	fsl,uart-has-rtscts;
+	status = "okay";
+};
+
+&usbh1 {
+	status = "okay";
+};
+
+&usbotg {
+	vbus-supply = <&reg_usb_otg_vbus>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usbotg>;
+	disable-over-current;
+	dr_mode = "otg";
+	status = "okay";
+};
+
+&usdhc1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc1>;
+	bus-width = <8>;
+	cd-gpios = <&gpio3 9 GPIO_ACTIVE_LOW>;
+	status = "okay";
+};
+
+&usdhc2 {  /* Wifi/BT  */
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc2>;
+	bus-width = <4>;
+	no-1-8-v;
+	keep-power-in-suspend;
+	non-removable;
+	status = "okay";
+};
+
+&usdhc3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc3>;
+	bus-width = <8>;
+	no-1-8-v;
+	non-removable;
+	status = "okay";
+};
+
+&iomuxc {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_hog>;
+
+	pinctrl_hog: hoggrp {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_MCLK__GPIO5_IO19	0x4001b0b5 /* PICO_P24 */
+			MX6QDL_PAD_CSI0_PIXCLK__GPIO5_IO18	0x4001b0b5 /* PICO_P25 */
+			MX6QDL_PAD_CSI0_VSYNC__GPIO5_IO21	0x4001b0b5 /* PICO_P26 */
+			MX6QDL_PAD_CSI0_DATA_EN__GPIO5_IO20	0x4001b0b5 /* PICO_P28 */
+			MX6QDL_PAD_CSI0_DAT8__GPIO5_IO26	0x4001b0b5 /* PICO_P30 */
+			MX6QDL_PAD_CSI0_DAT9__GPIO5_IO27	0x4001b0b5 /* PICO_P32 */
+			MX6QDL_PAD_CSI0_DAT14__GPIO6_IO00	0x4001b0b5 /* PICO_P34 */
+			MX6QDL_PAD_CSI0_DAT12__GPIO5_IO30	0x4001b0b5 /* PICO_P42 */
+			MX6QDL_PAD_CSI0_DAT13__GPIO5_IO31	0x4001b0b5 /* PICO_P44 */
+			MX6QDL_PAD_CSI0_DAT15__GPIO6_IO01	0x4001b0b5 /* PICO_P48 */
+		>;
+	};
+
+	pinctrl_audmux: audmuxgrp {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_DAT7__AUD3_RXD		0x130b0
+			MX6QDL_PAD_CSI0_DAT4__AUD3_TXC		0x130b0
+			MX6QDL_PAD_CSI0_DAT5__AUD3_TXD		0x110b0
+			MX6QDL_PAD_CSI0_DAT6__AUD3_TXFS		0x130b0
+		>;
+	};
+
+	pinctrl_ecspi1: ecspi1grp {
+		fsl,pins = <
+			MX6QDL_PAD_EIM_D17__ECSPI1_MISO		0x100b1
+			MX6QDL_PAD_EIM_D18__ECSPI1_MOSI		0x100b1
+			MX6QDL_PAD_EIM_D16__ECSPI1_SCLK		0x100b1
+			MX6QDL_PAD_EIM_EB2__GPIO2_IO30		0x000f0b0
+		>;
+	};
+
+	pinctrl_ecspi2: ecspi2grp {
+		fsl,pins = <
+			MX6QDL_PAD_EIM_OE__ECSPI2_MISO		0x1b0b1
+			MX6QDL_PAD_EIM_CS1__ECSPI2_MOSI		0x1b0b1
+			MX6QDL_PAD_EIM_CS0__ECSPI2_SCLK		0x1b0b1
+			MX6QDL_PAD_EIM_RW__GPIO2_IO26		0x000f0b0
+			MX6QDL_PAD_EIM_LBA__GPIO2_IO27		0x000f0b0
+		>;
+	};
+
+	pinctrl_enet: enetgrp {
+		fsl,pins = <
+			MX6QDL_PAD_ENET_MDIO__ENET_MDIO		0x1b0b0
+			MX6QDL_PAD_ENET_MDC__ENET_MDC		0x1b0b0
+			MX6QDL_PAD_RGMII_TXC__RGMII_TXC		0x1b0b0
+			MX6QDL_PAD_RGMII_TD0__RGMII_TD0		0x1b0b0
+			MX6QDL_PAD_RGMII_TD1__RGMII_TD1		0x1b0b0
+			MX6QDL_PAD_RGMII_TD2__RGMII_TD2		0x1b0b0
+			MX6QDL_PAD_RGMII_TD3__RGMII_TD3		0x1b0b0
+			MX6QDL_PAD_RGMII_TX_CTL__RGMII_TX_CTL	0x1b0b0
+			MX6QDL_PAD_ENET_REF_CLK__ENET_TX_CLK	0x1b0b0
+			MX6QDL_PAD_RGMII_RXC__RGMII_RXC		0x1b0b0
+			MX6QDL_PAD_RGMII_RD0__RGMII_RD0		0x1b0b0
+			MX6QDL_PAD_RGMII_RD1__RGMII_RD1		0x1b0b0
+			MX6QDL_PAD_RGMII_RD2__RGMII_RD2		0x1b0b0
+			MX6QDL_PAD_RGMII_RD3__RGMII_RD3		0x1b0b0
+			MX6QDL_PAD_RGMII_RX_CTL__RGMII_RX_CTL	0x1b0b0
+			MX6QDL_PAD_ENET_TX_EN__ENET_TX_EN	0x1b0b0
+			MX6QDL_PAD_ENET_RXD1__GPIO1_IO26	0x1f0b1
+		>;
+	};
+
+	pinctrl_flexcan1: flexcan1grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL2__FLEXCAN1_TX	0x1b0b0
+			MX6QDL_PAD_KEY_ROW2__FLEXCAN1_RX	0x1b0b0
+		>;
+	};
+
+	pinctrl_flexcan2: flexcan2grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL4__FLEXCAN2_TX	0x1b0b0
+			MX6QDL_PAD_KEY_ROW4__FLEXCAN2_RX	0x1b0b0
+		>;
+	};
+
+	pinctrl_i2c1: i2c1grp {
+		fsl,pins = <
+			MX6QDL_PAD_EIM_D21__I2C1_SCL		0x4001b8b1
+			MX6QDL_PAD_EIM_D28__I2C1_SDA		0x4001b8b1
+		>;
+	};
+
+	pinctrl_i2c2: i2c2grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL3__I2C2_SCL		0x4001b8b1
+			MX6QDL_PAD_KEY_ROW3__I2C2_SDA		0x4001b8b1
+		>;
+	};
+
+	pinctrl_i2c3: i2c3grp {
+		fsl,pins = <
+			MX6QDL_PAD_EIM_D17__I2C3_SCL		0x4001b8b1
+			MX6QDL_PAD_EIM_D18__I2C3_SDA		0x4001b8b1
+		>;
+	};
+
+	pinctrl_pcie_reset: pciegrp {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_VSYNC__GPIO5_IO21	0x130b0
+		>;
+	};
+
+	pinctrl_pwm1: pwm1grp {
+		fsl,pins = <
+			MX6QDL_PAD_GPIO_9__PWM1_OUT		0x1b0b1
+		>;
+	};
+
+	pinctrl_pwm2: pwm2grp {
+		fsl,pins = <
+			MX6QDL_PAD_GPIO_1__PWM2_OUT		0x1b0b1
+		>;
+	};
+
+	pinctrl_pwm3: pwm3grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD4_DAT1__PWM3_OUT		0x1b0b1
+		>;
+	};
+
+	pinctrl_pwm4: pwm4grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD4_DAT2__PWM4_OUT		0x1b0b1
+		>;
+	};
+
+	pinctrl_uart1: uart1grp {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_DAT10__UART1_TX_DATA	0x1b0b1
+			MX6QDL_PAD_CSI0_DAT11__UART1_RX_DATA	0x1b0b1
+		>;
+	};
+
+	pinctrl_uart2: uart2grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD4_DAT4__UART2_RX_DATA	0x1b0b1
+			MX6QDL_PAD_SD4_DAT5__UART2_RTS_B	0x1b0b1
+			MX6QDL_PAD_SD4_DAT6__UART2_CTS_B	0x1b0b1
+			MX6QDL_PAD_SD4_DAT7__UART2_TX_DATA	0x1b0b1
+		>;
+	};
+
+	pinctrl_uart3: uart3grp {
+		fsl,pins = <
+			MX6QDL_PAD_EIM_D24__UART3_TX_DATA	0x1b0b1
+			MX6QDL_PAD_EIM_D25__UART3_RX_DATA	0x1b0b1
+			MX6QDL_PAD_EIM_D23__UART3_CTS_B		0x1b0b1
+			MX6QDL_PAD_EIM_D31__UART3_RTS_B		0x1b0b1
+		>;
+	};
+
+	pinctrl_usbotg: usbotggrp {
+		fsl,pins = <
+			MX6QDL_PAD_ENET_RX_ER__USB_OTG_ID	0x17059
+		>;
+	};
+
+	pinctrl_usbotg_vbus: usbotgvbusgrp {
+		fsl,pins = <
+			MX6QDL_PAD_EIM_D22__GPIO3_IO22		0x1b0b0
+		>;
+	};
+
+	pinctrl_usdhc1: usdhc1grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD1_CMD__SD1_CMD		0x17071
+			MX6QDL_PAD_SD1_CLK__SD1_CLK		0x17071
+			MX6QDL_PAD_SD1_DAT0__SD1_DATA0		0x17071
+			MX6QDL_PAD_SD1_DAT1__SD1_DATA1		0x17071
+			MX6QDL_PAD_SD1_DAT2__SD1_DATA2		0x17071
+			MX6QDL_PAD_SD1_DAT3__SD1_DATA3		0x17071
+			MX6QDL_PAD_GPIO_2__GPIO1_IO02		0x1b0b0
+		>;
+	};
+
+	pinctrl_usdhc2: usdhc2grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD2_CMD__SD2_CMD		0x17059
+			MX6QDL_PAD_SD2_CLK__SD2_CLK		0x10059
+			MX6QDL_PAD_SD2_DAT0__SD2_DATA0		0x17059
+			MX6QDL_PAD_SD2_DAT1__SD2_DATA1		0x17059
+			MX6QDL_PAD_SD2_DAT2__SD2_DATA2		0x17059
+			MX6QDL_PAD_SD2_DAT3__SD2_DATA3		0x17059
+		>;
+	};
+
+	pinctrl_usdhc3: usdhc3grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD3_CMD__SD3_CMD		0x17059
+			MX6QDL_PAD_SD3_CLK__SD3_CLK		0x10059
+			MX6QDL_PAD_SD3_DAT0__SD3_DATA0		0x17059
+			MX6QDL_PAD_SD3_DAT1__SD3_DATA1		0x17059
+			MX6QDL_PAD_SD3_DAT2__SD3_DATA2		0x17059
+			MX6QDL_PAD_SD3_DAT3__SD3_DATA3		0x17059
+			MX6QDL_PAD_EIM_DA9__GPIO3_IO09		0xb0b1
+			MX6QDL_PAD_SD3_DAT4__SD3_DATA4		0x17059
+			MX6QDL_PAD_SD3_DAT5__SD3_DATA5		0x17059
+			MX6QDL_PAD_SD3_DAT6__SD3_DATA6		0x17059
+			MX6QDL_PAD_SD3_DAT7__SD3_DATA7		0x17059
+		>;
+	};
+};
diff --git a/arch/arm/mach-imx/mx6/Kconfig b/arch/arm/mach-imx/mx6/Kconfig
index 36e1c98fb5..01f0121beb 100644
--- a/arch/arm/mach-imx/mx6/Kconfig
+++ b/arch/arm/mach-imx/mx6/Kconfig
@@ -422,6 +422,16 @@ config TARGET_OT1200
 	select SUPPORT_SPL
 	imply CMD_SATA
 
+config TARGET_PICO_IMX6
+	bool "PICO-IMX6"
+	select BOARD_EARLY_INIT_F
+	select BOARD_LATE_INIT
+	select DM
+	select DM_THERMAL
+	select MX6QDL
+	select SUPPORT_SPL
+	imply CMD_DM
+
 config TARGET_PICO_IMX6UL
 	bool "PICO-IMX6UL-EMMC"
 	select MX6UL
@@ -609,6 +619,7 @@ source "board/logicpd/imx6/Kconfig"
 source "board/seco/Kconfig"
 source "board/sks-kinkel/sksimx6/Kconfig"
 source "board/solidrun/mx6cuboxi/Kconfig"
+source "board/technexion/pico-imx6/Kconfig"
 source "board/technexion/pico-imx6ul/Kconfig"
 source "board/tbs/tbs2910/Kconfig"
 source "board/tqc/tqma6/Kconfig"
diff --git a/board/technexion/pico-imx6/Kconfig b/board/technexion/pico-imx6/Kconfig
new file mode 100644
index 0000000000..4af18e53bc
--- /dev/null
+++ b/board/technexion/pico-imx6/Kconfig
@@ -0,0 +1,15 @@
+if TARGET_PICO_IMX6
+
+config SYS_BOARD
+	default "pico-imx6"
+
+config SYS_VENDOR
+	default "technexion"
+
+config SYS_SOC
+	default "mx6"
+
+config SYS_CONFIG_NAME
+	default "pico-imx6"
+
+endif
diff --git a/board/technexion/pico-imx6/MAINTAINERS b/board/technexion/pico-imx6/MAINTAINERS
new file mode 100644
index 0000000000..dd6fb96e44
--- /dev/null
+++ b/board/technexion/pico-imx6/MAINTAINERS
@@ -0,0 +1,9 @@
+TECHNEXION PICO-IMX6 BOARD
+M:	Fabio Estevam <festevam@gmail.com>
+S:	Maintained
+F:	arch/arm/dts/imx6qdl-pico.dtsi
+F:	arch/arm/dts/imx6q-pico.dts
+F:	arch/arm/dts/imx6dl-pico.dts
+F:	board/technexion/pico-imx6/
+F:	include/configs/pico-imx6.h
+F:	configs/pico-imx6_defconfig
diff --git a/board/technexion/pico-imx6/Makefile b/board/technexion/pico-imx6/Makefile
new file mode 100644
index 0000000000..ddb1604f1d
--- /dev/null
+++ b/board/technexion/pico-imx6/Makefile
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: GPL-2.0+
+#
+# (C) Copyright 2013 Freescale Semiconductor, Inc.
+
+obj-y  := pico-imx6.o spl.o
diff --git a/board/technexion/pico-imx6/README b/board/technexion/pico-imx6/README
new file mode 100644
index 0000000000..f1e84bfe82
--- /dev/null
+++ b/board/technexion/pico-imx6/README
@@ -0,0 +1,73 @@
+How to Update U-Boot on pico-imx6q/dl boards
+--------------------------------------------
+
+Required software on the host PC:
+
+- UUU: https://github.com/NXPmicro/mfgtools
+
+Build U-Boot for pico:
+
+$ make mrproper
+$ make pico-imx6_defconfig
+$ make
+
+This generates the SPL and u-boot-dtb.img binaries.
+
+1. Loading U-Boot via USB Serial Download Protocol
+
+Note: This method is convenient for development purposes.
+If the eMMC has already a U-Boot flashed then the user can
+go to step 2 below in order to update U-Boot.
+
+Put pico board in USB download mode (Refer to the following link for details:
+https://www.technexion.com/support/knowledgebase/boot-configuration-settings-for-pico-baseboards/).
+
+Connect a USB to serial adapter between the host PC and pico.
+
+Connect a USB cable between the OTG pico port and the host PC.
+
+Open a terminal program such as minicom.
+
+Copy SPL and u-boot-dtb.img to the uuu folder.
+
+Load the U-Boot via USB:
+
+$ sudo ./uuu -v uuu_script
+
+where uuu_script contains the following:
+
+SDP:  boot -f SPL
+SDPU: write -f u-boot-dtb.img -addr 0x10000000
+SDPU: jump -addr 0x10000000
+
+Then U-Boot starts and its messages appear in the console program.
+
+Use the default environment variables:
+
+=> env default -f -a
+=> saveenv
+
+2. Flashing U-Boot into the eMMC
+
+The  default  U-Boot   environment  expects  the  use   of  eMMC  user
+partition. To ensure we are using  the proper eMMC partition for boot,
+please run:
+
+=> mmc partconf 0 0 0 0
+
+Next, run the DFU agent so we can flash the new images using dfu-util
+tool:
+
+=> dfu 0 mmc 0
+
+Flash SPL and u-boot-dtb.img into the eMMC running the following commands on a PC:
+
+$ sudo dfu-util -D SPL -a spl
+
+$ sudo dfu-util -D u-boot-dtb.img -a u-boot
+
+Remove power from the pico board.
+
+Put pico board into normal boot mode.
+
+Power up the board and the new updated U-Boot should boot from eMMC.
diff --git a/board/technexion/pico-imx6/pico-imx6.c b/board/technexion/pico-imx6/pico-imx6.c
new file mode 100644
index 0000000000..717f20d9d7
--- /dev/null
+++ b/board/technexion/pico-imx6/pico-imx6.c
@@ -0,0 +1,78 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Copyright (C) 2013 Freescale Semiconductor, Inc.
+ * Copyright (C) 2014 O.S. Systems Software LTDA.
+ *
+ * Author: Fabio Estevam <festevam@gmail.com>
+ */
+
+#include <asm/arch/clock.h>
+#include <asm/arch/crm_regs.h>
+#include <asm/arch/iomux.h>
+#include <asm/arch/imx-regs.h>
+#include <asm/arch/mx6-pins.h>
+#include <asm/arch/sys_proto.h>
+#include <asm/gpio.h>
+#include <asm/mach-imx/iomux-v3.h>
+#include <asm/io.h>
+#include <linux/sizes.h>
+#include <common.h>
+
+DECLARE_GLOBAL_DATA_PTR;
+
+#define UART_PAD_CTRL  (PAD_CTL_PUS_100K_UP |			\
+	PAD_CTL_SPEED_MED | PAD_CTL_DSE_40ohm |			\
+	PAD_CTL_SRE_FAST  | PAD_CTL_HYS)
+
+int dram_init(void)
+{
+	gd->ram_size = imx_ddr_size();
+
+	return 0;
+}
+
+static iomux_v3_cfg_t const uart1_pads[] = {
+	IOMUX_PADS(PAD_CSI0_DAT10__UART1_TX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL)),
+	IOMUX_PADS(PAD_CSI0_DAT11__UART1_RX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL)),
+};
+
+static void setup_iomux_uart(void)
+{
+	SETUP_IOMUX_PADS(uart1_pads);
+}
+
+int board_early_init_f(void)
+{
+	setup_iomux_uart();
+
+	return 0;
+}
+
+int overwrite_console(void)
+{
+	return 1;
+}
+
+int board_late_init(void)
+{
+	if (is_mx6dq())
+		env_set("board_rev", "MX6Q");
+	else
+		env_set("board_rev", "MX6DL");
+
+	return 0;
+}
+
+int board_init(void)
+{
+	gd->bd->bi_boot_params = PHYS_SDRAM + 0x100;
+
+	return 0;
+}
+
+int checkboard(void)
+{
+	puts("Board: PICO-IMX6\n");
+
+	return 0;
+}
diff --git a/board/technexion/pico-imx6/spl.c b/board/technexion/pico-imx6/spl.c
new file mode 100644
index 0000000000..5bf87023ac
--- /dev/null
+++ b/board/technexion/pico-imx6/spl.c
@@ -0,0 +1,303 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Copyright (C) 2015 Technexion Ltd.
+ *
+ * Author: Richard Hu <richard.hu@technexion.com>
+ *	   Fabio Estevam <festevam@gmail.com>
+ */
+
+#include <asm/arch/clock.h>
+#include <asm/arch/imx-regs.h>
+#include <asm/arch/iomux.h>
+#include <asm/arch/mx6-pins.h>
+#include <linux/errno.h>
+#include <asm/gpio.h>
+#include <asm/mach-imx/iomux-v3.h>
+#include <asm/mach-imx/video.h>
+#include <mmc.h>
+#include <fsl_esdhc_imx.h>
+#include <asm/arch/crm_regs.h>
+#include <asm/io.h>
+#include <asm/arch/sys_proto.h>
+#include <spl.h>
+
+#if defined(CONFIG_SPL_BUILD)
+#include <asm/arch/mx6-ddr.h>
+
+#define IMX6DQ_DRIVE_STRENGTH		0x30
+#define IMX6SDL_DRIVE_STRENGTH		0x28
+
+/* configure MX6Q/DUAL mmdc DDR io registers */
+static struct mx6dq_iomux_ddr_regs mx6dq_ddr_ioregs = {
+	.dram_sdclk_0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdclk_1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_cas = IMX6DQ_DRIVE_STRENGTH,
+	.dram_ras = IMX6DQ_DRIVE_STRENGTH,
+	.dram_reset = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdcke0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdcke1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdba2 = 0x00000000,
+	.dram_sdodt0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdodt1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs2 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs3 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs4 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs5 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs6 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs7 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm2 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm3 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm4 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm5 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm6 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm7 = IMX6DQ_DRIVE_STRENGTH,
+};
+
+/* configure MX6Q/DUAL mmdc GRP io registers */
+static struct mx6dq_iomux_grp_regs mx6dq_grp_ioregs = {
+	.grp_ddr_type = 0x000c0000,
+	.grp_ddrmode_ctl = 0x00020000,
+	.grp_ddrpke = 0x00000000,
+	.grp_addds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_ctlds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_ddrmode = 0x00020000,
+	.grp_b0ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b1ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b2ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b3ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b4ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b5ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b6ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b7ds = IMX6DQ_DRIVE_STRENGTH,
+};
+
+/* configure MX6SOLO/DUALLITE mmdc DDR io registers */
+struct mx6sdl_iomux_ddr_regs mx6sdl_ddr_ioregs = {
+	.dram_sdclk_0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdclk_1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_cas = IMX6SDL_DRIVE_STRENGTH,
+	.dram_ras = IMX6SDL_DRIVE_STRENGTH,
+	.dram_reset = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdcke0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdcke1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdba2 = 0x00000000,
+	.dram_sdodt0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdodt1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs2 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs3 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs4 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs5 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs6 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs7 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm2 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm3 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm4 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm5 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm6 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm7 = IMX6SDL_DRIVE_STRENGTH,
+};
+
+/* configure MX6SOLO/DUALLITE mmdc GRP io registers */
+struct mx6sdl_iomux_grp_regs mx6sdl_grp_ioregs = {
+	.grp_ddr_type = 0x000c0000,
+	.grp_ddrmode_ctl = 0x00020000,
+	.grp_ddrpke = 0x00000000,
+	.grp_addds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_ctlds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_ddrmode = 0x00020000,
+	.grp_b0ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b1ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b2ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b3ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b4ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b5ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b6ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b7ds = IMX6SDL_DRIVE_STRENGTH,
+};
+
+/* H5T04G63AFR-PB for i.mx6Solo/DL operating DDR at 400MHz */
+static struct mx6_ddr3_cfg h5t04g63afr = {
+	.mem_speed = 800,
+	.density = 4,
+	.width = 16,
+	.banks = 8,
+	.rowaddr = 15,
+	.coladdr = 10,
+	.pagesz = 2,
+	.trcd = 1500,
+	.trcmin = 5250,
+	.trasmin = 3750,
+};
+
+/* H5TQ2G63FFR-H9 for i.mx6Solo/DL operating DDR at 400MHz */
+static struct mx6_ddr3_cfg h5tq2g63ffr = {
+	.mem_speed = 800,
+	.density = 2,
+	.width = 16,
+	.banks = 8,
+	.rowaddr = 14,
+	.coladdr = 10,
+	.pagesz = 2,
+	.trcd = 1500,
+	.trcmin = 5250,
+	.trasmin = 3750,
+};
+
+static struct mx6_mmdc_calibration mx6q_1g_mmdc_calib = {
+	.p0_mpwldectrl0 = 0x00000000,
+	.p0_mpwldectrl1 = 0x00000000,
+	.p1_mpwldectrl0 = 0x00000000,
+	.p1_mpwldectrl1 = 0x00000000,
+	.p0_mpdgctrl0 = 0x032C0340,
+	.p0_mpdgctrl1 = 0x03300324,
+	.p1_mpdgctrl0 = 0x032C0338,
+	.p1_mpdgctrl1 = 0x03300274,
+	.p0_mprddlctl = 0x423A383E,
+	.p1_mprddlctl = 0x3638323E,
+	.p0_mpwrdlctl = 0x363C4640,
+	.p1_mpwrdlctl = 0x4034423C,
+};
+
+/* DDR 32bit */
+static struct mx6_ddr_sysinfo mem_s = {
+	.dsize		= 1,
+	.cs1_mirror	= 0,
+	/* config for full 4GB range so that get_mem_size() works */
+	.cs_density	= 32,
+	.ncs		= 1,
+	.bi_on		= 1,
+	.rtt_nom	= 1,
+	.rtt_wr		= 0,
+	.ralat		= 5,
+	.walat		= 0,
+	.mif3_mode	= 3,
+	.rst_to_cke	= 0x23,
+	.sde_to_rst	= 0x10,
+};
+
+static struct mx6_mmdc_calibration mx6dl_1g_mmdc_calib = {
+	.p0_mpwldectrl0 = 0x001f001f,
+	.p0_mpwldectrl1 = 0x001f001f,
+	.p1_mpwldectrl0 = 0x001f001f,
+	.p1_mpwldectrl1 = 0x001f001f,
+	.p0_mpdgctrl0 = 0x420e020e,
+	.p0_mpdgctrl1 = 0x02000200,
+	.p1_mpdgctrl0 = 0x42020202,
+	.p1_mpdgctrl1 = 0x01720172,
+	.p0_mprddlctl = 0x494c4f4c,
+	.p1_mprddlctl = 0x4a4c4c49,
+	.p0_mpwrdlctl = 0x3f3f3133,
+	.p1_mpwrdlctl = 0x39373f2e,
+};
+
+static struct mx6_mmdc_calibration mx6s_512m_mmdc_calib = {
+	.p0_mpwldectrl0 = 0x0040003c,
+	.p0_mpwldectrl1 = 0x0032003e,
+	.p0_mpdgctrl0 = 0x42350231,
+	.p0_mpdgctrl1 = 0x021a0218,
+	.p0_mprddlctl = 0x4b4b4e49,
+	.p0_mpwrdlctl = 0x3f3f3035,
+};
+
+static void ccgr_init(void)
+{
+	struct mxc_ccm_reg *ccm = (struct mxc_ccm_reg *)CCM_BASE_ADDR;
+
+	writel(0x00C03F3F, &ccm->CCGR0);
+	writel(0x0030FC03, &ccm->CCGR1);
+	writel(0x0FFFC000, &ccm->CCGR2);
+	writel(0x3FF03000, &ccm->CCGR3);
+	writel(0x00FFF300, &ccm->CCGR4);
+	writel(0x0F0000C3, &ccm->CCGR5);
+	writel(0x000003FF, &ccm->CCGR6);
+}
+
+static void spl_dram_init(void)
+{
+	if (is_mx6solo()) {
+		mx6sdl_dram_iocfg(32, &mx6sdl_ddr_ioregs, &mx6sdl_grp_ioregs);
+		mx6_dram_cfg(&mem_s, &mx6s_512m_mmdc_calib, &h5tq2g63ffr);
+	} else if (is_mx6dl()) {
+		mx6sdl_dram_iocfg(32, &mx6sdl_ddr_ioregs, &mx6sdl_grp_ioregs);
+		mx6_dram_cfg(&mem_s, &mx6dl_1g_mmdc_calib, &h5t04g63afr);
+	} else if (is_mx6dq()) {
+		mx6dq_dram_iocfg(32, &mx6dq_ddr_ioregs, &mx6dq_grp_ioregs);
+		mx6_dram_cfg(&mem_s, &mx6q_1g_mmdc_calib, &h5t04g63afr);
+	}
+
+	udelay(100);
+}
+
+void board_init_f(ulong dummy)
+{
+	ccgr_init();
+
+	/* setup AIPS and disable watchdog */
+	arch_cpu_init();
+
+	gpr_init();
+
+	/* iomux */
+	board_early_init_f();
+
+	/* setup GP timer */
+	timer_init();
+
+	/* UART clocks enabled and gd valid - init serial console */
+	preloader_console_init();
+
+	/* DDR initialization */
+	spl_dram_init();
+}
+
+#define USDHC_PAD_CTRL (PAD_CTL_PUS_47K_UP |			\
+	PAD_CTL_SPEED_LOW | PAD_CTL_DSE_80ohm |			\
+	PAD_CTL_SRE_FAST  | PAD_CTL_HYS)
+
+static struct fsl_esdhc_cfg usdhc_cfg[1] = {
+	{USDHC3_BASE_ADDR},
+};
+
+static iomux_v3_cfg_t const usdhc3_pads[] = {
+	IOMUX_PADS(PAD_SD3_CLK__SD3_CLK    | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_CMD__SD3_CMD    | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT0__SD3_DATA0 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT1__SD3_DATA1 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT2__SD3_DATA2 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT3__SD3_DATA3 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	/* SOM MicroSD Card Detect */
+	IOMUX_PADS(PAD_EIM_DA9__GPIO3_IO09  | MUX_PAD_CTRL(NO_PAD_CTRL)),
+};
+
+int board_mmc_getcd(struct mmc *mmc)
+{
+	return 1;
+}
+
+int board_mmc_init(bd_t *bis)
+{
+	SETUP_IOMUX_PADS(usdhc3_pads);
+	usdhc_cfg[0].sdhc_clk = mxc_get_clock(MXC_ESDHC3_CLK);
+	return fsl_esdhc_initialize(bis, &usdhc_cfg[0]);
+}
+#endif
+
+#ifdef CONFIG_SPL_LOAD_FIT
+int board_fit_config_name_match(const char *name)
+{
+	if (is_mx6dq() && !strcmp(name, "imx6q-pico"))
+		return 0;
+	else if ((is_mx6dl() || is_mx6solo()) && !strcmp(name, "imx6dl-pico"))
+		return 0;
+
+	return -EINVAL;
+}
+#endif
diff --git a/configs/pico-imx6_defconfig b/configs/pico-imx6_defconfig
new file mode 100644
index 0000000000..a0448b2236
--- /dev/null
+++ b/configs/pico-imx6_defconfig
@@ -0,0 +1,71 @@
+CONFIG_ARM=y
+CONFIG_ARCH_MX6=y
+CONFIG_SYS_TEXT_BASE=0x17800000
+CONFIG_SPL_GPIO_SUPPORT=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
+CONFIG_TARGET_PICO_IMX6=y
+CONFIG_SPL_MMC_SUPPORT=y
+CONFIG_SPL_SERIAL_SUPPORT=y
+CONFIG_NR_DRAM_BANKS=1
+CONFIG_SPL=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+CONFIG_DISTRO_DEFAULTS=y
+CONFIG_FIT=y
+CONFIG_SPL_FIT_PRINT=y
+CONFIG_SPL_LOAD_FIT=y
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=arch/arm/mach-imx/spl_sd.cfg"
+CONFIG_BOOTCOMMAND="run findbaseboard; run findfdt; run finduuid; run distro_bootcmd"
+CONFIG_SYS_CONSOLE_IS_IN_ENV=y
+CONFIG_SYS_CONSOLE_OVERWRITE_ROUTINE=y
+CONFIG_DEFAULT_FDT_FILE="ask"
+CONFIG_BOUNCE_BUFFER=y
+CONFIG_SPL_TEXT_BASE=0x00908000
+CONFIG_SPL_SEPARATE_BSS=y
+CONFIG_SPL_FIT_IMAGE_TINY=y
+CONFIG_SPL_FS_EXT4=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_GADGET=y
+CONFIG_SPL_USB_SDP_SUPPORT=y
+CONFIG_SPL_WATCHDOG_SUPPORT=y
+CONFIG_CMD_BOOTMENU=y
+CONFIG_CMD_SPL=y
+CONFIG_CMD_SPL_WRITE_SIZE=0x20000
+CONFIG_CMD_DFU=y
+# CONFIG_CMD_FLASH is not set
+CONFIG_CMD_GPIO=y
+CONFIG_CMD_MMC=y
+CONFIG_CMD_USB=y
+CONFIG_CMD_USB_SDP=y
+CONFIG_CMD_USB_MASS_STORAGE=y
+CONFIG_CMD_CACHE=y
+CONFIG_CMD_EXT4_WRITE=y
+# CONFIG_SPL_DOS_PARTITION is not set
+# CONFIG_SPL_EFI_PARTITION is not set
+CONFIG_OF_CONTROL=y
+CONFIG_SPL_OF_CONTROL=y
+CONFIG_DEFAULT_DEVICE_TREE="imx6dl-pico"
+CONFIG_OF_LIST="imx6dl-pico imx6q-pico"
+CONFIG_MULTI_DTB_FIT=y
+CONFIG_SPL_MULTI_DTB_FIT=y
+CONFIG_SPL_MULTI_DTB_FIT_NO_COMPRESSION=y
+CONFIG_ENV_IS_IN_MMC=y
+CONFIG_ENV_VARS_UBOOT_RUNTIME_CONFIG=y
+CONFIG_DFU_MMC=y
+CONFIG_USB_FUNCTION_FASTBOOT=y
+CONFIG_FASTBOOT_BUF_ADDR=0x12000000
+CONFIG_FASTBOOT_BUF_SIZE=0x10000000
+CONFIG_FASTBOOT_FLASH=y
+CONFIG_FASTBOOT_FLASH_MMC_DEV=0
+CONFIG_DM_GPIO=y
+CONFIG_DM_MMC=y
+CONFIG_FSL_USDHC=y
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX6=y
+CONFIG_USB=y
+CONFIG_DM_USB=y
+CONFIG_USB_GADGET=y
+CONFIG_USB_GADGET_MANUFACTURER="FSL"
+CONFIG_USB_GADGET_VENDOR_NUM=0x0525
+CONFIG_USB_GADGET_PRODUCT_NUM=0xa4a5
+CONFIG_CI_UDC=y
diff --git a/include/configs/pico-imx6.h b/include/configs/pico-imx6.h
new file mode 100644
index 0000000000..2ea50f5488
--- /dev/null
+++ b/include/configs/pico-imx6.h
@@ -0,0 +1,130 @@
+/* SPDX-License-Identifier: GPL-2.0+ */
+/*
+ * Copyright (C) 2013 Freescale Semiconductor, Inc.
+ *
+ * Configuration settings for the pico-imx6 board.
+ */
+
+#ifndef __CONFIG_H
+#define __CONFIG_H
+
+#include "mx6_common.h"
+
+#include "imx6_spl.h"
+
+/* Size of malloc() pool */
+#define CONFIG_SYS_MALLOC_LEN		(35 * SZ_1M) /* Increase due to DFU */
+
+#define CONFIG_MXC_UART
+#define CONFIG_MXC_UART_BASE		UART1_BASE
+
+#define CONFIG_SYS_MEMTEST_START	0x10000000
+#define CONFIG_SYS_MEMTEST_END		(CONFIG_SYS_MEMTEST_START + 500 * SZ_1M)
+
+/* MMC Configuration */
+#define CONFIG_SYS_FSL_ESDHC_ADDR	USDHC3_BASE_ADDR
+#define CONFIG_SUPPORT_EMMC_BOOT
+#define CONFIG_SYS_FSL_ESDHC_HAS_DDR_MODE
+
+/* USB Configs */
+#define CONFIG_MXC_USB_PORTSC		(PORT_PTS_UTMI | PORT_PTS_PTW)
+#define CONFIG_MXC_USB_FLAGS		0
+
+#define CONFIG_SYS_DFU_DATA_BUF_SIZE SZ_16M
+#define DFU_DEFAULT_POLL_TIMEOUT 300
+
+#define CONFIG_DFU_ENV_SETTINGS \
+	"dfu_alt_info=" \
+		"spl raw 0x2 0x400;" \
+		"u-boot raw 0x8a 0x1000;" \
+		"/boot/zImage ext4 0 1;" \
+		"rootfs part 0 1\0" \
+
+#define BOOTMENU_ENV \
+	"bootmenu_0=Boot using PICO-Hobbit baseboard=" \
+		"setenv baseboard hobbit\0" \
+	"bootmenu_1=Boot using PICO-Pi baseboard=" \
+		"setenv baseboard pi\0" \
+	"bootmenu_2=Boot using PICO-Dwarf baseboard=" \
+		"setenv baseboard dwarf\0" \
+	"bootmenu_3=Boot using PICO-Nymph baseboard=" \
+		"setenv baseboard nymph\0" \
+
+#define CONFIG_EXTRA_ENV_SETTINGS \
+	"console=ttymxc0\0" \
+	"fdtfile=" CONFIG_DEFAULT_FDT_FILE "\0" \
+	BOOTMENU_ENV \
+	"fdt_high=0xffffffff\0" \
+	"initrd_high=0xffffffff\0" \
+	"fdt_addr_r=0x18000000\0" \
+	"fdt_addr=0x18000000\0" \
+	"mmcdev=" __stringify(CONFIG_SYS_MMC_ENV_DEV) "\0" \
+	CONFIG_DFU_ENV_SETTINGS \
+	"finduuid=part uuid mmc 0:1 uuid\0" \
+	"findbaseboard=" \
+		"if test $baseboard = ask ; then " \
+			"bootmenu -1; fi;" \
+		"if test $baseboard != ask ; then " \
+			"saveenv; fi;\0" \
+	"findfdt="\
+		"if test $baseboard = hobbit && test $board_rev = MX6Q ; then " \
+			"setenv fdtfile imx6q-pico-hobbit.dtb; fi; " \
+		"if test $baseboard = pi && test $board_rev = MX6Q ; then " \
+			"setenv fdtfile imx6q-pico-pi.dtb; fi; " \
+		"if test $baseboard = dwarf && test $board_rev = MX6Q ; then " \
+			"setenv fdtfile imx6q-pico-dwarf.dtb; fi; " \
+		"if test $baseboard = nymph && test $board_rev = MX6Q ; then " \
+			"setenv fdtfile imx6q-pico-nymph.dtb; fi; " \
+		"if test $baseboard = hobbit && test $board_rev = MX6DL ; then " \
+			"setenv fdtfile imx6dl-pico-hobbit.dtb; fi; " \
+		"if test $baseboard = pi && test $board_rev = MX6DL ; then " \
+			"setenv fdtfile imx6dl-pico-pi.dtb; fi; " \
+		"if test $baseboard = dwarf && test $board_rev = MX6DL ; then " \
+			"setenv fdtfile imx6dl-pico-dwarf.dtb; fi; " \
+		"if test $baseboard = nymph && test $board_rev = MX6DL ; then " \
+			"setenv fdtfile imx6dl-pico-nymph.dtb; fi; " \
+		"if test $fdtfile = ask; then " \
+			"echo WARNING: Could not determine dtb to use; fi; \0" \
+	"kernel_addr_r=" __stringify(CONFIG_LOADADDR) "\0" \
+	"pxefile_addr_r=" __stringify(CONFIG_LOADADDR) "\0" \
+	"ramdisk_addr_r=0x13000000\0" \
+	"ramdiskaddr=0x13000000\0" \
+	"scriptaddr=" __stringify(CONFIG_LOADADDR) "\0" \
+	BOOTENV
+
+#define BOOT_TARGET_DEVICES(func) \
+	func(MMC, mmc, 0) \
+	func(USB, usb, 0)
+
+#include <config_distro_bootcmd.h>
+
+/* Physical Memory Map */
+#define PHYS_SDRAM			MMDC0_ARB_BASE_ADDR
+
+#define CONFIG_SYS_SDRAM_BASE		PHYS_SDRAM
+#define CONFIG_SYS_INIT_RAM_ADDR	IRAM_BASE_ADDR
+#define CONFIG_SYS_INIT_RAM_SIZE	IRAM_SIZE
+
+#define CONFIG_SYS_INIT_SP_OFFSET \
+	(CONFIG_SYS_INIT_RAM_SIZE - GENERATED_GBL_DATA_SIZE)
+#define CONFIG_SYS_INIT_SP_ADDR \
+	(CONFIG_SYS_INIT_RAM_ADDR + CONFIG_SYS_INIT_SP_OFFSET)
+
+/* Environment organization */
+#define CONFIG_ENV_SIZE			(8 * 1024)
+
+/* Environment starts at 768k = 768 * 1024 = 786432 */
+#define CONFIG_ENV_OFFSET		786432
+/*
+ * Detect overlap between U-Boot image and environment area in build-time
+ *
+ * CONFIG_BOARD_SIZE_LIMIT = CONFIG_ENV_OFFSET - u-boot.img offset
+ * CONFIG_BOARD_SIZE_LIMIT = 768k - 69k = 699k = 715776
+ *
+ * Currently CONFIG_BOARD_SIZE_LIMIT does not handle expressions, so
+ * write the direct value here
+ */
+#define CONFIG_BOARD_SIZE_LIMIT		715776
+#define CONFIG_SYS_MMC_ENV_DEV		0
+
+#endif			       /* __CONFIG_H * */