diff --git a/arch/arm/dts/imx6qdl-u-boot.dtsi b/arch/arm/dts/imx6qdl-u-boot.dtsi
index 45ae2fad0b..0aa29e38b8 100644
--- a/arch/arm/dts/imx6qdl-u-boot.dtsi
+++ b/arch/arm/dts/imx6qdl-u-boot.dtsi
@@ -9,6 +9,9 @@
 
 		aips-bus@2000000 {
 			u-boot,dm-spl;
+			spba-bus@2000000 {
+				u-boot,dm-spl;
+			};
 		};
 
 		aips-bus@2100000 {
diff --git a/arch/arm/dts/imx6ul-pico-hobbit.dts b/arch/arm/dts/imx6ul-pico-hobbit.dts
new file mode 100644
index 0000000000..39eeeddac3
--- /dev/null
+++ b/arch/arm/dts/imx6ul-pico-hobbit.dts
@@ -0,0 +1,100 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+//
+// Copyright 2015 Technexion Ltd.
+//
+// Author: Wig Cheng  <wig.cheng@technexion.com>
+//	   Richard Hu <richard.hu@technexion.com>
+//	   Tapani Utriainen <tapani@technexion.com>
+/dts-v1/;
+
+#include "imx6ul-pico.dtsi"
+/ {
+	model = "TechNexion PICO-IMX6UL and HOBBIT baseboard";
+	compatible = "technexion,imx6ul-pico-hobbit", "fsl,imx6ul";
+
+	leds {
+		compatible = "gpio-leds";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_leds>;
+
+		led {
+			label = "gpio-led";
+			gpios = <&gpio1 29 GPIO_ACTIVE_LOW>;
+		};
+	};
+
+	sound {
+		compatible = "fsl,imx-audio-sgtl5000";
+		model = "imx6ul-sgtl5000";
+		audio-cpu = <&sai1>;
+		audio-codec = <&sgtl5000>;
+		audio-routing =
+			"LINE_IN", "Line In Jack",
+			"MIC_IN", "Mic Jack",
+			"Mic Jack", "Mic Bias",
+			"Headphone Jack", "HP_OUT";
+	};
+
+	sys_mclk: clock-sys-mclk {
+		compatible = "fixed-clock";
+		#clock-cells = <0>;
+		clock-frequency = <24576000>;
+	};
+};
+
+&i2c2 {
+	clock_frequency = <100000>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c2>;
+	status = "okay";
+
+	sgtl5000: codec@a {
+		reg = <0x0a>;
+		compatible = "fsl,sgtl5000";
+		clocks = <&sys_mclk>;
+		VDDA-supply = <&reg_2p5v>;
+		VDDIO-supply = <&reg_3p3v>;
+	};
+};
+
+&i2c3 {
+	status = "okay";
+
+	polytouch: touchscreen@38 {
+		compatible = "edt,edt-ft5x06";
+		reg = <0x38>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <29 IRQ_TYPE_EDGE_FALLING>;
+		reset-gpios = <&gpio4 24 GPIO_ACTIVE_LOW>;
+		touchscreen-size-x = <800>;
+		touchscreen-size-y = <480>;
+	};
+
+	adc081c: adc@50 {
+		compatible = "ti,adc081c";
+		reg = <0x50>;
+		vref-supply = <&reg_3p3v>;
+	};
+};
+
+&iomuxc {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_hog>;
+
+	pinctrl_hog: hoggrp {
+		fsl,pins = <
+			MX6UL_PAD_CSI_VSYNC__GPIO4_IO19		0x10b0
+			MX6UL_PAD_CSI_DATA00__GPIO4_IO21	0x10b0
+			MX6UL_PAD_CSI_DATA01__GPIO4_IO22	0x10b0
+			MX6UL_PAD_CSI_DATA02__GPIO4_IO23	0x10b0
+			MX6UL_PAD_UART1_CTS_B__GPIO1_IO18	0x10b0
+			MX6UL_PAD_SNVS_TAMPER2__GPIO5_IO02	0x10b0
+		>;
+	};
+
+	pinctrl_gpio_leds: gpioledsgrp {
+		fsl,pins = <
+			MX6UL_PAD_UART4_RX_DATA__GPIO1_IO29	0x10b0
+		>;
+	};
+};
diff --git a/arch/arm/dts/imx6ul-pico-pi.dts b/arch/arm/dts/imx6ul-pico-pi.dts
new file mode 100644
index 0000000000..de07357b27
--- /dev/null
+++ b/arch/arm/dts/imx6ul-pico-pi.dts
@@ -0,0 +1,97 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+//
+// Copyright 2015 Technexion Ltd.
+//
+// Author: Wig Cheng  <wig.cheng@technexion.com>
+//	   Richard Hu <richard.hu@technexion.com>
+//	   Tapani Utriainen <tapani@technexion.com>
+/dts-v1/;
+
+#include "imx6ul-pico.dtsi"
+/ {
+	model = "TechNexion PICO-IMX6UL and PI baseboard";
+	compatible = "technexion,imx6ul-pico-pi", "fsl,imx6ul";
+
+	leds {
+		compatible = "gpio-leds";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_leds>;
+
+		led {
+			label = "gpio-led";
+			gpios = <&gpio4 20 GPIO_ACTIVE_HIGH>;
+		};
+	};
+
+	sound {
+		compatible = "fsl,imx-audio-sgtl5000";
+		model = "imx6ul-sgtl5000";
+		audio-cpu = <&sai1>;
+		audio-codec = <&sgtl5000>;
+		audio-routing =
+			"LINE_IN", "Line In Jack",
+			"MIC_IN", "Mic Jack",
+			"Mic Jack", "Mic Bias",
+			"Headphone Jack", "HP_OUT";
+	};
+
+	sys_mclk: clock-sys-mclk {
+		compatible = "fixed-clock";
+		#clock-cells = <0>;
+		clock-frequency = <24576000>;
+	};
+};
+
+&i2c2 {
+	clock_frequency = <100000>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c2>;
+	status = "okay";
+
+	sgtl5000: codec@a {
+		reg = <0x0a>;
+		compatible = "fsl,sgtl5000";
+		clocks = <&sys_mclk>;
+		VDDA-supply = <&reg_2p5v>;
+		VDDIO-supply = <&reg_3p3v>;
+	};
+};
+
+&i2c3 {
+	clock_frequency = <100000>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c3>;
+	status = "okay";
+
+	polytouch: touchscreen@38 {
+		compatible = "edt,edt-ft5x06";
+		reg = <0x38>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <29 IRQ_TYPE_EDGE_FALLING>;
+		reset-gpios = <&gpio4 24 GPIO_ACTIVE_LOW>;
+		touchscreen-size-x = <800>;
+		touchscreen-size-y = <480>;
+	};
+};
+
+&iomuxc {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_hog>;
+
+	pinctrl_hog: hoggrp {
+		fsl,pins = <
+			MX6UL_PAD_CSI_VSYNC__GPIO4_IO19		0x10b0
+			MX6UL_PAD_CSI_DATA00__GPIO4_IO21	0x10b0
+			MX6UL_PAD_CSI_DATA01__GPIO4_IO22	0x10b0
+			MX6UL_PAD_CSI_DATA02__GPIO4_IO23	0x10b0
+			MX6UL_PAD_UART1_CTS_B__GPIO1_IO18	0x10b0
+			MX6UL_PAD_SNVS_TAMPER2__GPIO5_IO02	0x10b0
+		>;
+	};
+
+	pinctrl_gpio_leds: gpioledsgrp {
+		fsl,pins = <
+			MX6UL_PAD_CSI_HSYNC__GPIO4_IO20		0x10b0
+		>;
+	};
+};
diff --git a/arch/arm/dts/imx6ul-pico.dtsi b/arch/arm/dts/imx6ul-pico.dtsi
new file mode 100644
index 0000000000..de9f83189b
--- /dev/null
+++ b/arch/arm/dts/imx6ul-pico.dtsi
@@ -0,0 +1,461 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+//
+// Copyright 2015 Technexion Ltd.
+//
+// Author: Wig Cheng  <wig.cheng@technexion.com>
+//	   Richard Hu <richard.hu@technexion.com>
+//	   Tapani Utriainen <tapani@technexion.com>
+/dts-v1/;
+
+#include "imx6ul.dtsi"
+
+/ {
+	/* Will be filled by the bootloader */
+	memory@80000000 {
+		device_type = "memory";
+		reg = <0x80000000 0>;
+	};
+
+	chosen {
+		stdout-path = &uart6;
+	};
+
+	backlight {
+		compatible = "pwm-backlight";
+		pwms = <&pwm3 0 5000000>;
+		brightness-levels = <0 4 8 16 32 64 128 255>;
+		default-brightness-level = <6>;
+		status = "okay";
+	};
+
+	reg_2p5v: regulator-2p5v {
+		compatible = "regulator-fixed";
+		regulator-name = "2P5V";
+		regulator-min-microvolt = <2500000>;
+		regulator-max-microvolt = <2500000>;
+	};
+
+	reg_3p3v: regulator-3p3v {
+		compatible = "regulator-fixed";
+		regulator-name = "3P3V";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+	};
+
+	reg_sd1_vmmc: regulator-sd1-vmmc {
+		compatible = "regulator-fixed";
+		regulator-name = "VSD_3V3";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		gpio = <&gpio1 9 GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+	};
+
+	reg_usb_otg_vbus: regulator-usb-otg-vbus {
+		compatible = "regulator-fixed";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_usb_otg1>;
+		regulator-name = "usb_otg_vbus";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		gpio = <&gpio1 6 0>;
+	};
+
+	reg_brcm: regulator-brcm {
+		compatible = "regulator-fixed";
+		enable-active-high;
+		gpio = <&gpio4 8 GPIO_ACTIVE_HIGH>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_brcm_reg>;
+		regulator-name = "brcm_reg";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		startup-delay-us = <200000>;
+	};
+};
+
+&can1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_flexcan1>;
+	status = "okay";
+};
+
+&can2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_flexcan2>;
+	status = "okay";
+};
+
+&clks {
+	assigned-clocks = <&clks IMX6UL_CLK_PLL4_AUDIO_DIV>;
+	assigned-clock-rates = <786432000>;
+};
+
+&fec2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_enet2>;
+	phy-mode = "rmii";
+	phy-handle = <&ethphy1>;
+	status = "okay";
+	phy-reset-gpios = <&gpio1 28 GPIO_ACTIVE_LOW>;
+	phy-reset-duration = <1>;
+
+	mdio {
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		ethphy1: ethernet-phy@1 {
+			compatible = "ethernet-phy-ieee802.3-c22";
+			reg = <1>;
+			max-speed = <100>;
+			interrupt-parent = <&gpio5>;
+			interrupts = <6 IRQ_TYPE_LEVEL_LOW>;
+		};
+	};
+};
+
+&i2c1 {
+	clock-frequency = <100000>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c1>;
+	status = "okay";
+
+	pmic: pfuze3000@8 {
+		compatible = "fsl,pfuze3000";
+		reg = <0x08>;
+
+		regulators {
+			/* VDD_ARM_SOC_IN*/
+			sw1b_reg: sw1b {
+				regulator-min-microvolt = <700000>;
+				regulator-max-microvolt = <1475000>;
+				regulator-boot-on;
+				regulator-always-on;
+				regulator-ramp-delay = <6250>;
+			};
+
+			/* DRAM */
+			sw3a_reg: sw3 {
+				regulator-min-microvolt = <900000>;
+				regulator-max-microvolt = <1650000>;
+				regulator-boot-on;
+				regulator-always-on;
+			};
+
+			/* DRAM */
+			vref_reg: vrefddr {
+				regulator-boot-on;
+				regulator-always-on;
+			};
+		};
+	};
+};
+
+&lcdif {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_lcdif_dat &pinctrl_lcdif_ctrl>;
+	display = <&display0>;
+	status = "okay";
+
+	display0: display0 {
+		bits-per-pixel = <32>;
+		bus-width = <24>;
+
+		display-timings {
+			native-mode = <&timing0>;
+
+			timing0: timing0 {
+				clock-frequency = <33200000>;
+				hactive = <800>;
+				vactive = <480>;
+				hfront-porch = <210>;
+				hback-porch = <46>;
+				hsync-len = <1>;
+				vback-porch = <22>;
+				vfront-porch = <23>;
+				vsync-len = <1>;
+				hsync-active = <0>;
+				vsync-active = <0>;
+				de-active = <1>;
+				pixelclk-active = <0>;
+			};
+		};
+	};
+};
+
+&pwm3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm3>;
+	status = "okay";
+};
+
+&pwm7 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm7>;
+	status = "okay";
+};
+
+&pwm8 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm8>;
+	status = "okay";
+};
+
+&sai1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_sai1>;
+	status = "okay";
+};
+
+&uart3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart3>;
+	uart-has-rtscts;
+	status = "okay";
+};
+
+&uart6 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart6>;
+	status = "okay";
+};
+
+&usbotg1 {
+	vbus-supply = <&reg_usb_otg_vbus>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usb_otg1_id>;
+	dr_mode = "otg";
+	disable-over-current;
+	status = "okay";
+};
+
+&usbotg2 {
+	dr_mode = "host";
+	disable-over-current;
+	status = "okay";
+};
+
+&usdhc1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc1>;
+	bus-width = <8>;
+	no-1-8-v;
+	non-removable;
+	keep-power-in-suspend;
+	status = "okay";
+};
+
+&usdhc2 {  /* Wifi SDIO */
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc2>;
+	no-1-8-v;
+	non-removable;
+	keep-power-in-suspend;
+	wakeup-source;
+	vmmc-supply = <&reg_brcm>;
+	status = "okay";
+};
+
+&wdog1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_wdog>;
+	fsl,ext-reset-output;
+};
+
+&iomuxc {
+	pinctrl_brcm_reg: brcmreggrp {
+		fsl,pins = <
+			MX6UL_PAD_NAND_DATA06__GPIO4_IO08	0x10b0	/* WL_REG_ON */
+			MX6UL_PAD_NAND_DATA04__GPIO4_IO06	0x10b0	/* WL_HOST_WAKE */
+		>;
+	};
+
+	pinctrl_enet2: enet2grp {
+		fsl,pins = <
+			MX6UL_PAD_ENET1_TX_DATA1__ENET2_MDIO	0x1b0b0
+			MX6UL_PAD_ENET1_TX_EN__ENET2_MDC	0x1b0b0
+			MX6UL_PAD_ENET2_RX_EN__ENET2_RX_EN	0x1b0b0
+			MX6UL_PAD_ENET2_RX_ER__ENET2_RX_ER	0x1b0b0
+			MX6UL_PAD_ENET2_RX_DATA0__ENET2_RDATA00	0x1b0b0
+			MX6UL_PAD_ENET2_RX_DATA1__ENET2_RDATA01	0x1b0b0
+			MX6UL_PAD_ENET2_TX_EN__ENET2_TX_EN	0x1b0b0
+			MX6UL_PAD_ENET2_TX_DATA0__ENET2_TDATA00	0x1b0b0
+			MX6UL_PAD_ENET2_TX_DATA1__ENET2_TDATA01	0x1b0b0
+			MX6UL_PAD_ENET2_TX_CLK__ENET2_REF_CLK2	0x4001b031
+			MX6UL_PAD_SNVS_TAMPER6__GPIO5_IO06	0x800
+			MX6UL_PAD_UART4_TX_DATA__GPIO1_IO28	0x79
+		>;
+	};
+
+	pinctrl_flexcan1: flexcan1grp {
+		fsl,pins = <
+			MX6UL_PAD_ENET1_RX_DATA0__FLEXCAN1_TX	0x1b020
+			MX6UL_PAD_ENET1_RX_DATA1__FLEXCAN1_RX	0x1b020
+		>;
+	};
+
+	pinctrl_flexcan2: flexcan2grp {
+		fsl,pins = <
+			MX6UL_PAD_ENET1_TX_DATA0__FLEXCAN2_RX	0x1b020
+			MX6UL_PAD_ENET1_RX_EN__FLEXCAN2_TX	0x1b020
+		>;
+	};
+
+	pinctrl_i2c1: i2c1grp {
+		fsl,pins = <
+			MX6UL_PAD_GPIO1_IO02__I2C1_SCL		0x4001b8b0
+			MX6UL_PAD_GPIO1_IO03__I2C1_SDA		0x4001b8b0
+		>;
+	};
+
+	pinctrl_i2c2: i2c2grp {
+		fsl,pins = <
+			MX6UL_PAD_UART5_TX_DATA__I2C2_SCL	0x4001b8b0
+			MX6UL_PAD_UART5_RX_DATA__I2C2_SDA	0x4001b8b0
+		>;
+	};
+
+	pinctrl_i2c3: i2c3grp {
+		fsl,pins = <
+			MX6UL_PAD_UART1_TX_DATA__I2C3_SCL	0x4001b8b0
+			MX6UL_PAD_UART1_RX_DATA__I2C3_SDA	0x4001b8b0
+			>;
+	};
+
+	pinctrl_lcdif_dat: lcdifdatgrp {
+		fsl,pins = <
+			MX6UL_PAD_LCD_DATA00__LCDIF_DATA00	0x79
+			MX6UL_PAD_LCD_DATA01__LCDIF_DATA01	0x79
+			MX6UL_PAD_LCD_DATA02__LCDIF_DATA02	0x79
+			MX6UL_PAD_LCD_DATA03__LCDIF_DATA03	0x79
+			MX6UL_PAD_LCD_DATA04__LCDIF_DATA04	0x79
+			MX6UL_PAD_LCD_DATA05__LCDIF_DATA05	0x79
+			MX6UL_PAD_LCD_DATA06__LCDIF_DATA06	0x79
+			MX6UL_PAD_LCD_DATA07__LCDIF_DATA07	0x79
+			MX6UL_PAD_LCD_DATA08__LCDIF_DATA08	0x79
+			MX6UL_PAD_LCD_DATA09__LCDIF_DATA09	0x79
+			MX6UL_PAD_LCD_DATA10__LCDIF_DATA10	0x79
+			MX6UL_PAD_LCD_DATA11__LCDIF_DATA11	0x79
+			MX6UL_PAD_LCD_DATA12__LCDIF_DATA12	0x79
+			MX6UL_PAD_LCD_DATA13__LCDIF_DATA13	0x79
+			MX6UL_PAD_LCD_DATA14__LCDIF_DATA14	0x79
+			MX6UL_PAD_LCD_DATA15__LCDIF_DATA15	0x79
+			MX6UL_PAD_LCD_DATA16__LCDIF_DATA16	0x79
+			MX6UL_PAD_LCD_DATA17__LCDIF_DATA17	0x79
+			MX6UL_PAD_LCD_DATA18__LCDIF_DATA18	0x79
+			MX6UL_PAD_LCD_DATA19__LCDIF_DATA19	0x79
+			MX6UL_PAD_LCD_DATA20__LCDIF_DATA20	0x79
+			MX6UL_PAD_LCD_DATA21__LCDIF_DATA21	0x79
+			MX6UL_PAD_LCD_DATA22__LCDIF_DATA22	0x79
+			MX6UL_PAD_LCD_DATA23__LCDIF_DATA23	0x79
+		>;
+	};
+
+	pinctrl_lcdif_ctrl: lcdifctrlgrp {
+		fsl,pins = <
+			MX6UL_PAD_LCD_CLK__LCDIF_CLK		0x79
+			MX6UL_PAD_LCD_ENABLE__LCDIF_ENABLE	0x79
+			MX6UL_PAD_LCD_HSYNC__LCDIF_HSYNC	0x79
+			MX6UL_PAD_LCD_VSYNC__LCDIF_VSYNC	0x79
+			/* LCD reset */
+			MX6UL_PAD_SNVS_TAMPER9__GPIO5_IO09	0x79
+		>;
+	};
+
+	pinctrl_pwm3: pwm3grp {
+		fsl,pins = <
+			MX6UL_PAD_NAND_ALE__PWM3_OUT		0x110b0
+		>;
+	};
+
+	pinctrl_pwm7: pwm7grp {
+		fsl,pins = <
+			MX6UL_PAD_ENET1_TX_CLK__PWM7_OUT	0x110b0
+		>;
+	};
+
+	pinctrl_pwm8: pwm8grp {
+		fsl,pins = <
+			MX6UL_PAD_ENET1_RX_ER__PWM8_OUT		0x110b0
+		>;
+	};
+
+	pinctrl_sai1: sai1grp {
+		fsl,pins = <
+			MX6UL_PAD_CSI_DATA04__SAI1_TX_SYNC	0x1b0b0
+			MX6UL_PAD_CSI_DATA05__SAI1_TX_BCLK	0x1b0b0
+			MX6UL_PAD_CSI_DATA06__SAI1_RX_DATA	0x110b0
+			MX6UL_PAD_CSI_DATA07__SAI1_TX_DATA	0x1f0b8
+		>;
+	};
+
+	pinctrl_uart3: uart3grp {
+		fsl,pins = <
+			MX6UL_PAD_UART3_TX_DATA__UART3_DCE_TX	0x1b0b0
+			MX6UL_PAD_UART3_RX_DATA__UART3_DCE_RX	0x1b0b0
+			MX6UL_PAD_UART3_RTS_B__UART3_DCE_RTS	0x1b0b0
+			MX6UL_PAD_UART3_CTS_B__UART3_DCE_CTS	0x1b0b0
+		>;
+	};
+
+	pinctrl_uart5: uart5grp {
+		fsl,pins = <
+			MX6UL_PAD_GPIO1_IO04__UART5_DCE_TX	0x1b0b1
+			MX6UL_PAD_GPIO1_IO05__UART5_DCE_RX	0x1b0b1
+			MX6UL_PAD_GPIO1_IO08__UART5_DCE_RTS	0x1b0b1
+			MX6UL_PAD_GPIO1_IO09__UART5_DCE_CTS	0x1b0b1
+		>;
+	};
+
+	pinctrl_uart6: uart6grp {
+		fsl,pins = <
+			MX6UL_PAD_CSI_MCLK__UART6_DCE_TX	0x1b0b1
+			MX6UL_PAD_CSI_PIXCLK__UART6_DCE_RX	0x1b0b1
+		>;
+	};
+
+	pinctrl_usb_otg1: usbotg1grp {
+		fsl,pins = <
+			MX6UL_PAD_GPIO1_IO06__GPIO1_IO06	0x10b0
+			>;
+	};
+
+	pinctrl_usb_otg1_id: usbotg1idgrp {
+		fsl,pins = <
+			MX6UL_PAD_GPIO1_IO00__ANATOP_OTG1_ID	0x17059
+		>;
+	};
+
+	pinctrl_usdhc1: usdhc1grp {
+		fsl,pins = <
+			MX6UL_PAD_SD1_CMD__USDHC1_CMD		0x17059
+			MX6UL_PAD_SD1_CLK__USDHC1_CLK		0x10071
+			MX6UL_PAD_SD1_DATA0__USDHC1_DATA0	0x17059
+			MX6UL_PAD_SD1_DATA1__USDHC1_DATA1	0x17059
+			MX6UL_PAD_SD1_DATA2__USDHC1_DATA2	0x17059
+			MX6UL_PAD_SD1_DATA3__USDHC1_DATA3	0x17059
+			MX6UL_PAD_UART1_RTS_B__USDHC1_CD_B	0x03029
+			MX6UL_PAD_NAND_READY_B__USDHC1_DATA4	0x17059
+			MX6UL_PAD_NAND_CE0_B__USDHC1_DATA5	0x17059
+			MX6UL_PAD_NAND_CE1_B__USDHC1_DATA6	0x17059
+			MX6UL_PAD_NAND_CLE__USDHC1_DATA7	0x17059
+		>;
+	};
+
+	pinctrl_usdhc2: usdhc2grp {
+		fsl,pins = <
+			MX6UL_PAD_NAND_WE_B__USDHC2_CMD		0x17059
+			MX6UL_PAD_NAND_RE_B__USDHC2_CLK		0x10059
+			MX6UL_PAD_NAND_DATA00__USDHC2_DATA0	0x17059
+			MX6UL_PAD_NAND_DATA01__USDHC2_DATA1	0x17059
+			MX6UL_PAD_NAND_DATA02__USDHC2_DATA2	0x17059
+			MX6UL_PAD_NAND_DATA03__USDHC2_DATA3	0x17059
+		>;
+	};
+
+	pinctrl_wdog: wdoggrp {
+		fsl,pins = <
+			MX6UL_PAD_LCD_RESET__WDOG1_WDOG_ANY    0x30b0
+		>;
+	};
+};
diff --git a/arch/arm/mach-imx/imx8/cpu.c b/arch/arm/mach-imx/imx8/cpu.c
index 7539e45652..4bbc956f9d 100644
--- a/arch/arm/mach-imx/imx8/cpu.c
+++ b/arch/arm/mach-imx/imx8/cpu.c
@@ -616,26 +616,32 @@ static const struct udevice_id cpu_imx8_ids[] = {
 	{ }
 };
 
+static ulong imx8_get_cpu_rate(void)
+{
+	ulong rate;
+	int ret;
+
+	ret = sc_pm_get_clock_rate(-1, SC_R_A35, SC_PM_CLK_CPU,
+				   (sc_pm_clock_rate_t *)&rate);
+	if (ret) {
+		printf("Could not read CPU frequency: %d\n", ret);
+		return 0;
+	}
+
+	return rate;
+}
+
 static int imx8_cpu_probe(struct udevice *dev)
 {
 	struct cpu_imx_platdata *plat = dev_get_platdata(dev);
-	struct clk cpu_clk;
 	u32 cpurev;
-	int ret;
 
 	cpurev = get_cpu_rev();
 	plat->cpurev = cpurev;
 	plat->name = get_core_name();
 	plat->rev = get_imx8_rev(cpurev & 0xFFF);
 	plat->type = get_imx8_type((cpurev & 0xFF000) >> 12);
-
-	ret = clk_get_by_index(dev, 0, &cpu_clk);
-	if (ret) {
-		debug("%s: Failed to get CPU clk: %d\n", __func__, ret);
-		return 0;
-	}
-
-	plat->freq_mhz = clk_get_rate(&cpu_clk) / 1000000;
+	plat->freq_mhz = imx8_get_cpu_rate() / 1000000;
 	return 0;
 }
 
diff --git a/arch/arm/mach-imx/mx6/Kconfig b/arch/arm/mach-imx/mx6/Kconfig
index d0cee514a2..e782859b1e 100644
--- a/arch/arm/mach-imx/mx6/Kconfig
+++ b/arch/arm/mach-imx/mx6/Kconfig
@@ -403,7 +403,9 @@ config TARGET_OT1200
 config TARGET_PICO_IMX6UL
 	bool "PICO-IMX6UL-EMMC"
 	select MX6UL
+	select DM
 	select SUPPORT_SPL
+	imply CMD_DM
 
 config TARGET_LITEBOARD
 	bool "Grinn liteBoard (i.MX6UL)"
diff --git a/board/boundary/nitrogen6x/README.mx6qsabrelite b/board/boundary/nitrogen6x/README.mx6qsabrelite
index 12a9c856cf..6283c9575e 100644
--- a/board/boundary/nitrogen6x/README.mx6qsabrelite
+++ b/board/boundary/nitrogen6x/README.mx6qsabrelite
@@ -1,63 +1,11 @@
 U-Boot for the Freescale i.MX6q SabreLite board
+===============================================
 
 This file contains information for the port of U-Boot to the Freescale
 i.MX6q SabreLite board.
 
-1. Boot source, boot from SD card
----------------------------------
 
-The recent mainline U-Boot for the Freescale i.MX6q SabreLite board supports
-boot from SD card only. However, by default, the SabreLite
-boards boot from the SPI NOR flash. These boards need to be reflashed with
-a small SD card loader to support boot from SD card. This small SD card loader
-will be flashed into the SPI NOR. The board will still boot from SPI NOR, but
-the loader will in turn request the BootROM to load the U-Boot from SD card.
-
-The SD card loader is available from
-
-https://wiki.linaro.org/Boards/MX6QSabreLite
-
-under a open-source 3-clause BSD license.
-
-To update the SPI-NOR on the SabreLite board without the Freescale
-manufacturing tool use the following procedure:
-
-1. Write this SD card loader onto a large SD card using:
-
- sudo dd if=iMX6DQ_SPI_to_uSDHC3.bin of=/dev/sXx
-
-Note: Replace sXx with the device representing the SD card in your system.
-
-Note: This writes SD card loader at address 0
-
-2. Put this SD card into the slot for the large SD card (SD3 on the bottom of
-the board). Make sure SW1 switch is at position "00", so that it can boot
-from the fuses.
-
-3. Power-up the SabreLite, press 'space' to enter command mode in the U-Boot
-(the default one the board is shipped with, starting from the SPI NOR) and
-enter the following commands:
-
- MX6Q SABRELITE U-Boot > mmc dev 0
- MX6Q SABRELITE U-Boot > mmc read 0x10800000 0 200
- MX6Q SABRELITE U-Boot > sf probe
- MX6Q SABRELITE U-Boot > sf erase 0 0x40000
- MX6Q SABRELITE U-Boot > sf write 0x10800000 0 0x40000
-
-4. done.
-
-In case you somehow do not succeed with this procedure you will have to use
-the Freescale manufacturing tool in order to reflash the SPI-NOR.
-
-Note: The board now boots from full size SD3 on the bottom of the board. NOT
-      the micro SD4/BOOT slot on the top of the board. I.e. you have to use
-      full size SD cards.
-
-This information is taken from
-
-https://wiki.linaro.org/Boards/MX6QSabreLite
-
-2. Build
+1. Build
 --------
 
 To build U-Boot for the SabreLite board:
@@ -65,8 +13,107 @@ To build U-Boot for the SabreLite board:
  make mx6qsabrelite_config
  make
 
-To copy the resulting u-boot.imx to the SD card:
 
- sudo dd if=u-boot.imx of=/dev/sXx bs=512 seek=2&&sudo sync
+2. Boot from SD card
+--------------------
+
+The SabreLite boards boot from the SPI NOR flash. These boards need their SPI
+to be reflashed with a small SD card loader to support boot from SD card. The
+board will still boot from SPI NOR, but the loader will in turn request the
+BootROM to load the U-Boot from SD card.
+
+The SD card loader is available from
+
+https://wiki.linaro.org/Boards/MX6QSabreLite
+
+This is provided under a open-source 3-clause BSD license.
+
+To following procedure can be used to update the SPI-NOR on the SabreLite
+board:
+
+1. Write this SD card loader onto a large SD card using:
+
+      sudo dd if=iMX6DQ_SPI_to_uSDHC3.bin of=/dev/sXx
+
+   Note: Replace sXx with the device representing the SD card in your system.
+
+   Note: This writes SD card loader at address 0
+
+2. Put this SD card into the slot for the large SD card (SD3 on the bottom of
+   the board). Make sure SW1 switch is at position "00", so that it can boot
+   from the fuses.
+
+3. Power-up the SabreLite, press 'space' to enter command mode in the U-Boot
+   (the default one the board is shipped with, starting from the SPI NOR) and
+   enter the following commands:
+
+      MX6Q SABRELITE U-Boot > mmc dev 0
+      MX6Q SABRELITE U-Boot > mmc read 0x10800000 0 200
+      MX6Q SABRELITE U-Boot > sf probe
+      MX6Q SABRELITE U-Boot > sf erase 0 0x40000
+      MX6Q SABRELITE U-Boot > sf write 0x10800000 0 0x40000
+
+4. Write the u-boot.imx produced during the U-Boot build to the SD card:
+
+      sudo dd if=u-boot.imx of=/dev/sXx bs=512 seek=2 && sudo sync
+
+   Note: Replace sXx with the device representing the SD card in your system.
+
+5. Re-insert the SD card back in the slot for the large SD card and power-cycle
+   the board.
+
+Note: The board now boots from full size SD3 on the bottom of the board. NOT
+      the micro SD4/BOOT slot on the top of the board. I.e. you have to use
+      full size SD cards.
+
+This information originally taken from:
+
+   https://wiki.linaro.org/Boards/MX6QSabreLite
+
+
+3. Boot from SPI NOR
+--------------------
+
+The SabreLite board can also boot U-Boot directly from the SPI NOR flash:
+
+1. Power-up the SabreLite, press 'space' to enter command mode in the U-Boot
+   and enter the following commands:
+
+      => mmc dev 0
+      => mmc read 0x10800000 0x400 0x80000
+      => sf probe 0
+      => sf erase 0 0xc0000
+      => sf write 0x10800000 0x400 0x80000
+
+Note: This procedure assumes you have booted using the desired U-Boot from an
+      SD card as prepared in the previous section. Alternative mechanisms, such
+      as using tftpboot to copy an alternative U-Boot image into memory can
+      also be used.
+
+
+4. Recovering SPI-NOR
+---------------------
+
+In case you somehow do not succeed with this procedure you can upload U-Boot
+via USB:
+
+1. Download and install the imx_loader following the instructions provided:
+
+      https://github.com/boundarydevices/imx_usb_loader
+
+2. Connect the board to USB via the USB OTG port.
+
+3. Make sure SW1 switch is at position "01", so that it can boot from USB OTG.
+
+4. Power-up the SabreLite and run the imx_loader to upload the U-Boot image:
+
+      sudo imx_usb u-boot.imx
+
+Note: This will upload and run the U-Boot image in memory, the SPI will not be
+      reprogrammed and this procedure will need to be repeated if the board is
+      reset.
+
+5. Use one of previous descriptions to re-flash the SPI-NOR as required.
+
+6. Ensure SW1 is returned to "00" to boot from the fuses once done.
 
-Note: Replace sXx with the device representing the SD card in your system.
diff --git a/board/engicam/common/board.c b/board/engicam/common/board.c
index 5dccb17cb2..7486f0ac2d 100644
--- a/board/engicam/common/board.c
+++ b/board/engicam/common/board.c
@@ -8,6 +8,7 @@
 #include <common.h>
 #include <mmc.h>
 #include <asm/arch/sys_proto.h>
+#include <watchdog.h>
 
 #include "board.h"
 
@@ -88,6 +89,10 @@ int board_late_init(void)
 
 	setenv_fdt_file();
 
+#ifdef CONFIG_HW_WATCHDOG
+	hw_watchdog_init();
+#endif
+
 	return 0;
 }
 
diff --git a/board/freescale/imx8mq_evk/MAINTAINERS b/board/freescale/imx8mq_evk/MAINTAINERS
index a2e320cb10..a00bb4ef78 100644
--- a/board/freescale/imx8mq_evk/MAINTAINERS
+++ b/board/freescale/imx8mq_evk/MAINTAINERS
@@ -1,5 +1,6 @@
 i.MX8MQ EVK BOARD
 M:	Peng Fan <peng.fan@nxp.com>
+M:	Fabio Estevam <festevam@gmail.com>
 S:	Maintained
 F:	board/freescale/imx8mq_evk/
 F:	include/configs/imx8mq_evk.h
diff --git a/board/freescale/imx8mq_evk/README b/board/freescale/imx8mq_evk/README
index 1da6eaf242..2529f7da3d 100644
--- a/board/freescale/imx8mq_evk/README
+++ b/board/freescale/imx8mq_evk/README
@@ -18,8 +18,9 @@ Get the ddr and hdmi firmware
 Note: srctree is U-Boot source directory
 $ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/firmware-imx-7.9.bin
 $ chmod +x firmware-imx-7.9.bin
+$ ./firmware-imx-7.9.bin
 $ cp firmware-imx-7.9/firmware/hdmi/cadence/signed_hdmi_imx8m.bin $(srctree)
-$ cp firmware-imx-7.9/firmware-imx-7.9/firmware/ddr/synopsys/lpddr4*.bin $(srctee)
+$ cp firmware-imx-7.9/firmware/ddr/synopsys/lpddr4*.bin $(srctee)
 
 Build U-Boot
 ====================
diff --git a/board/freescale/mx6sabreauto/README b/board/freescale/mx6sabreauto/README
index e8c589b92a..4c0fda1a2d 100644
--- a/board/freescale/mx6sabreauto/README
+++ b/board/freescale/mx6sabreauto/README
@@ -9,15 +9,15 @@ $ make mx6sabreauto_defconfig
 
 $ make
 
-This will generate the SPL and u-boot.img binaries.
+This will generate the SPL and u-boot-dtb.img binaries.
 
 - Flash the SPL binary into the SD card:
 
 $ sudo dd if=SPL of=/dev/sdX bs=1K seek=1 && sync
 
-- Flash the u-boot.img binary into the SD card:
+- Flash the u-boot-dtb.img binary into the SD card:
 
-$ sudo dd if=u-boot.img of=/dev/sdX bs=1K seek=69 && sync
+$ sudo dd if=u-boot-dtb.img of=/dev/sdX bs=1K seek=69 && sync
 
 Booting via Falcon mode
 -----------------------
@@ -32,15 +32,15 @@ $ make mx6sabreauto_defconfig
 
 $ make
 
-This will generate the SPL image called SPL and the u-boot.img.
+This will generate the SPL image called SPL and the u-boot-dtb.img.
 
 - Flash the SPL image into the SD card:
 
 $ sudo dd if=SPL of=/dev/sdb bs=1K seek=1 && sync
 
-- Flash the u-boot.img image into the SD card:
+- Flash the u-boot-dtb.img image into the SD card:
 
-$ sudo dd if=u-boot.img of=/dev/sdb bs=1K seek=69 && sync
+$ sudo dd if=u-boot-dtb.img of=/dev/sdb bs=1K seek=69 && sync
 
 Create a FAT16 boot partition to store uImage and the dtb file, then copy the files there:
 
diff --git a/board/freescale/mx6sabresd/README b/board/freescale/mx6sabresd/README
index 4b4df06330..4ea4454b9f 100644
--- a/board/freescale/mx6sabresd/README
+++ b/board/freescale/mx6sabresd/README
@@ -21,15 +21,15 @@ $ make mx6sabresd_defconfig
 
 $ make
 
-This will generate the SPL and u-boot.img binaries.
+This will generate the SPL and u-boot-dtb.img binaries.
 
 - Flash the SPL binary into the SD card:
 
 $ sudo dd if=SPL of=/dev/sdX bs=1K seek=1 && sync
 
-- Flash the u-boot.img binary into the SD card:
+- Flash the u-boot-dtb.img binary into the SD card:
 
-$ sudo dd if=u-boot.img of=/dev/sdX bs=1K seek=69 && sync
+$ sudo dd if=u-boot-dtb.img of=/dev/sdX bs=1K seek=69 && sync
 
 
 2. Booting from eMMC
@@ -39,7 +39,7 @@ $ make mx6sabresd_defconfig
 
 $ make
 
-This will generate the SPL and u-boot.img binaries.
+This will generate the SPL and u-boot-dtb.img binaries.
 
 - Boot first from SD card as shown in the previous section
 
@@ -51,10 +51,10 @@ Mount the eMMC in the host PC:
 
 => ums 0 mmc 2
 
-- Flash SPL and u-boot.img binaries into the eMMC:
+- Flash SPL and u-boot-dtb.img binaries into the eMMC:
 
 $ 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
+$ sudo dd if=u-boot-dtb.img of=/dev/sdX bs=1K seek=69 && sync
 
 Set SW6 to eMMC 8-bit boot: 11010110
 
@@ -65,15 +65,15 @@ Set SW6 to eMMC 8-bit boot: 11010110
 $ make mx6sabresd_defconfig
 $ make
 
-This will generate the SPL image called SPL and the u-boot.img.
+This will generate the SPL image called SPL and the u-boot-dtb.img.
 
 - Flash the SPL image into the SD card:
 
 $ sudo dd if=SPL of=/dev/sdX bs=1K seek=1 oflag=sync status=none && sync
 
-- Flash the u-boot.img image into the SD card:
+- Flash the u-boot-dtb.img image into the SD card:
 
-$ sudo dd if=u-boot.img of=/dev/sdX bs=1K seek=69 oflag=sync status=none && sync
+$ sudo dd if=u-boot-dtb.img of=/dev/sdX bs=1K seek=69 oflag=sync status=none && sync
 
 Create a partition for root file system and extract it there:
 
diff --git a/board/freescale/mx6ul_14x14_evk/mx6ul_14x14_evk.c b/board/freescale/mx6ul_14x14_evk/mx6ul_14x14_evk.c
index 595ad76bbe..636c008993 100644
--- a/board/freescale/mx6ul_14x14_evk/mx6ul_14x14_evk.c
+++ b/board/freescale/mx6ul_14x14_evk/mx6ul_14x14_evk.c
@@ -86,16 +86,13 @@ int power_init_board(void)
 	pmic_reg_write(dev, PFUZE3000_LDOGCTL, reg);
 
 	/* SW1B step ramp up time from 2us to 4us/25mV */
-	reg = 0x40;
-	pmic_reg_write(dev, PFUZE3000_SW1BCONF, reg);
+	pmic_reg_write(dev, PFUZE3000_SW1BCONF, 0x40);
 
 	/* SW1B mode to APS/PFM */
-	reg = 0xc;
-	pmic_reg_write(dev, PFUZE3000_SW1BMODE, reg);
+	pmic_reg_write(dev, PFUZE3000_SW1BMODE, 0xc);
 
 	/* SW1B standby voltage set to 0.975V */
-	reg = 0xb;
-	pmic_reg_write(dev, PFUZE3000_SW1BSTBY, reg);
+	pmic_reg_write(dev, PFUZE3000_SW1BSTBY, 0xb);
 
 	return 0;
 }
diff --git a/board/gateworks/gw_ventana/eeprom.c b/board/gateworks/gw_ventana/eeprom.c
index ee227320c0..5e9cf11575 100644
--- a/board/gateworks/gw_ventana/eeprom.c
+++ b/board/gateworks/gw_ventana/eeprom.c
@@ -6,6 +6,7 @@
 
 #include <common.h>
 #include <errno.h>
+#include <hexdump.h>
 #include <i2c.h>
 #include <malloc.h>
 #include <asm/bitops.h>
@@ -46,6 +47,8 @@ read_eeprom(int bus, struct ventana_board_info *info)
 	/* sanity checks */
 	if (info->model[0] != 'G' || info->model[1] != 'W') {
 		puts("EEPROM: Invalid Model in EEPROM\n");
+		print_hex_dump_bytes("", DUMP_PREFIX_OFFSET, buf,
+				     sizeof(*info));
 		return GW_UNKNOWN;
 	}
 
@@ -55,6 +58,8 @@ read_eeprom(int bus, struct ventana_board_info *info)
 	if ((info->chksum[0] != chksum>>8) ||
 	    (info->chksum[1] != (chksum&0xff))) {
 		puts("EEPROM: Failed EEPROM checksum\n");
+		print_hex_dump_bytes("", DUMP_PREFIX_OFFSET, buf,
+				     sizeof(*info));
 		return GW_UNKNOWN;
 	}
 
@@ -116,6 +121,11 @@ read_eeprom(int bus, struct ventana_board_info *info)
 		else if (info->model[4] == '0' && info->model[5] == '9')
 			type = GW5909;
 		break;
+	default:
+		printf("EEPROM: Unknown model in EEPROM: %s\n", info->model);
+		print_hex_dump_bytes("", DUMP_PREFIX_OFFSET, buf,
+				     sizeof(*info));
+		break;
 	}
 	return type;
 }
diff --git a/board/gateworks/gw_ventana/gw_ventana_spl.c b/board/gateworks/gw_ventana/gw_ventana_spl.c
index 27f3774140..eaf7aa9eca 100644
--- a/board/gateworks/gw_ventana/gw_ventana_spl.c
+++ b/board/gateworks/gw_ventana/gw_ventana_spl.c
@@ -540,6 +540,11 @@ static void spl_dram_init(int width, int size_mb, int board_model)
 		else
 			calib = &mx6sdl_256x16_mmdc_calib;
 		debug("4gB density\n");
+	} else if (width == 16 && size_mb == 1024) {
+		mem = &mt41k512m16ha_125;
+		if (is_cpu_type(MXC_CPU_MX6Q))
+			calib = &mx6dq_512x32_mmdc_calib;
+		debug("8gB density\n");
 	} else if (width == 32 && size_mb == 256) {
 		/* Same calib as width==16, size==128 */
 		mem = &mt41k64m16jt_125;
diff --git a/board/grinn/liteboard/board.c b/board/grinn/liteboard/board.c
index 18d152a381..80910e4713 100644
--- a/board/grinn/liteboard/board.c
+++ b/board/grinn/liteboard/board.c
@@ -24,8 +24,6 @@
 #include <mmc.h>
 #include <netdev.h>
 #include <spl.h>
-#include <usb.h>
-#include <usb/ehci-ci.h>
 
 DECLARE_GLOBAL_DATA_PTR;
 
@@ -63,26 +61,6 @@ static iomux_v3_cfg_t const sd_pads[] = {
 	MX6_PAD_UART1_RTS_B__GPIO1_IO19 | MUX_PAD_CTRL(NO_PAD_CTRL),
 };
 
-#ifdef CONFIG_FEC_MXC
-static iomux_v3_cfg_t const fec1_pads[] = {
-	MX6_PAD_GPIO1_IO06__ENET1_MDIO | MUX_PAD_CTRL(MDIO_PAD_CTRL),
-	MX6_PAD_GPIO1_IO07__ENET1_MDC | MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET1_TX_DATA0__ENET1_TDATA00 | MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET1_TX_DATA1__ENET1_TDATA01 | MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET1_TX_EN__ENET1_TX_EN | MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET1_TX_CLK__ENET1_REF_CLK1 | MUX_PAD_CTRL(ENET_CLK_PAD_CTRL),
-	MX6_PAD_ENET1_RX_DATA0__ENET1_RDATA00 | MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET1_RX_DATA1__ENET1_RDATA01 | MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET1_RX_ER__ENET1_RX_ER | MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET1_RX_EN__ENET1_RX_EN | MUX_PAD_CTRL(ENET_PAD_CTRL),
-};
-
-static void setup_iomux_fec(void)
-{
-	imx_iomux_v3_setup_multiple_pads(fec1_pads, ARRAY_SIZE(fec1_pads));
-}
-#endif
-
 static void setup_iomux_uart(void)
 {
 	imx_iomux_v3_setup_multiple_pads(uart1_pads, ARRAY_SIZE(uart1_pads));
@@ -180,13 +158,6 @@ void board_late_mmc_init(void)
 #endif
 
 #ifdef CONFIG_FEC_MXC
-int board_eth_init(bd_t *bis)
-{
-	setup_iomux_fec();
-
-	return fecmxc_initialize(bis);
-}
-
 static int setup_fec(void)
 {
 	struct iomuxc *const iomuxc_regs = (struct iomuxc *)IOMUXC_BASE_ADDR;
@@ -207,13 +178,6 @@ static int setup_fec(void)
 }
 #endif
 
-#ifdef CONFIG_USB_EHCI_MX6
-int board_usb_phy_mode(int port)
-{
-	return USB_INIT_HOST;
-}
-#endif
-
 int board_early_init_f(void)
 {
 	setup_iomux_uart();
diff --git a/board/technexion/pico-imx6ul/README b/board/technexion/pico-imx6ul/README
index 1cabd90759..bb8ee3f463 100644
--- a/board/technexion/pico-imx6ul/README
+++ b/board/technexion/pico-imx6ul/README
@@ -13,7 +13,7 @@ $ make mrproper
 $ make pico-imx6ul_defconfig
 $ make
 
-This generates the SPL and u-boot.img binaries.
+This generates the SPL and u-boot-dtb.img binaries.
 
 1. Loading U-Boot via USB Serial Download Protocol
 
@@ -31,15 +31,15 @@ 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.img to the imx_usb_loader folder.
+Copy SPL and u-boot-dtb.img to the imx_usb_loader folder.
 
 Load the SPL binary via USB:
 
 $ sudo ./imx_usb SPL
 
-Load the u-boot.img binary via USB:
+Load the u-boot-dtb.img binary via USB:
 
-$ sudo ./imx_usb u-boot.img
+$ sudo ./imx_usb u-boot-dtb.img
 
 Then U-Boot starts and its messages appear in the console program.
 
@@ -54,11 +54,11 @@ Run the DFU agent so we can flash the new images using dfu-util tool:
 
 => dfu 0 mmc 0
 
-Flash SPL and u-boot.img into the eMMC running the following commands on a PC:
+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.img -a u-boot
+$ sudo dfu-util -D u-boot-dtb.img -a u-boot
 
 Remove power from the pico board.
 
@@ -142,7 +142,7 @@ Launch UMS:
 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
+$ sudo dd if=u-boot-dtb.img  of=/dev/sdX bs=1k seek=69; sync
 
 And then SPL binary will load and jump directly to the kernel:
 
diff --git a/board/technexion/pico-imx6ul/pico-imx6ul.c b/board/technexion/pico-imx6ul/pico-imx6ul.c
index 8c76778276..95b482a602 100644
--- a/board/technexion/pico-imx6ul/pico-imx6ul.c
+++ b/board/technexion/pico-imx6ul/pico-imx6ul.c
@@ -13,13 +13,10 @@
 #include <asm/arch/sys_proto.h>
 #include <asm/gpio.h>
 #include <asm/mach-imx/iomux-v3.h>
-#include <asm/mach-imx/mxc_i2c.h>
 #include <asm/io.h>
 #include <common.h>
 #include <miiphy.h>
 #include <netdev.h>
-#include <fsl_esdhc.h>
-#include <i2c.h>
 #include <linux/sizes.h>
 #include <usb.h>
 #include <power/pmic.h>
@@ -32,15 +29,6 @@ DECLARE_GLOBAL_DATA_PTR;
 	PAD_CTL_PUS_100K_UP | PAD_CTL_SPEED_MED |		\
 	PAD_CTL_DSE_40ohm   | PAD_CTL_SRE_FAST  | PAD_CTL_HYS)
 
-#define USDHC_PAD_CTRL (PAD_CTL_PKE | PAD_CTL_PUE |		\
-	PAD_CTL_PUS_22K_UP  | PAD_CTL_SPEED_LOW |		\
-	PAD_CTL_DSE_80ohm   | PAD_CTL_SRE_FAST  | PAD_CTL_HYS)
-
-#define I2C_PAD_CTRL	(PAD_CTL_PKE | PAD_CTL_PUE |		\
-	PAD_CTL_PUS_100K_UP | PAD_CTL_SPEED_MED |		\
-	PAD_CTL_DSE_40ohm | PAD_CTL_HYS |			\
-	PAD_CTL_ODE)
-
 #define OTG_ID_PAD_CTRL (PAD_CTL_PKE | PAD_CTL_PUE |		\
 	PAD_CTL_PUS_47K_UP  | PAD_CTL_SPEED_LOW |		\
 	PAD_CTL_DSE_80ohm   | PAD_CTL_SRE_FAST  | PAD_CTL_HYS)
@@ -56,23 +44,6 @@ DECLARE_GLOBAL_DATA_PTR;
 
 #define RMII_PHY_RESET IMX_GPIO_NR(1, 28)
 
-#ifdef CONFIG_SYS_I2C_MXC
-#define PC MUX_PAD_CTRL(I2C_PAD_CTRL)
-/* I2C2 for PMIC */
-struct i2c_pads_info i2c_pad_info1 = {
-	.scl = {
-		.i2c_mode =  MX6_PAD_GPIO1_IO02__I2C1_SCL | PC,
-		.gpio_mode = MX6_PAD_GPIO1_IO02__GPIO1_IO02 | PC,
-		.gp = IMX_GPIO_NR(1, 2),
-	},
-	.sda = {
-		.i2c_mode = MX6_PAD_GPIO1_IO03__I2C1_SDA | PC,
-		.gpio_mode = MX6_PAD_GPIO1_IO03__GPIO1_IO03 | PC,
-		.gp = IMX_GPIO_NR(1, 3),
-	},
-};
-#endif
-
 static iomux_v3_cfg_t const fec_pads[] = {
 	MX6_PAD_ENET1_TX_EN__ENET2_MDC		| MUX_PAD_CTRL(MDIO_PAD_CTRL),
 	MX6_PAD_ENET1_TX_DATA1__ENET2_MDIO	| MUX_PAD_CTRL(MDIO_PAD_CTRL),
@@ -96,6 +67,7 @@ int board_eth_init(bd_t *bis)
 {
 	setup_iomux_fec();
 
+	gpio_request(RMII_PHY_RESET, "enet_phy_reset");
 	gpio_direction_output(RMII_PHY_RESET, 0);
 	/*
 	 * According to KSZ8081MNX-RNB manual:
@@ -155,19 +127,6 @@ static iomux_v3_cfg_t const uart6_pads[] = {
 	MX6_PAD_CSI_PIXCLK__UART6_DCE_RX | MUX_PAD_CTRL(UART_PAD_CTRL),
 };
 
-static iomux_v3_cfg_t const usdhc1_pads[] = {
-	MX6_PAD_SD1_CLK__USDHC1_CLK | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD1_CMD__USDHC1_CMD | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD1_DATA0__USDHC1_DATA0 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD1_DATA1__USDHC1_DATA1 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD1_DATA2__USDHC1_DATA2 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD1_DATA3__USDHC1_DATA3 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_NAND_READY_B__USDHC1_DATA4 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_NAND_CE0_B__USDHC1_DATA5 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_NAND_CE1_B__USDHC1_DATA6 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_NAND_CLE__USDHC1_DATA7 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-};
-
 #define USB_OTHERREGS_OFFSET	0x800
 #define UCTRL_PWR_POL		(1 << 9)
 
@@ -185,22 +144,6 @@ static void setup_usb(void)
 	imx_iomux_v3_setup_multiple_pads(usb_otg_pad, ARRAY_SIZE(usb_otg_pad));
 }
 
-static struct fsl_esdhc_cfg usdhc_cfg[1] = {
-	{USDHC1_BASE_ADDR},
-};
-
-int board_mmc_getcd(struct mmc *mmc)
-{
-	return 1;
-}
-
-int board_mmc_init(bd_t *bis)
-{
-	imx_iomux_v3_setup_multiple_pads(usdhc1_pads, ARRAY_SIZE(usdhc1_pads));
-	usdhc_cfg[0].sdhc_clk = mxc_get_clock(MXC_ESDHC_CLK);
-	return fsl_esdhc_initialize(bis, &usdhc_cfg[0]);
-}
-
 int board_early_init_f(void)
 {
 	setup_iomux_uart();
@@ -208,38 +151,33 @@ int board_early_init_f(void)
 	return 0;
 }
 
-#ifdef CONFIG_POWER
-#define I2C_PMIC       0
-static struct pmic *pfuze;
+#ifdef CONFIG_DM_PMIC
 int power_init_board(void)
 {
-	int ret;
-	unsigned int reg, rev_id;
+	struct udevice *dev;
+	int ret, dev_id, rev_id;
 
-	ret = power_pfuze3000_init(I2C_PMIC);
-	if (ret)
+	ret = pmic_get("pfuze3000", &dev);
+	if (ret == -ENODEV)
+		return 0;
+	if (ret != 0)
 		return ret;
 
-	pfuze = pmic_get("PFUZE3000");
-	ret = pmic_probe(pfuze);
-	if (ret)
-		return ret;
-
-	pmic_reg_read(pfuze, PFUZE3000_DEVICEID, &reg);
-	pmic_reg_read(pfuze, PFUZE3000_REVID, &rev_id);
-	printf("PMIC: PFUZE3000 DEV_ID=0x%x REV_ID=0x%x\n", reg, rev_id);
+	dev_id = pmic_reg_read(dev, PFUZE3000_DEVICEID);
+	rev_id = pmic_reg_read(dev, PFUZE3000_REVID);
+	printf("PMIC: PFUZE3000 DEV_ID=0x%x REV_ID=0x%x\n", dev_id, rev_id);
 
 	/* disable Low Power Mode during standby mode */
-	pmic_reg_write(pfuze, PFUZE3000_LDOGCTL, 0x1);
+	pmic_reg_write(dev, PFUZE3000_LDOGCTL, 0x1);
 
 	/* SW1B step ramp up time from 2us to 4us/25mV */
-	pmic_reg_write(pfuze, PFUZE3000_SW1BCONF, 0x40);
+	pmic_reg_write(dev, PFUZE3000_SW1BCONF, 0x40);
 
 	/* SW1B mode to APS/PFM */
-	pmic_reg_write(pfuze, PFUZE3000_SW1BMODE, 0xc);
+	pmic_reg_write(dev, PFUZE3000_SW1BMODE, 0xc);
 
 	/* SW1B standby voltage set to 0.975V */
-	pmic_reg_write(pfuze, PFUZE3000_SW1BSTBY, 0xb);
+	pmic_reg_write(dev, PFUZE3000_SW1BSTBY, 0xb);
 
 	return 0;
 }
@@ -274,10 +212,6 @@ int board_init(void)
 	/* Address of boot parameters */
 	gd->bd->bi_boot_params = PHYS_SDRAM + 0x100;
 
-	#ifdef CONFIG_SYS_I2C_MXC
-		setup_i2c(0, CONFIG_SYS_I2C_SPEED, 0x7f, &i2c_pad_info1);
-	#endif
-
 	setup_fec();
 	setup_usb();
 
diff --git a/board/warp7/README b/board/warp7/README
index 60339da543..579bb2de38 100644
--- a/board/warp7/README
+++ b/board/warp7/README
@@ -17,7 +17,7 @@ $ make mrproper
 $ make warp7_config
 $ make
 
-This will generate the U-Boot binary called u-boot.imx.
+This will generate the U-Boot binary called u-boot-dtb.imx.
 
 Put warp7 board in USB download mode: 
 
@@ -28,11 +28,11 @@ Connect a USB to serial adapter between the host PC and warp7
 
 Connect a USB cable between the OTG warp7 port and the host PC
 
-Copy u-boot.imx to the imx_usb_loader folder.
+Copy u-boot-dtb.imx to the imx_usb_loader folder.
 
-Load u-boot.imx via USB:
+Load u-boot-dtb.imx via USB:
 
-$ sudo ./imx_usb u-boot.imx
+$ sudo ./imx_usb u-boot-dtb.imx
 
 Then U-Boot should start and its messages will appear in the console program.
 
@@ -46,9 +46,9 @@ Use the default environment variables:
 Run the DFU command:
 => dfu 0 mmc 0
 
-Transfer u-boot.imx that will be flashed into the eMMC:
+Transfer u-boot-dtb.imx that will be flashed into the eMMC:
 
-$ sudo dfu-util -D u-boot.imx -a boot
+$ sudo dfu-util -D u-boot-dtb.imx -a boot
 
 Then on the U-Boot prompt the following message should be seen after a
 successful upgrade:
diff --git a/board/warp7/warp7.c b/board/warp7/warp7.c
index 6ebeb08e33..2882dc9870 100644
--- a/board/warp7/warp7.c
+++ b/board/warp7/warp7.c
@@ -11,12 +11,8 @@
 #include <asm/gpio.h>
 #include <asm/mach-imx/hab.h>
 #include <asm/mach-imx/iomux-v3.h>
-#include <asm/mach-imx/mxc_i2c.h>
 #include <asm/io.h>
 #include <common.h>
-#include <fsl_esdhc.h>
-#include <i2c.h>
-#include <mmc.h>
 #include <asm/arch/crm_regs.h>
 #include <usb.h>
 #include <netdev.h>
@@ -81,7 +77,7 @@ int power_init_board(void)
 	printf("PMIC: PFUZE3000 DEV_ID=0x%x REV_ID=0x%x\n", dev_id, rev_id);
 
 	/* disable Low Power Mode during standby mode */
-	pmic_clrsetbits(dev, PFUZE3000_LDOGCTL, 0, 1);
+	pmic_reg_write(dev, PFUZE3000_LDOGCTL, 1);
 
 	return 0;
 }
diff --git a/configs/gwventana_emmc_defconfig b/configs/gwventana_emmc_defconfig
index f95957adab..07171c7009 100644
--- a/configs/gwventana_emmc_defconfig
+++ b/configs/gwventana_emmc_defconfig
@@ -85,5 +85,6 @@ CONFIG_USB_ETHER_ASIX=y
 CONFIG_USB_ETHER_SMSC95XX=y
 CONFIG_VIDEO=y
 # CONFIG_VIDEO_SW_CURSOR is not set
+CONFIG_HEXDUMP=y
 CONFIG_OF_LIBFDT=y
 CONFIG_FDT_FIXUP_PARTITIONS=y
diff --git a/configs/gwventana_gw5904_defconfig b/configs/gwventana_gw5904_defconfig
index 219d31a9a1..0ed2209e3b 100644
--- a/configs/gwventana_gw5904_defconfig
+++ b/configs/gwventana_gw5904_defconfig
@@ -89,5 +89,6 @@ CONFIG_USB_ETHER_ASIX=y
 CONFIG_USB_ETHER_SMSC95XX=y
 CONFIG_VIDEO=y
 # CONFIG_VIDEO_SW_CURSOR is not set
+CONFIG_HEXDUMP=y
 CONFIG_OF_LIBFDT=y
 CONFIG_FDT_FIXUP_PARTITIONS=y
diff --git a/configs/gwventana_nand_defconfig b/configs/gwventana_nand_defconfig
index 466a7752ad..57e4a999ab 100644
--- a/configs/gwventana_nand_defconfig
+++ b/configs/gwventana_nand_defconfig
@@ -88,5 +88,6 @@ CONFIG_USB_ETHER_ASIX=y
 CONFIG_USB_ETHER_SMSC95XX=y
 CONFIG_VIDEO=y
 # CONFIG_VIDEO_SW_CURSOR is not set
+CONFIG_HEXDUMP=y
 CONFIG_OF_LIBFDT=y
 CONFIG_FDT_FIXUP_PARTITIONS=y
diff --git a/configs/imx6q_logic_defconfig b/configs/imx6q_logic_defconfig
index 5017e5831b..8a875a8716 100644
--- a/configs/imx6q_logic_defconfig
+++ b/configs/imx6q_logic_defconfig
@@ -39,6 +39,7 @@ CONFIG_CMD_MEMTEST=y
 CONFIG_CMD_GPIO=y
 CONFIG_CMD_I2C=y
 CONFIG_CMD_MMC=y
+CONFIG_CMD_MTD=y
 CONFIG_CMD_NAND_TRIMFFS=y
 CONFIG_CMD_USB=y
 CONFIG_CMD_USB_SDP=y
@@ -58,8 +59,10 @@ CONFIG_PCF8575_GPIO=y
 CONFIG_LED=y
 CONFIG_LED_GPIO=y
 CONFIG_FSL_ESDHC=y
+CONFIG_MTD=y
 CONFIG_NAND=y
 CONFIG_NAND_MXS=y
+CONFIG_NAND_MXS_DT=y
 CONFIG_PHYLIB=y
 CONFIG_PHY_ATHEROS=y
 CONFIG_FEC_MXC=y
diff --git a/configs/imx6qdl_icore_mmc_defconfig b/configs/imx6qdl_icore_mmc_defconfig
index f22e5ea819..68ad1c6d20 100644
--- a/configs/imx6qdl_icore_mmc_defconfig
+++ b/configs/imx6qdl_icore_mmc_defconfig
@@ -12,6 +12,13 @@ CONFIG_DEBUG_UART_BASE=0x021f0000
 CONFIG_DEBUG_UART_CLOCK=24000000
 CONFIG_SPL_LIBDISK_SUPPORT=y
 # CONFIG_CMD_BMODE is not set
+CONFIG_CMD_BOOTCOUNT=y
+CONFIG_BOOTCOUNT_LIMIT=y
+CONFIG_BOOTCOUNT_BOOTLIMIT=3
+CONFIG_SYS_BOOTCOUNT_SINGLEWORD=y
+CONFIG_SYS_BOOTCOUNT_ADDR=0x00900000
+CONFIG_SYS_BOOTCOUNT_MAGIC=0x0B01C041
+CONFIG_IMX_WATCHDOG=y
 CONFIG_DEBUG_UART=y
 CONFIG_NR_DRAM_BANKS=1
 CONFIG_FIT=y
diff --git a/configs/imx8mq_evk_defconfig b/configs/imx8mq_evk_defconfig
index 53025e45bc..46100b6719 100644
--- a/configs/imx8mq_evk_defconfig
+++ b/configs/imx8mq_evk_defconfig
@@ -22,6 +22,7 @@ CONFIG_CMD_EXT4_WRITE=y
 CONFIG_CMD_FAT=y
 CONFIG_OF_CONTROL=y
 CONFIG_DEFAULT_DEVICE_TREE="fsl-imx8mq-evk"
+CONFIG_ENV_IS_IN_MMC=y
 CONFIG_SAVED_DRAM_TIMING_BASE=0x40000000
 CONFIG_DM_GPIO=y
 CONFIG_DM_I2C=y
@@ -29,6 +30,7 @@ CONFIG_SYS_I2C_MXC=y
 CONFIG_DM_MMC=y
 CONFIG_DM_ETH=y
 CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX8M=y
 CONFIG_DM_REGULATOR=y
 CONFIG_DM_REGULATOR_FIXED=y
 CONFIG_DM_REGULATOR_GPIO=y
diff --git a/configs/liteboard_defconfig b/configs/liteboard_defconfig
index 61ba4ea2df..e4a2fcc7fb 100644
--- a/configs/liteboard_defconfig
+++ b/configs/liteboard_defconfig
@@ -30,10 +30,20 @@ CONFIG_CMD_EXT4=y
 CONFIG_CMD_EXT4_WRITE=y
 CONFIG_CMD_FAT=y
 CONFIG_CMD_FS_GENERIC=y
+CONFIG_OF_CONTROL=y
+CONFIG_DEFAULT_DEVICE_TREE="imx6ul-liteboard"
 CONFIG_ENV_IS_IN_MMC=y
+CONFIG_NET_RANDOM_ETHADDR=y
+CONFIG_DM_GPIO=y
+CONFIG_DM_I2C=y
+CONFIG_DM_MMC=y
 CONFIG_FSL_ESDHC=y
 CONFIG_PHYLIB=y
+CONFIG_DM_ETH=y
 CONFIG_MII=y
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX6=y
+CONFIG_DM_REGULATOR=y
 CONFIG_USB=y
+CONFIG_DM_USB=y
 CONFIG_USB_STORAGE=y
-CONFIG_OF_LIBFDT=y
diff --git a/configs/pico-hobbit-imx6ul_defconfig b/configs/pico-hobbit-imx6ul_defconfig
index e6454e5fce..4cfef86882 100644
--- a/configs/pico-hobbit-imx6ul_defconfig
+++ b/configs/pico-hobbit-imx6ul_defconfig
@@ -17,7 +17,6 @@ CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
 CONFIG_DEFAULT_FDT_FILE="imx6ul-pico-hobbit.dtb"
 CONFIG_BOUNCE_BUFFER=y
 CONFIG_BOARD_EARLY_INIT_F=y
-CONFIG_SPL_I2C_SUPPORT=y
 CONFIG_SPL_USB_HOST_SUPPORT=y
 CONFIG_SPL_USB_GADGET=y
 CONFIG_SPL_USB_SDP_SUPPORT=y
@@ -33,6 +32,8 @@ CONFIG_CMD_USB_SDP=y
 CONFIG_CMD_USB_MASS_STORAGE=y
 CONFIG_CMD_CACHE=y
 CONFIG_CMD_EXT4_WRITE=y
+CONFIG_OF_CONTROL=y
+CONFIG_DEFAULT_DEVICE_TREE="imx6ul-pico-hobbit"
 CONFIG_ENV_IS_IN_MMC=y
 CONFIG_DFU_MMC=y
 CONFIG_USB_FUNCTION_FASTBOOT=y
@@ -40,14 +41,24 @@ CONFIG_FASTBOOT_BUF_SIZE=0x10000000
 CONFIG_FASTBOOT_FLASH=y
 CONFIG_FASTBOOT_FLASH_MMC_DEV=0
 CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
+CONFIG_DM_GPIO=y
+CONFIG_DM_I2C=y
+CONFIG_DM_MMC=y
 CONFIG_FSL_ESDHC=y
 CONFIG_PHYLIB=y
 CONFIG_PHY_MICREL=y
 CONFIG_MII=y
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX6=y
+CONFIG_DM_PMIC=y
+CONFIG_DM_PMIC_PFUZE100=y
+CONFIG_DM_REGULATOR=y
+CONFIG_DM_REGULATOR_PFUZE100=y
+CONFIG_DM_REGULATOR_FIXED=y
+CONFIG_DM_REGULATOR_GPIO=y
 CONFIG_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
-CONFIG_OF_LIBFDT=y
diff --git a/configs/pico-imx6ul_defconfig b/configs/pico-imx6ul_defconfig
index a740016d9e..edbca4ee14 100644
--- a/configs/pico-imx6ul_defconfig
+++ b/configs/pico-imx6ul_defconfig
@@ -17,7 +17,6 @@ CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
 CONFIG_DEFAULT_FDT_FILE="ask"
 CONFIG_BOUNCE_BUFFER=y
 CONFIG_BOARD_EARLY_INIT_F=y
-CONFIG_SPL_I2C_SUPPORT=y
 CONFIG_SPL_USB_HOST_SUPPORT=y
 CONFIG_SPL_USB_GADGET=y
 CONFIG_SPL_USB_SDP_SUPPORT=y
@@ -35,6 +34,8 @@ CONFIG_CMD_USB_SDP=y
 CONFIG_CMD_USB_MASS_STORAGE=y
 CONFIG_CMD_CACHE=y
 CONFIG_CMD_EXT4_WRITE=y
+CONFIG_OF_CONTROL=y
+CONFIG_DEFAULT_DEVICE_TREE="imx6ul-pico-hobbit"
 CONFIG_ENV_IS_IN_MMC=y
 CONFIG_DFU_MMC=y
 CONFIG_USB_FUNCTION_FASTBOOT=y
@@ -42,14 +43,24 @@ CONFIG_FASTBOOT_BUF_SIZE=0x10000000
 CONFIG_FASTBOOT_FLASH=y
 CONFIG_FASTBOOT_FLASH_MMC_DEV=0
 CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
+CONFIG_DM_GPIO=y
+CONFIG_DM_I2C=y
+CONFIG_DM_MMC=y
 CONFIG_FSL_ESDHC=y
 CONFIG_PHYLIB=y
 CONFIG_PHY_MICREL=y
 CONFIG_MII=y
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX6=y
+CONFIG_DM_PMIC=y
+CONFIG_DM_PMIC_PFUZE100=y
+CONFIG_DM_REGULATOR=y
+CONFIG_DM_REGULATOR_PFUZE100=y
+CONFIG_DM_REGULATOR_FIXED=y
+CONFIG_DM_REGULATOR_GPIO=y
 CONFIG_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
-CONFIG_OF_LIBFDT=y
diff --git a/configs/pico-pi-imx6ul_defconfig b/configs/pico-pi-imx6ul_defconfig
index 09deca4064..18abf83806 100644
--- a/configs/pico-pi-imx6ul_defconfig
+++ b/configs/pico-pi-imx6ul_defconfig
@@ -17,7 +17,6 @@ CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
 CONFIG_DEFAULT_FDT_FILE="imx6ul-pico-pi.dtb"
 CONFIG_BOUNCE_BUFFER=y
 CONFIG_BOARD_EARLY_INIT_F=y
-CONFIG_SPL_I2C_SUPPORT=y
 CONFIG_SPL_USB_HOST_SUPPORT=y
 CONFIG_SPL_USB_GADGET=y
 CONFIG_SPL_USB_SDP_SUPPORT=y
@@ -33,6 +32,8 @@ CONFIG_CMD_USB_SDP=y
 CONFIG_CMD_USB_MASS_STORAGE=y
 CONFIG_CMD_CACHE=y
 CONFIG_CMD_EXT4_WRITE=y
+CONFIG_OF_CONTROL=y
+CONFIG_DEFAULT_DEVICE_TREE="imx6ul-pico-pi"
 CONFIG_ENV_IS_IN_MMC=y
 CONFIG_DFU_MMC=y
 CONFIG_USB_FUNCTION_FASTBOOT=y
@@ -40,14 +41,24 @@ CONFIG_FASTBOOT_BUF_SIZE=0x10000000
 CONFIG_FASTBOOT_FLASH=y
 CONFIG_FASTBOOT_FLASH_MMC_DEV=0
 CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
+CONFIG_DM_GPIO=y
+CONFIG_DM_I2C=y
+CONFIG_DM_MMC=y
 CONFIG_FSL_ESDHC=y
 CONFIG_PHYLIB=y
 CONFIG_PHY_MICREL=y
 CONFIG_MII=y
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX6=y
+CONFIG_DM_PMIC=y
+CONFIG_DM_PMIC_PFUZE100=y
+CONFIG_DM_REGULATOR=y
+CONFIG_DM_REGULATOR_PFUZE100=y
+CONFIG_DM_REGULATOR_FIXED=y
+CONFIG_DM_REGULATOR_GPIO=y
 CONFIG_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
-CONFIG_OF_LIBFDT=y
diff --git a/drivers/mtd/nand/raw/mxs_nand_spl.c b/drivers/mtd/nand/raw/mxs_nand_spl.c
index ba85baac60..ee7d9cb957 100644
--- a/drivers/mtd/nand/raw/mxs_nand_spl.c
+++ b/drivers/mtd/nand/raw/mxs_nand_spl.c
@@ -174,11 +174,11 @@ static int is_badblock(struct mtd_info *mtd, loff_t offs, int allowbbt)
 }
 
 /* setup mtd and nand structs and init mxs_nand driver */
-static int mxs_nand_init(void)
+void nand_init(void)
 {
 	/* return if already initalized */
 	if (nand_chip.numchips)
-		return 0;
+		return;
 
 	/* init mxs nand driver */
 	mxs_nand_init_spl(&nand_chip);
@@ -191,7 +191,8 @@ static int mxs_nand_init(void)
 	/* identify flash device */
 	if (mxs_flash_ident(mtd)) {
 		printf("Failed to identify\n");
-		return -1;
+		nand_chip.numchips = 0; /* If fail, don't use nand */
+		return;
 	}
 
 	/* allocate and initialize buffers */
@@ -202,8 +203,6 @@ static int mxs_nand_init(void)
 	mtd->size = nand_chip.chipsize;
 	nand_chip.scan_bbt(mtd);
 	mxs_nand_setup_ecc(mtd);
-
-	return 0;
 }
 
 int nand_spl_load_image(uint32_t offs, unsigned int size, void *buf)
@@ -213,9 +212,9 @@ int nand_spl_load_image(uint32_t offs, unsigned int size, void *buf)
 	unsigned int nand_page_per_block;
 	unsigned int sz = 0;
 
-	if (mxs_nand_init())
-		return -ENODEV;
 	chip = mtd_to_nand(mtd);
+	if (!chip->numchips)
+		return -ENODEV;
 	page = offs >> chip->page_shift;
 	nand_page_per_block = mtd->erasesize / mtd->writesize;
 
@@ -256,10 +255,6 @@ int nand_default_bbt(struct mtd_info *mtd)
 	return 0;
 }
 
-void nand_init(void)
-{
-}
-
 void nand_deselect(void)
 {
 }
diff --git a/drivers/net/fec_mxc.c b/drivers/net/fec_mxc.c
index a14fe43a5b..f991b40b38 100644
--- a/drivers/net/fec_mxc.c
+++ b/drivers/net/fec_mxc.c
@@ -1284,22 +1284,16 @@ static int fec_phy_init(struct fec_priv *priv, struct udevice *dev)
 {
 	struct phy_device *phydev;
 	int addr;
-	int mask = 0xffffffff;
 
 	addr = device_get_phy_addr(dev);
-	if (addr >= 0)
-		mask = 1 << addr;
-
 #ifdef CONFIG_FEC_MXC_PHYADDR
-	mask = 1 << CONFIG_FEC_MXC_PHYADDR;
+	addr = CONFIG_FEC_MXC_PHYADDR;
 #endif
 
-	phydev = phy_find_by_mask(priv->bus, mask, priv->interface);
+	phydev = phy_connect(priv->bus, addr, dev, priv->interface);
 	if (!phydev)
 		return -ENODEV;
 
-	phy_connect_dev(phydev, dev);
-
 	priv->phydev = phydev;
 	phy_config(phydev);
 
diff --git a/drivers/pinctrl/nxp/Kconfig b/drivers/pinctrl/nxp/Kconfig
index f1d5a5c50d..61f93be42d 100644
--- a/drivers/pinctrl/nxp/Kconfig
+++ b/drivers/pinctrl/nxp/Kconfig
@@ -75,6 +75,20 @@ config PINCTRL_IMX8
 	  only parses the 'fsl,pins' property and configures related
 	  registers.
 
+config PINCTRL_IMX8M
+	bool "IMX8M pinctrl driver"
+	depends on ARCH_IMX8M && PINCTRL_FULL
+	select DEVRES
+	select PINCTRL_IMX
+	help
+	  Say Y here to enable the imx8m pinctrl driver
+
+	  This provides a simple pinctrl driver for i.MX8M SoC familiy.
+	  This feature depends on device tree configuration. This driver
+	  is different from the linux one, this is a simple implementation,
+	  only parses the 'fsl,pins' property and configure related
+	  registers.
+
 config PINCTRL_VYBRID
 	bool "Vybrid (vf610) pinctrl driver"
 	depends on ARCH_VF610 && PINCTRL_FULL
diff --git a/drivers/pinctrl/nxp/Makefile b/drivers/pinctrl/nxp/Makefile
index 891ee6e477..b340d9448a 100644
--- a/drivers/pinctrl/nxp/Makefile
+++ b/drivers/pinctrl/nxp/Makefile
@@ -5,4 +5,5 @@ obj-$(CONFIG_PINCTRL_IMX7)		+= pinctrl-imx7.o
 obj-$(CONFIG_PINCTRL_IMX7ULP)		+= pinctrl-imx7ulp.o
 obj-$(CONFIG_PINCTRL_IMX_SCU)		+= pinctrl-scu.o
 obj-$(CONFIG_PINCTRL_IMX8)		+= pinctrl-imx8.o
+obj-$(CONFIG_PINCTRL_IMX8M)		+= pinctrl-imx8m.o
 obj-$(CONFIG_PINCTRL_VYBRID)		+= pinctrl-vf610.o
diff --git a/drivers/pinctrl/nxp/pinctrl-imx8m.c b/drivers/pinctrl/nxp/pinctrl-imx8m.c
new file mode 100644
index 0000000000..8bb03b7a62
--- /dev/null
+++ b/drivers/pinctrl/nxp/pinctrl-imx8m.c
@@ -0,0 +1,36 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Copyright 2019 NXP
+ */
+
+#include <dm/device.h>
+#include <dm/pinctrl.h>
+
+#include "pinctrl-imx.h"
+
+static struct imx_pinctrl_soc_info imx8mq_pinctrl_soc_info;
+
+static int imx8mq_pinctrl_probe(struct udevice *dev)
+{
+	struct imx_pinctrl_soc_info *info =
+		(struct imx_pinctrl_soc_info *)dev_get_driver_data(dev);
+
+	return imx_pinctrl_probe(dev, info);
+}
+
+static const struct udevice_id imx8m_pinctrl_match[] = {
+	{ .compatible = "fsl,imx8mq-iomuxc", .data = (ulong)&imx8mq_pinctrl_soc_info },
+	{ .compatible = "fsl,imx8mm-iomuxc", .data = (ulong)&imx8mq_pinctrl_soc_info },
+	{ /* sentinel */ }
+};
+
+U_BOOT_DRIVER(imx8mq_pinctrl) = {
+	.name = "imx8mq-pinctrl",
+	.id = UCLASS_PINCTRL,
+	.of_match = of_match_ptr(imx8m_pinctrl_match),
+	.probe = imx8mq_pinctrl_probe,
+	.remove = imx_pinctrl_remove,
+	.priv_auto_alloc_size = sizeof(struct imx_pinctrl_priv),
+	.ops = &imx_pinctrl_ops,
+	.flags = DM_FLAG_PRE_RELOC,
+};
diff --git a/drivers/serial/serial_mxc.c b/drivers/serial/serial_mxc.c
index df35ac9114..476df25805 100644
--- a/drivers/serial/serial_mxc.c
+++ b/drivers/serial/serial_mxc.c
@@ -178,7 +178,7 @@ static void _mxc_serial_setbrg(struct mxc_uart *base, unsigned long clk,
 	writel(UCR1_UARTEN, &base->cr1);
 }
 
-#ifndef CONFIG_DM_SERIAL
+#if !CONFIG_IS_ENABLED(DM_SERIAL)
 
 #ifndef CONFIG_MXC_UART_BASE
 #error "define CONFIG_MXC_UART_BASE to use the MXC UART driver"
@@ -260,7 +260,7 @@ __weak struct serial_device *default_serial_console(void)
 }
 #endif
 
-#ifdef CONFIG_DM_SERIAL
+#if CONFIG_IS_ENABLED(DM_SERIAL)
 
 int mxc_serial_setbrg(struct udevice *dev, int baudrate)
 {
diff --git a/include/configs/imx6-engicam.h b/include/configs/imx6-engicam.h
index 7baa265934..571852d803 100644
--- a/include/configs/imx6-engicam.h
+++ b/include/configs/imx6-engicam.h
@@ -43,19 +43,30 @@
 	"fdt_addr=" FDT_ADDR "\0" \
 	"boot_fdt=try\0" \
 	"mmcpart=1\0" \
+	"recovery_device=0\0" \
+	"recovery_part=2\0" \
+	"recovery_root=/dev/mmcblk0p2 rootwait rw\0" \
 	"nandroot=ubi0:rootfs rootfstype=ubifs\0" \
 	"mmcautodetect=yes\0" \
 	"mmcargs=setenv bootargs console=${console},${baudrate} " \
 		"root=${mmcroot}\0" \
+	"recovery_mmcargs= setenv bootargs console=${console},${baudrate} "\
+		"root=${recovery_root}\0" \
 	"ubiargs=setenv bootargs console=${console},${baudrate} " \
 		"ubi.mtd=5 root=${nandroot} ${mtdparts}\0" \
 	"loadbootscript=" \
 		"fatload mmc ${mmcdev}:${mmcpart} ${loadaddr} ${script};\0" \
 	"bootscript=echo Running bootscript from mmc ...; " \
 		"source\0" \
+	"recovery_loadimage=ext2load mmc ${recovery_device}:${recovery_part} ${loadaddr} ${image}\0" \
+	"recovery_loadfdt=ext2load mmc ${recovery_device}:${recovery_part} ${fdt_addr} ${fdt_file}\0" \
 	"loadimage=fatload mmc ${mmcdev}:${mmcpart} ${loadaddr} ${image}\0" \
 	"loadfdt=fatload mmc ${mmcdev}:${mmcpart} ${fdt_addr} ${fdt_file}\0" \
 	"loadfit=fatload mmc ${mmcdev}:${mmcpart} ${loadaddr} ${fit_image}\0" \
+	"altbootcmd=run recovery_boot\0"\
+	"recovery_boot=echo Recovery Boot from mmc ...; " \
+		"run recovery_loadimage ; run recovery_loadfdt; run recovery_mmcargs; "\
+		"bootm ${loadaddr} - ${fdt_addr}\0" \
 	"fitboot=echo Booting FIT image from mmc ...; " \
 		"run mmcargs; " \
 		"bootm ${loadaddr}\0" \
diff --git a/include/configs/imx6_logic.h b/include/configs/imx6_logic.h
index 70cc63fc1b..a121064e37 100644
--- a/include/configs/imx6_logic.h
+++ b/include/configs/imx6_logic.h
@@ -68,8 +68,8 @@
 	"nandboot=echo Booting from nand ...; " \
 	" run nandargs;" \
 	" nand read ${loadaddr} kernel ${kernelsize};" \
-	" nand read ${fdt_addr} dtb;" \
-	" bootz ${loadaddr} - ${fdt_addr}\0" \
+	" nand read ${fdt_addr_r} dtb;" \
+	" bootz ${loadaddr} - ${fdt_addr_r}\0" \
 	"nandramboot=echo Booting RAMdisk from nand ...; " \
 	" nand read ${ramdisk_addr_r} fs ${ramdisksize};" \
 	" nand read ${loadaddr} kernel ${kernelsize};" \
@@ -88,8 +88,8 @@
 	"fi; " \
 	"${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}; " \
+		"if ${get_cmd} ${fdt_addr_r} ${fdt_file}; then " \
+			"bootz ${loadaddr} - ${fdt_addr_r}; " \
 		"else " \
 			"if test ${boot_fdt} = try; then " \
 				"bootz; " \
diff --git a/include/configs/imx8mq_evk.h b/include/configs/imx8mq_evk.h
index f0430224cb..a9e38a70e6 100644
--- a/include/configs/imx8mq_evk.h
+++ b/include/configs/imx8mq_evk.h
@@ -187,7 +187,6 @@
 #define CONFIG_ENV_OVERWRITE
 #define CONFIG_ENV_OFFSET               (64 * SZ_64K)
 #define CONFIG_ENV_SIZE			0x1000
-#define CONFIG_ENV_IS_IN_MMC
 #define CONFIG_SYS_MMC_ENV_DEV		1   /* USDHC2 */
 #define CONFIG_MMCROOT			"/dev/mmcblk1p2"  /* USDHC2 */
 
diff --git a/include/configs/pico-imx6ul.h b/include/configs/pico-imx6ul.h
index 8082b74c9c..050f69801b 100644
--- a/include/configs/pico-imx6ul.h
+++ b/include/configs/pico-imx6ul.h
@@ -128,17 +128,9 @@
 	(CONFIG_SYS_INIT_RAM_ADDR + CONFIG_SYS_INIT_SP_OFFSET)
 
 /* I2C configs */
-#define CONFIG_SYS_I2C
 #define CONFIG_SYS_I2C_MXC
-#define CONFIG_SYS_I2C_MXC_I2C1
 #define CONFIG_SYS_I2C_SPEED		100000
 
-/* PMIC */
-#define CONFIG_POWER
-#define CONFIG_POWER_I2C
-#define CONFIG_POWER_PFUZE3000
-#define CONFIG_POWER_PFUZE3000_I2C_ADDR	0x08
-
 /* environment organization */
 #define CONFIG_ENV_SIZE			SZ_8K
 #define CONFIG_ENV_OFFSET		(8 * SZ_64K)