diff --git a/arch/arm/include/asm/arch-mx6/mx6ull_pins.h b/arch/arm/include/asm/arch-mx6/mx6ull_pins.h
index 64cbb0e247..de4a1abc27 100644
--- a/arch/arm/include/asm/arch-mx6/mx6ull_pins.h
+++ b/arch/arm/include/asm/arch-mx6/mx6ull_pins.h
@@ -332,7 +332,7 @@ enum {
 	MX6_PAD_UART5_TX_DATA__CSI_DATA14                     = IOMUX_PAD(0x0348, 0x00BC, 3, 0x04FC, 0, 0),
 	MX6_PAD_UART5_TX_DATA__CSU_CSU_ALARM_AUT00            = IOMUX_PAD(0x0348, 0x00BC, 4, 0x0000, 0, 0),
 
-	MX6_PAD_UART5_RX_DATA__UART5_DCE_RX                   = IOMUX_PAD(0x034C, 0x00C0, 0, 0x0644, 5, 0),
+	MX6_PAD_UART5_RX_DATA__UART5_DCE_RX                   = IOMUX_PAD(0x034C, 0x00C0, 0, 0x0644, 7, 0),
 
 	MX6_PAD_UART5_RX_DATA__UART5_DTE_TX                   = IOMUX_PAD(0x034C, 0x00C0, 0, 0x0000, 0, 0),
 	MX6_PAD_UART5_RX_DATA__ENET2_COL                      = IOMUX_PAD(0x034C, 0x00C0, 1, 0x0000, 0, 0),
diff --git a/arch/arm/mach-imx/mx6/Kconfig b/arch/arm/mach-imx/mx6/Kconfig
index a2799c436e..06c25bae36 100644
--- a/arch/arm/mach-imx/mx6/Kconfig
+++ b/arch/arm/mach-imx/mx6/Kconfig
@@ -402,6 +402,7 @@ config TARGET_OT1200
 config TARGET_PICO_IMX6UL
 	bool "PICO-IMX6UL-EMMC"
 	select MX6UL
+	select SUPPORT_SPL
 
 config TARGET_LITEBOARD
 	bool "Grinn liteBoard (i.MX6UL)"
diff --git a/board/k+p/bootscripts/tpcboot.cmd b/board/k+p/bootscripts/tpcboot.cmd
index 16b93ebe3f..0576e81140 100644
--- a/board/k+p/bootscripts/tpcboot.cmd
+++ b/board/k+p/bootscripts/tpcboot.cmd
@@ -52,7 +52,7 @@ fi;"
 #
 # Provide 'boot_tftp_kernel' command
 #------------------------------------------------------------
-setenv download_kernel "tftpboot ${loadaddr} ${kernel_file}"
+setenv download_kernel "dhcp ${loadaddr} ${kernel_file}"
 
 setenv boot_tftp_kernel "
 if run download_kernel; then
@@ -65,18 +65,14 @@ fi"
 #
 # Provide 'boot_nfs' command
 #------------------------------------------------------------
-setenv rootpath "/srv/tftp/KP/rootfs"
-setenv nfsargs "setenv bootargs root=/dev/nfs rw \
-       nfsroot=${serverip}:${rootpath},nolock,nfsvers=3"
-setenv addip "setenv bootargs ${bootargs} \
-       ip=${ipaddr}:${serverip}:${gatewayip}:${netmask}:\
-       ${hostname}:eth0:on"
+setenv nfsargs "setenv bootargs root=/dev/nfs rw nfsroot='${rootpath}',nolock,nfsvers=3"
+setenv addip "setenv bootargs '${bootargs}' ip='${ipaddr}':'${serverip}':'${gatewayip}':'${netmask}':'${hostname}':eth0:on"
 
 setenv boot_nfs "
 if run download_kernel; then
 	run nfsargs;
 	run addip;
-	setenv bootargs ${bootargs} console=${console};
+	setenv bootargs '${bootargs}' console=${console};
 
 	run boot_fitImage;
 fi"
diff --git a/board/technexion/pico-imx6ul/MAINTAINERS b/board/technexion/pico-imx6ul/MAINTAINERS
index 594a883d15..b8f3d24a53 100644
--- a/board/technexion/pico-imx6ul/MAINTAINERS
+++ b/board/technexion/pico-imx6ul/MAINTAINERS
@@ -1,7 +1,17 @@
-Technexion PICO-IMX6UL board
+TechNexion PICO-IMX6UL board
 M:	Richard Hu <richard.hu@technexion.com>
 M:	Fabio Estevam <fabio.estevam@nxp.com>
 S:	Maintained
 F:	board/technexion/pico-imx6ul/
 F:	include/configs/pico-imx6ul.h
 F:	configs/pico-imx6ul_defconfig
+
+TechNexion PICO-HOBBIT-IMX6UL
+M:	Otavio Salvador <otavio@ossystems.com.br>
+S:	Maintained
+F:	configs/pico-hobbit-imx6ul_defconfig
+
+TechNexion PICO-PI-IMX6UL
+M:	Otavio Salvador <otavio@ossystems.com.br>
+S:	Maintained
+F:	configs/pico-pi-imx6ul_defconfig
diff --git a/board/technexion/pico-imx6ul/Makefile b/board/technexion/pico-imx6ul/Makefile
index 8fdb7875ac..b7493df01c 100644
--- a/board/technexion/pico-imx6ul/Makefile
+++ b/board/technexion/pico-imx6ul/Makefile
@@ -2,4 +2,4 @@
 # (C) Copyright 2015 Technexion Ltd.
 # (C) Copyright 2015 Freescale Semiconductor, Inc.
 
-obj-y  := pico-imx6ul.o
+obj-y  := pico-imx6ul.o spl.o
diff --git a/board/technexion/pico-imx6ul/README b/board/technexion/pico-imx6ul/README
index 2f66095097..1cabd90759 100644
--- a/board/technexion/pico-imx6ul/README
+++ b/board/technexion/pico-imx6ul/README
@@ -13,45 +13,147 @@ $ make mrproper
 $ make pico-imx6ul_defconfig
 $ make
 
-This will generate the U-Boot binary called u-boot.imx.
+This generates the SPL and u-boot.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 with DFU support 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 document
-http://www.wandboard.org/images/hobbit/hobbitboard-imx6ul-reva1.pdf page 15)
+http://www.wandboard.org/images/hobbit/hobbitboard-imx6ul-reva1.pdf
+page 15).
 
-Connect a USB to serial adapter between the host PC and pico
+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
+Connect a USB cable between the OTG pico port and the host PC.
 
-Open a terminal program such as minicom
+Open a terminal program such as minicom.
 
-Copy u-boot.imx to the imx_usb_loader folder.
+Copy SPL and u-boot.img to the imx_usb_loader folder.
 
-Load u-boot.imx via USB:
+Load the SPL binary via USB:
 
-$ sudo ./imx_usb u-boot.imx
+$ sudo ./imx_usb SPL
 
-Then U-Boot should start and its messages will appear in the console program.
+Load the u-boot.img binary via USB:
+
+$ sudo ./imx_usb u-boot.img
+
+Then U-Boot starts and its messages appear in the console program.
 
 Use the default environment variables:
 
 => env default -f -a
 => saveenv
 
-Run the DFU command:
+2. Flashing U-Boot into the eMMC
+
+Run the DFU agent so we can flash the new images using dfu-util tool:
+
 => dfu 0 mmc 0
 
-Transfer u-boot.imx that will be flashed into the eMMC:
+Flash SPL and u-boot.img into the eMMC running the following commands on a PC:
 
-$ sudo dfu-util -D u-boot.imx -a boot
+$ sudo dfu-util -D SPL -a spl
 
-Then on the U-Boot prompt the following message should be seen after a
-successful upgrade:
-
-#DOWNLOAD ... OK
-Ctrl+C to exit ...
+$ sudo dfu-util -D u-boot.img -a u-boot
 
 Remove power from the pico board.
 
-Put pico board into normal boot mode
+Put pico board into normal boot mode.
 
 Power up the board and the new updated U-Boot should boot from eMMC.
+
+Booting in Falcon mode
+======================
+
+Generate a uImage kernel:
+
+$ make imx_v6_v7_defconfig (Using the default imx_v6_v7_defconfig configuration
+just for an example. In order to boot faster the user should customize the
+defconfig by only enabling the minimal required drivers).
+
+$ make -j4 uImage LOADADDR=0x80800000
+
+$ cp arch/arm/boot/uImage /tftpboot
+$ cp arch/arm/boot/dts/imx6ul-pico-hobbit.dtb /tftpboot
+
+In the U-Boot prompt:
+
+Setup the server and board IP addresses:
+=> setenv serverip 192.168.0.10
+=> setenv ipaddr 192.168.0.11
+
+Get the dtb file:
+=> tftp ${fdt_addr} imx6ul-pico-hobbit.dtb
+
+Get the kernel:
+=> tftp ${loadaddr} uImage
+
+Write the kernel at 2MB offset:
+=> mmc write ${loadaddr} 0x1000 0x4000
+
+Setup the bootargs:
+=> setenv bootargs 'console=ttymxc5,115200 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait rw'
+
+Prepare args:
+=> spl export fdt ${loadaddr} - ${fdt_addr}
+## Booting kernel from Legacy Image at 82000000 ...
+   Image Name:   Linux-4.19.0-rc2-next-20180905-0
+   Image Type:   ARM Linux Kernel Image (uncompressed)
+   Data Size:    8365608 Bytes = 8 MiB
+   Load Address: 80800000
+   Entry Point:  80800000
+   Verifying Checksum ... OK
+## Flattened Device Tree blob at 83000000
+   Booting using the fdt blob at 0x83000000
+   Loading Kernel Image ... OK
+   Using Device Tree in place at 83000000, end 83009c63
+subcommand not supported
+subcommand not supported
+   Using Device Tree in place at 83000000, end 8300cc63
+Argument image is now in RAM: 0x83000000
+
+Write 1MB of args data (0x800 sectors) to 1MB offset (0x800 sectors):
+
+=> mmc write ${fdt_addr} 0x800 0x800
+
+In order to boot with Falcon mode, activate the CONFIG_SPL_OS_BOOT
+option in the defconfig
+
+--- a/configs/pico-hobbit-imx6ul_defconfig
++++ b/configs/pico-hobbit-imx6ul_defconfig
+@@ -53,3 +53,4 @@ CONFIG_USB_GADGET_VENDOR_NUM=0x0525
+ CONFIG_USB_GADGET_PRODUCT_NUM=0xa4a5
+ CONFIG_CI_UDC=y
+ CONFIG_OF_LIBFDT=y
++CONFIG_SPL_OS_BOOT=y
+
+Then rebuild U-Boot:
+
+$ make pico-hobbit-imx6ul_defconfig
+$ make -j4
+
+Launch UMS:
+=> ums 0 mmc 0
+
+Flash the new binaries:
+
+$ sudo dd if=SPL of=/dev/sdX bs=1k seek=1; sync
+$ sudo dd if=u-boot.img  of=/dev/sdX bs=1k seek=69; sync
+
+And then SPL binary will load and jump directly to the kernel:
+
+U-Boot SPL 2018.09-rc2-00156-g8c46f15-dirty (Sep 05 2018 - 16:24:05 -0300)
+Trying to boot from MMC1
+[    0.000000] Booting Linux on physical CPU 0x0
+[    0.000000] Linux version 4.19.0-rc2-next-20180905-00001-gb805e2d (fabio@fabio-Latitude-E5450) (gcc version 5.4.0 20160609 (Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.9)) #533 SMP Wed Sep 5 16:21:03 -03 2018
+[    0.000000] CPU: ARMv7 Processor [410fc075] revision 5 (ARMv7), cr=10c5387d
+[    0.000000] CPU: div instructions available: patching division code
+[    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
+[    0.000000] OF: fdt: Machine model: Technexion Pico i.MX6UL Board
+[    0.000000] Memory policy: Data cache writealloc
+[    0.000000] cma: Reserved 64 MiB at 0x8c000000
+...
diff --git a/board/technexion/pico-imx6ul/spl.c b/board/technexion/pico-imx6ul/spl.c
new file mode 100644
index 0000000000..6464a32d3b
--- /dev/null
+++ b/board/technexion/pico-imx6ul/spl.c
@@ -0,0 +1,144 @@
+// SPDX-License-Identifier: GPL-2.0+
+
+#include <asm/arch/clock.h>
+#include <asm/arch/iomux.h>
+#include <asm/arch/imx-regs.h>
+#include <asm/arch/crm_regs.h>
+#include <asm/arch/mx6ul_pins.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/mach-imx/boot_mode.h>
+#include <linux/libfdt.h>
+#include <spl.h>
+
+#if defined(CONFIG_SPL_BUILD)
+
+#ifdef CONFIG_SPL_OS_BOOT
+int spl_start_uboot(void)
+{
+	return 0;
+}
+#endif
+
+#include <asm/arch/mx6-ddr.h>
+
+static struct mx6ul_iomux_grp_regs mx6_grp_ioregs = {
+	.grp_addds = 0x00000030,
+	.grp_ddrmode_ctl = 0x00020000,
+	.grp_b0ds = 0x00000030,
+	.grp_ctlds = 0x00000030,
+	.grp_b1ds = 0x00000030,
+	.grp_ddrpke = 0x00000000,
+	.grp_ddrmode = 0x00020000,
+	.grp_ddr_type = 0x00080000,
+};
+
+static struct mx6ul_iomux_ddr_regs mx6_ddr_ioregs = {
+	.dram_dqm0 = 0x00000030,
+	.dram_dqm1 = 0x00000030,
+	.dram_ras = 0x00000030,
+	.dram_cas = 0x00000030,
+	.dram_odt0 = 0x00000030,
+	.dram_odt1 = 0x00000030,
+	.dram_sdba2 = 0x00000000,
+	.dram_sdclk_0 = 0x00000030,
+	.dram_sdqs0 = 0x00000030,
+	.dram_sdqs1 = 0x00000030,
+	.dram_reset = 0x00000030,
+};
+
+static struct mx6_mmdc_calibration mx6_mmcd_calib = {
+	.p0_mpwldectrl0 = 0x00000000,
+	.p0_mpdgctrl0 = 0x01380134,
+	.p0_mprddlctl = 0x40404244,
+	.p0_mpwrdlctl = 0x40405050,
+};
+
+static struct mx6_ddr_sysinfo ddr_sysinfo = {
+	.dsize		= 0,
+	.cs1_mirror	= 0,
+	.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,
+	.refsel = 1,
+	.refr = 3,
+};
+
+static struct mx6_ddr3_cfg mem_ddr = {
+	.mem_speed = 1333,
+	.density = 2,
+	.width = 16,
+	.banks = 8,
+	.coladdr = 10,
+	.pagesz = 2,
+	.trcd = 1350,
+	.trcmin = 4950,
+	.trasmin = 3600,
+};
+
+static void ccgr_init(void)
+{
+	struct mxc_ccm_reg *ccm = (struct mxc_ccm_reg *)CCM_BASE_ADDR;
+
+	writel(0xFFFFFFFF, &ccm->CCGR0);
+	writel(0xFFFFFFFF, &ccm->CCGR1);
+	writel(0xFFFFFFFF, &ccm->CCGR2);
+	writel(0xFFFFFFFF, &ccm->CCGR3);
+	writel(0xFFFFFFFF, &ccm->CCGR4);
+	writel(0xFFFFFFFF, &ccm->CCGR5);
+	writel(0xFFFFFFFF, &ccm->CCGR6);
+}
+
+static void imx6ul_spl_dram_cfg_size(u32 ram_size)
+{
+	if (ram_size == SZ_256M)
+		mem_ddr.rowaddr = 14;
+	else
+		mem_ddr.rowaddr = 15;
+
+	mx6ul_dram_iocfg(mem_ddr.width, &mx6_ddr_ioregs, &mx6_grp_ioregs);
+	mx6_dram_cfg(&ddr_sysinfo, &mx6_mmcd_calib, &mem_ddr);
+}
+
+static void imx6ul_spl_dram_cfg(void)
+{
+	ulong ram_size_test, ram_size = 0;
+
+	for (ram_size = SZ_512M; ram_size >= SZ_256M; ram_size >>= 1) {
+		imx6ul_spl_dram_cfg_size(ram_size);
+		ram_size_test = get_ram_size((long int *)PHYS_SDRAM, ram_size);
+		if (ram_size_test == ram_size)
+			break;
+	}
+
+	if (ram_size < SZ_256M) {
+		puts("ERROR: DRAM size detection failed\n");
+		hang();
+	}
+}
+
+void board_init_f(ulong dummy)
+{
+	ccgr_init();
+	arch_cpu_init();
+	board_early_init_f();
+	timer_init();
+	preloader_console_init();
+	imx6ul_spl_dram_cfg();
+	memset(__bss_start, 0, __bss_end - __bss_start);
+	board_init_r(NULL, 0);
+}
+
+void reset_cpu(ulong addr)
+{
+}
+#endif
diff --git a/board/technexion/pico-imx7d/MAINTAINERS b/board/technexion/pico-imx7d/MAINTAINERS
index 0755bd8366..f9a1dfc05e 100644
--- a/board/technexion/pico-imx7d/MAINTAINERS
+++ b/board/technexion/pico-imx7d/MAINTAINERS
@@ -1,11 +1,16 @@
-Technexion PICO-IMX7D board
+TechNexion PICO-IMX7D board
 M:	Vanessa Maegima <vanessa.maegima@nxp.com>
 S:	Maintained
 F:	board/technexion/pico-imx7d/
 F:	include/configs/pico-imx7d.h
 F:	configs/pico-imx7d_defconfig
 
-Technexion PICO-PI-IMX7
+TechNexion PICO-HOBBIT-IMX7
+M:	Otavio Salvador <otavio@ossystems.com.br>
+S:	Maintained
+F:	configs/pico-hobbit-imx7d_defconfig
+
+TechNexion PICO-PI-IMX7
 M:	Otavio Salvador <otavio@ossystems.com.br>
 S:	Maintained
 F:	configs/pico-pi-imx7d_defconfig
diff --git a/board/wandboard/README b/board/wandboard/README
index 6345416b2f..e5170bcc81 100644
--- a/board/wandboard/README
+++ b/board/wandboard/README
@@ -4,7 +4,7 @@ U-Boot for Wandboard
 This file contains information for the port of U-Boot to the Wandboard.
 
 Wandboard is a development board that has three variants based on the following
-SoCs: mx6 quad, mx6 dual lite and mx6 solo.
+SoCs: mx6 quad, mx6 quad plus, mx6 dual lite and mx6 solo.
 
 For more details about Wandboard, please refer to:
 http://www.wandboard.org/
diff --git a/configs/pico-hobbit-imx6ul_defconfig b/configs/pico-hobbit-imx6ul_defconfig
new file mode 100644
index 0000000000..362c0a251d
--- /dev/null
+++ b/configs/pico-hobbit-imx6ul_defconfig
@@ -0,0 +1,53 @@
+CONFIG_ARM=y
+CONFIG_ARCH_MX6=y
+CONFIG_SYS_TEXT_BASE=0x87800000
+CONFIG_SPL_GPIO_SUPPORT=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
+CONFIG_TARGET_PICO_IMX6UL=y
+CONFIG_SPL_MMC_SUPPORT=y
+CONFIG_SPL_SERIAL_SUPPORT=y
+CONFIG_SPL=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+CONFIG_DISTRO_DEFAULTS=y
+CONFIG_NR_DRAM_BANKS=1
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=arch/arm/mach-imx/spl_sd.cfg"
+CONFIG_BOOTDELAY=3
+CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
+CONFIG_DEFAULT_FDT_FILE="imx6ul-pico-hobbit.dtb"
+CONFIG_BOARD_EARLY_INIT_F=y
+CONFIG_SPL_I2C_SUPPORT=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_GADGET_SUPPORT=y
+CONFIG_SPL_USB_SDP_SUPPORT=y
+CONFIG_CMD_BOOTMENU=y
+CONFIG_CMD_MEMTEST=y
+CONFIG_CMD_DFU=y
+# CONFIG_CMD_FLASH is not set
+CONFIG_CMD_GPIO=y
+CONFIG_CMD_GPT=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_ENV_IS_IN_MMC=y
+CONFIG_DFU_MMC=y
+CONFIG_USB_FUNCTION_FASTBOOT=y
+CONFIG_FASTBOOT_BUF_SIZE=0x10000000
+CONFIG_FASTBOOT_FLASH=y
+CONFIG_FASTBOOT_FLASH_MMC_DEV=0
+CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
+CONFIG_FSL_ESDHC=y
+CONFIG_PHYLIB=y
+CONFIG_PHY_MICREL=y
+CONFIG_MII=y
+CONFIG_USB=y
+CONFIG_USB_STORAGE=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
+CONFIG_OF_LIBFDT=y
diff --git a/configs/pico-hobbit-imx7d_defconfig b/configs/pico-hobbit-imx7d_defconfig
new file mode 100644
index 0000000000..568fb11d59
--- /dev/null
+++ b/configs/pico-hobbit-imx7d_defconfig
@@ -0,0 +1,61 @@
+CONFIG_ARM=y
+CONFIG_ARCH_MX7=y
+CONFIG_SYS_TEXT_BASE=0x87800000
+CONFIG_SPL_GPIO_SUPPORT=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
+CONFIG_TARGET_PICO_IMX7D=y
+CONFIG_SPL_MMC_SUPPORT=y
+CONFIG_SPL_SERIAL_SUPPORT=y
+CONFIG_SPL=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+CONFIG_ARMV7_BOOT_SEC_DEFAULT=y
+CONFIG_IMX_RDC=y
+CONFIG_IMX_BOOTAUX=y
+CONFIG_DISTRO_DEFAULTS=y
+CONFIG_NR_DRAM_BANKS=1
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=arch/arm/mach-imx/spl_sd.cfg"
+CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
+CONFIG_DEFAULT_FDT_FILE="imx7d-pico-hobbit.dtb"
+CONFIG_SPL_I2C_SUPPORT=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_GADGET_SUPPORT=y
+CONFIG_SPL_USB_SDP_SUPPORT=y
+# CONFIG_CMD_BOOTD is not set
+CONFIG_CMD_BOOTMENU=y
+# CONFIG_CMD_IMI is not set
+# CONFIG_CMD_XIMG is not set
+CONFIG_CMD_SPL=y
+CONFIG_CMD_SPL_WRITE_SIZE=0x20000
+CONFIG_CMD_DFU=y
+CONFIG_CMD_GPIO=y
+CONFIG_CMD_GPT=y
+CONFIG_CMD_I2C=y
+CONFIG_CMD_MMC=y
+CONFIG_CMD_USB=y
+CONFIG_CMD_USB_SDP=y
+CONFIG_CMD_USB_MASS_STORAGE=y
+# CONFIG_CMD_SETEXPR is not set
+# CONFIG_CMD_MII is not set
+CONFIG_CMD_CACHE=y
+CONFIG_CMD_EXT4_WRITE=y
+CONFIG_DFU_MMC=y
+CONFIG_USB_FUNCTION_FASTBOOT=y
+CONFIG_FASTBOOT_BUF_ADDR=0x82000000
+CONFIG_FASTBOOT_BUF_SIZE=0x10000000
+CONFIG_FASTBOOT_FLASH=y
+CONFIG_FASTBOOT_FLASH_MMC_DEV=0
+CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
+CONFIG_FSL_ESDHC=y
+CONFIG_PHYLIB=y
+CONFIG_MII=y
+CONFIG_USB=y
+CONFIG_USB_EHCI_HCD=y
+CONFIG_MXC_USB_OTG_HACTIVE=y
+CONFIG_USB_STORAGE=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
+CONFIG_OF_LIBFDT=y
diff --git a/configs/pico-imx6ul_defconfig b/configs/pico-imx6ul_defconfig
index 59ef7b7f22..c8d58cbe71 100644
--- a/configs/pico-imx6ul_defconfig
+++ b/configs/pico-imx6ul_defconfig
@@ -1,36 +1,46 @@
 CONFIG_ARM=y
 CONFIG_ARCH_MX6=y
 CONFIG_SYS_TEXT_BASE=0x87800000
+CONFIG_SPL_GPIO_SUPPORT=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
 CONFIG_TARGET_PICO_IMX6UL=y
-# CONFIG_CMD_BMODE is not set
+CONFIG_SPL_MMC_SUPPORT=y
+CONFIG_SPL_SERIAL_SUPPORT=y
+CONFIG_SPL=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+CONFIG_DISTRO_DEFAULTS=y
 CONFIG_NR_DRAM_BANKS=1
-CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=board/technexion/pico-imx6ul/imximage.cfg"
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=arch/arm/mach-imx/spl_sd.cfg"
 CONFIG_BOOTDELAY=3
-CONFIG_SUPPORT_RAW_INITRD=y
-CONFIG_DEFAULT_FDT_FILE="imx6ul-pico-hobbit.dtb"
+CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
+CONFIG_DEFAULT_FDT_FILE="ask"
 CONFIG_BOARD_EARLY_INIT_F=y
-CONFIG_HUSH_PARSER=y
-CONFIG_CMD_BOOTZ=y
+CONFIG_SPL_I2C_SUPPORT=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_GADGET_SUPPORT=y
+CONFIG_SPL_USB_SDP_SUPPORT=y
+CONFIG_CMD_BOOTMENU=y
+CONFIG_CMD_SPL=y
+CONFIG_CMD_SPL_WRITE_SIZE=0x20000
 CONFIG_CMD_MEMTEST=y
 CONFIG_CMD_DFU=y
 # CONFIG_CMD_FLASH is not set
 CONFIG_CMD_GPIO=y
 CONFIG_CMD_GPT=y
 CONFIG_CMD_MMC=y
-CONFIG_CMD_PART=y
 CONFIG_CMD_USB=y
+CONFIG_CMD_USB_SDP=y
 CONFIG_CMD_USB_MASS_STORAGE=y
-CONFIG_CMD_DHCP=y
-CONFIG_CMD_MII=y
-CONFIG_CMD_PING=y
 CONFIG_CMD_CACHE=y
-CONFIG_CMD_EXT2=y
-CONFIG_CMD_EXT4=y
 CONFIG_CMD_EXT4_WRITE=y
-CONFIG_CMD_FAT=y
-CONFIG_CMD_FS_GENERIC=y
 CONFIG_ENV_IS_IN_MMC=y
 CONFIG_DFU_MMC=y
+CONFIG_USB_FUNCTION_FASTBOOT=y
+CONFIG_FASTBOOT_BUF_SIZE=0x10000000
+CONFIG_FASTBOOT_FLASH=y
+CONFIG_FASTBOOT_FLASH_MMC_DEV=0
+CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
 CONFIG_FSL_ESDHC=y
 CONFIG_PHYLIB=y
 CONFIG_PHY_MICREL=y
@@ -42,5 +52,4 @@ CONFIG_USB_GADGET_MANUFACTURER="FSL"
 CONFIG_USB_GADGET_VENDOR_NUM=0x0525
 CONFIG_USB_GADGET_PRODUCT_NUM=0xa4a5
 CONFIG_CI_UDC=y
-CONFIG_USB_GADGET_DOWNLOAD=y
 CONFIG_OF_LIBFDT=y
diff --git a/configs/pico-pi-imx6ul_defconfig b/configs/pico-pi-imx6ul_defconfig
new file mode 100644
index 0000000000..680438d265
--- /dev/null
+++ b/configs/pico-pi-imx6ul_defconfig
@@ -0,0 +1,53 @@
+CONFIG_ARM=y
+CONFIG_ARCH_MX6=y
+CONFIG_SYS_TEXT_BASE=0x87800000
+CONFIG_SPL_GPIO_SUPPORT=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
+CONFIG_TARGET_PICO_IMX6UL=y
+CONFIG_SPL_MMC_SUPPORT=y
+CONFIG_SPL_SERIAL_SUPPORT=y
+CONFIG_SPL=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+CONFIG_DISTRO_DEFAULTS=y
+CONFIG_NR_DRAM_BANKS=1
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=arch/arm/mach-imx/spl_sd.cfg"
+CONFIG_BOOTDELAY=3
+CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
+CONFIG_DEFAULT_FDT_FILE="imx6ul-pico-pi.dtb"
+CONFIG_BOARD_EARLY_INIT_F=y
+CONFIG_SPL_I2C_SUPPORT=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_GADGET_SUPPORT=y
+CONFIG_SPL_USB_SDP_SUPPORT=y
+CONFIG_CMD_BOOTMENU=y
+CONFIG_CMD_MEMTEST=y
+CONFIG_CMD_DFU=y
+# CONFIG_CMD_FLASH is not set
+CONFIG_CMD_GPIO=y
+CONFIG_CMD_GPT=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_ENV_IS_IN_MMC=y
+CONFIG_DFU_MMC=y
+CONFIG_USB_FUNCTION_FASTBOOT=y
+CONFIG_FASTBOOT_BUF_SIZE=0x10000000
+CONFIG_FASTBOOT_FLASH=y
+CONFIG_FASTBOOT_FLASH_MMC_DEV=0
+CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
+CONFIG_FSL_ESDHC=y
+CONFIG_PHYLIB=y
+CONFIG_PHY_MICREL=y
+CONFIG_MII=y
+CONFIG_USB=y
+CONFIG_USB_STORAGE=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
+CONFIG_OF_LIBFDT=y
diff --git a/include/configs/pico-imx6ul.h b/include/configs/pico-imx6ul.h
index 34ba53a2a9..3d93205535 100644
--- a/include/configs/pico-imx6ul.h
+++ b/include/configs/pico-imx6ul.h
@@ -12,6 +12,19 @@
 #include <linux/sizes.h>
 #include "mx6_common.h"
 #include <asm/mach-imx/gpio.h>
+#include "imx6_spl.h"
+
+#ifdef CONFIG_SPL_OS_BOOT
+/* Falcon Mode */
+#define CONFIG_SPL_FS_LOAD_ARGS_NAME   "args"
+#define CONFIG_SPL_FS_LOAD_KERNEL_NAME "uImage"
+#define CONFIG_SYS_SPL_ARGS_ADDR   0x88000000
+
+/* Falcon Mode - MMC support: args@1MB kernel@2MB */
+#define CONFIG_SYS_MMCSD_RAW_MODE_ARGS_SECTOR  0x800   /* 1MB */
+#define CONFIG_SYS_MMCSD_RAW_MODE_ARGS_SECTORS (CONFIG_CMD_SPL_WRITE_SIZE / 512)
+#define CONFIG_SYS_MMCSD_RAW_MODE_KERNEL_SECTOR        0x1000  /* 2MB */
+#endif
 
 /* Network support */
 
@@ -27,7 +40,6 @@
 #define CONFIG_MXC_UART_BASE		UART6_BASE_ADDR
 
 /* MMC Configs */
-#define CONFIG_FSL_USDHC
 #define CONFIG_SYS_FSL_ESDHC_ADDR	USDHC1_BASE_ADDR
 #define CONFIG_SUPPORT_EMMC_BOOT
 
@@ -43,74 +55,57 @@
 #define DFU_DEFAULT_POLL_TIMEOUT 300
 
 #define CONFIG_DFU_ENV_SETTINGS \
-	"dfu_alt_info=uboot raw 0x2 0x400 mmcpart 1;" \
-		"boot part 0 1;" \
-		"/zImage ext4 0 1;" \
-		"/imx6ul-pico-hobbit.dtb ext4 0 1;" \
-		"rootfs part 0 2\0" \
+	"dfu_alt_info=" \
+		"spl raw 0x2 0x400 mmcpart 1;" \
+		"u-boot raw 0x8a 0x400 mmcpart 1;" \
+		"/boot/zImage ext4 0 1;" \
+		"/boot/imx6ul-pico-hobbit.dtb ext4 0 1;" \
+		"/boot/imx6ul-pico-pi.dtb ext4 0 1;" \
+		"rootfs part 0 1\0" \
+
+#define BOOTMENU_ENV \
+	"bootmenu_0=Boot using PICO-Hobbit baseboard=" \
+		"setenv fdtfile imx6ul-pico-hobbit.dtb\0" \
+	"bootmenu_1=Boot using PICO-Pi baseboard=" \
+		"setenv fdtfile imx6ul-pico-pi.dtb\0" \
 
 #define CONFIG_SYS_MMC_IMG_LOAD_PART	1
 
 #define CONFIG_EXTRA_ENV_SETTINGS \
+	"script=boot.scr\0" \
 	"image=zImage\0" \
 	"console=ttymxc5\0" \
 	"fdt_high=0xffffffff\0" \
 	"initrd_high=0xffffffff\0" \
-	"fdt_file=" CONFIG_DEFAULT_FDT_FILE "\0" \
+	"fdtfile=" CONFIG_DEFAULT_FDT_FILE "\0" \
+	BOOTMENU_ENV \
 	"fdt_addr=0x83000000\0" \
-	"mmcdev="__stringify(CONFIG_SYS_MMC_ENV_DEV)"\0" \
-	"mmcpart=" __stringify(CONFIG_SYS_MMC_IMG_LOAD_PART) "\0" \
+	"fdt_addr_r=0x83000000\0" \
+	"kernel_addr_r=" __stringify(CONFIG_LOADADDR) "\0" \
+	"pxefile_addr_r=" __stringify(CONFIG_LOADADDR) "\0" \
+	"ramdisk_addr_r=0x83000000\0" \
+	"ramdiskaddr=0x83000000\0" \
+	"scriptaddr=" __stringify(CONFIG_LOADADDR) "\0" \
 	"mmcautodetect=yes\0" \
 	CONFIG_DFU_ENV_SETTINGS \
-	"finduuid=part uuid mmc 0:2 uuid\0" \
+	"findfdt=" \
+		"if test $fdtfile = ask ; then " \
+			"bootmenu -1; fi;" \
+		"if test $fdtfile != ask ; then " \
+			"saveenv; fi;\0" \
+	"finduuid=part uuid mmc 0:1 uuid\0" \
 	"partitions=" \
 		"uuid_disk=${uuid_gpt_disk};" \
-		"name=boot,size=16MiB;name=rootfs,size=0,uuid=${uuid_gpt_rootfs}\0" \
-	"setup_emmc=gpt write mmc 0 $partitions; reset;\0" \
-	"mmcargs=setenv bootargs console=${console},${baudrate} " \
-		"root=PARTUUID=${uuid} rootwait rw\0" \
-	"loadimage=load mmc ${mmcdev}:${mmcpart} ${loadaddr} ${image}\0" \
-	"loadfdt=load mmc ${mmcdev}:${mmcpart} ${fdt_addr} ${fdt_file}\0" \
-	"mmcboot=echo Booting from mmc ...; " \
-		"run finduuid; " \
-		"run mmcargs; " \
-		"if run loadfdt; then " \
-			"bootz ${loadaddr} - ${fdt_addr}; " \
-		"else " \
-			"echo WARN: Cannot load the DT; " \
-		"fi;\0" \
-	"netargs=setenv bootargs console=${console},${baudrate} " \
-		"root=/dev/nfs " \
-	"ip=dhcp nfsroot=${serverip}:${nfsroot},v3,tcp\0" \
-		"netboot=echo Booting from net ...; " \
-		"run netargs; " \
-		"if test ${ip_dyn} = yes; then " \
-			"setenv get_cmd dhcp; " \
-		"else " \
-			"setenv get_cmd tftp; " \
-		"fi; " \
-		"${get_cmd} ${image}; " \
-		"if test ${boot_fdt} = yes || test ${boot_fdt} = try; then " \
-			"if ${get_cmd} ${fdt_addr} ${fdt_file}; then " \
-				"bootz ${loadaddr} - ${fdt_addr}; " \
-			"else " \
-				"if test ${boot_fdt} = try; then " \
-					"bootz; " \
-				"else " \
-					"echo WARN: Cannot load the DT; " \
-				"fi; " \
-			"fi; " \
-		"else " \
-			"bootz; " \
-		"fi;\0" \
+		"name=rootfs,size=0,uuid=${uuid_gpt_rootfs}\0" \
+	"fastboot_partition_alias_system=rootfs\0" \
+	"setup_emmc=mmc dev 0; gpt write mmc 0 $partitions; reset;\0" \
+	BOOTENV
 
-#define CONFIG_BOOTCOMMAND \
-	   "if mmc rescan; then " \
-		   "if run loadimage; then " \
-			   "run mmcboot; " \
-		   "else run netboot; " \
-		   "fi; " \
-	   "else run netboot; fi"
+#define BOOT_TARGET_DEVICES(func) \
+	func(MMC, mmc, 0) \
+	func(DHCP, dhcp, na)
+
+#include <config_distro_bootcmd.h>
 
 #define CONFIG_SYS_MEMTEST_START	0x80000000
 #define CONFIG_SYS_MEMTEST_END		CONFIG_SYS_MEMTEST_START + SZ_128M
diff --git a/include/configs/pico-imx7d.h b/include/configs/pico-imx7d.h
index 4cc84ff5d4..0e770bf41f 100644
--- a/include/configs/pico-imx7d.h
+++ b/include/configs/pico-imx7d.h
@@ -48,11 +48,14 @@
 		"spl raw 0x2 0x400 mmcpart 1;" \
 		"u-boot raw 0x8a 0x400 mmcpart 1;" \
 		"/boot/zImage ext4 0 1;" \
+		"/boot/imx7d-pico-hobbit.dtb ext4 0 1;" \
 		"/boot/imx7d-pico-pi.dtb ext4 0 1;" \
 		"rootfs part 0 1\0" \
 
 #define BOOTMENU_ENV \
-	"bootmenu_0=Boot using PICO-PI baseboard=" \
+	"bootmenu_0=Boot using PICO-Hobbit baseboard=" \
+		"setenv fdtfile imx7d-pico-hobbit.dtb\0" \
+	"bootmenu_1=Boot using PICO-Pi baseboard=" \
 		"setenv fdtfile imx7d-pico-pi.dtb\0" \
 
 #define CONFIG_SUPPORT_EMMC_BOOT /* eMMC specific */