[PATCH v3] bosch: Add initial board support for ACC

* [PATCH v3] bosch: Add initial board support for ACC
@ 2022-04-19 14:44 Philip Oberfichtner
  2022-04-21 14:53 ` Stefano Babic
  0 siblings, 1 reply; 3+ messages in thread
From: Philip Oberfichtner @ 2022-04-19 14:44 UTC (permalink / raw)
  To: u-boot
  Cc: Philip Oberfichtner, Andre Przywara, Christian Hewitt,
	Fabio Estevam, Frieder Schrempf, Heiko Schocher, Jagan Teki,
	Konstantin Porotchkin, Matthias Schiffer, Matthias Winker,
	Michal Simek, NXP i.MX U-Boot Team, Navin Sankar Velliangiri,
	Neil Armstrong, Oleh Kravchenko, Simon Glass, Sinthu Raja,
	Stefano Babic, Ying-Chun Liu (PaulLiu)

The Bosch ACC (Air Center Control) Board is based on the i.MX6D.

Signed-off-by: Philip Oberfichtner <pro@denx.de>

---

Changes in v3:
- Rename acc to bosch-acc
- Sync device tree with Linux

Changes in v2:
- Adapt defconfig and device tree to new bootcount driver
- Clean up CONFIG_ENV_FLAGS_LIST_STATIC
- Fix style issues in device trees
- Migrate CONFIG options to Kconfig


This board supports depends on:
- "Add pmic bootcount driver", patchwork id 291027
- "crypto/fsl: Fallback to SW sha1/256 is misaligned buffers",
  patchwork id 270524
- Linux Device Tree patch, see below

The Device Tree is currently being mainlined into Linux. The
DT in this board support patch will be kept in sync as the DT
patch for Linux evolves. The Linux patch is tracked under
http://patchwork.ozlabs.org/project/devicetree-bindings/list/?series=294727

The only difference compared to the Linux DT is the removal of
usbphynop properties. They are defined in the Linux version of
imx6qdl.dtsi, but not in the u-boot version.

---
 arch/arm/dts/Makefile                    |    1 +
 arch/arm/dts/imx6q-bosch-acc-u-boot.dtsi |   80 ++
 arch/arm/dts/imx6q-bosch-acc.dts         | 1036 ++++++++++++++++++++++
 arch/arm/mach-imx/mx6/Kconfig            |   15 +
 board/bosch/acc/Kconfig                  |   19 +
 board/bosch/acc/MAINTAINERS              |    9 +
 board/bosch/acc/Makefile                 |    6 +
 board/bosch/acc/acc.c                    |  755 ++++++++++++++++
 configs/imx6q_bosch_acc_defconfig        |  110 +++
 include/configs/imx6q-bosch-acc.h        |  128 +++
 10 files changed, 2159 insertions(+)
 create mode 100644 arch/arm/dts/imx6q-bosch-acc-u-boot.dtsi
 create mode 100644 arch/arm/dts/imx6q-bosch-acc.dts
 create mode 100644 board/bosch/acc/Kconfig
 create mode 100644 board/bosch/acc/MAINTAINERS
 create mode 100644 board/bosch/acc/Makefile
 create mode 100644 board/bosch/acc/acc.c
 create mode 100644 configs/imx6q_bosch_acc_defconfig
 create mode 100644 include/configs/imx6q-bosch-acc.h

diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
index 644ba961a2..418e0ee655 100644
--- a/arch/arm/dts/Makefile
+++ b/arch/arm/dts/Makefile
@@ -768,6 +768,7 @@ endif
 ifneq ($(CONFIG_MX6Q)$(CONFIG_MX6QDL),)
 dtb-y += \
 	imx6-apalis.dtb \
+	imx6q-bosch-acc.dtb \
 	imx6q-cm-fx6.dtb \
 	imx6q-cubox-i.dtb \
 	imx6q-cubox-i-emmc-som-v15.dtb \
diff --git a/arch/arm/dts/imx6q-bosch-acc-u-boot.dtsi b/arch/arm/dts/imx6q-bosch-acc-u-boot.dtsi
new file mode 100644
index 0000000000..37c182d318
--- /dev/null
+++ b/arch/arm/dts/imx6q-bosch-acc-u-boot.dtsi
@@ -0,0 +1,80 @@
+// SPDX-License-Identifier: GPL-2.0+
+
+/* Copyright (C) 2022 Denx Software Engineering GmbH
+ * Philip Oberfichtner <pro@denx.de>
+ */
+
+/ {
+	chosen {
+		stdout-path = &uart2;
+	};
+
+	soc {
+		u-boot,dm-spl;
+
+		bus@2000000 {
+			u-boot,dm-spl;
+
+			spba-bus@2000000 {
+				u-boot,dm-spl;
+			};
+		};
+
+		bus@2100000 {
+			u-boot,dm-spl;
+		};
+	};
+
+	bootcount {
+		compatible = "u-boot,bootcount-pmic";
+		pmic = <&pmic>;
+	};
+};
+
+&uart1 {
+	u-boot,dm-spl;
+};
+
+&uart2 {
+	u-boot,dm-spl;
+};
+
+&usdhc2 {
+	u-boot,dm-spl;
+};
+
+&usdhc4 {
+	u-boot,dm-spl;
+};
+
+&gpio1 {
+	u-boot,dm-spl;
+};
+
+&gpio2 {
+	u-boot,dm-spl;
+};
+
+&gpio3 {
+	u-boot,dm-spl;
+};
+
+&gpio4 {
+	u-boot,dm-spl;
+};
+
+&gpio5 {
+	u-boot,dm-spl;
+};
+
+&gpio6 {
+	u-boot,dm-spl;
+};
+
+&gpio7 {
+	u-boot,dm-spl;
+};
+
+&wdog1 {
+	u-boot,dm-spl;
+};
diff --git a/arch/arm/dts/imx6q-bosch-acc.dts b/arch/arm/dts/imx6q-bosch-acc.dts
new file mode 100644
index 0000000000..d0f6ba0cc4
--- /dev/null
+++ b/arch/arm/dts/imx6q-bosch-acc.dts
@@ -0,0 +1,1036 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Support for the i.MX6-based Bosch ACC board.
+ *
+ * Copyright (C) 2016 Garz & Fricke GmbH
+ * Copyright (C) 2018 DENX Software Engineering GmbH, Heiko Schocher <hs@denx.de>
+ * Copyright (C) 2018 DENX Software Engineering GmbH, Niel Fourie <lusus@denx.de>
+ * Copyright (C) 2019-2021 Bosch Thermotechnik GmbH, Matthias Winker <matthias.winker@bosch.com>
+ */
+
+/dts-v1/;
+
+#include <dt-bindings/gpio/gpio.h>
+#include "imx6q.dtsi"
+
+/ {
+	model = "Bosch ACC";
+	compatible = "bosch,imx6q-acc", "fsl,imx6q";
+
+	aliases {
+		serial0 = &uart2;
+		serial1 = &uart1;
+
+		i2c0 = &i2c1;
+		i2c1 = &i2c2;
+		i2c2 = &i2c3;
+		/* eMMC is connected to USDHC interface 4, but shall get the name 0 */
+		mmc0 = &usdhc4;
+		/* SC-Cards is connected to USDHC interface 2, but shall get the name 1 */
+		mmc1 = &usdhc2;
+	};
+
+	backlight {
+		status = "okay";
+
+		compatible = "pwm-backlight";
+		/* The last value is the PWM period in nano-seconds!
+		 * -> 5 kHz = 200 µS = 200.000 ns
+		 */
+		pwms = <&pwm1 0 200000>;
+		brightness-levels = <0 61 499 1706 4079 8022 13938 22237 33328 47623 65535>;
+		num-interpolated-steps = <10>;
+		default-brightness-level = <60>;
+		power-supply = <&reg_lcd0_pwr>;
+	};
+
+	usb3503_refclk: usb3503_refclk {
+		compatible = "fixed-factor-clock";
+		#clock-cells = <0>;
+
+		clocks = <&clks IMX6QDL_CLK_CKO2>;
+		clock-div = <1>;
+		clock-mult = <1>;
+		clock-output-names = "12mhz_refclk";
+
+		assigned-clocks = <&clks IMX6QDL_CLK_CKO>,
+				  <&clks IMX6QDL_CLK_CKO2>,
+				  <&clks IMX6QDL_CLK_CKO2_SEL>;
+		assigned-clock-parents = <&clks IMX6QDL_CLK_CKO2>,
+					 <&clks IMX6QDL_CLK_CKO2_PODF>,
+					 <&clks IMX6QDL_CLK_OSC>;
+		assigned-clock-rates = <0>, <12000000>, <0>;
+	};
+
+	cpus {
+		/* Override operating points with board-specific values */
+		cpu0: cpu@0 {
+			operating-points = <
+				/* kHz    uV */
+				1200000 1275000
+				996000  1225000
+				852000  1225000
+				792000  1150000
+				396000  950000
+			>;
+			fsl,soc-operating-points = <
+				/* ARM kHz  SOC-PU uV */
+				1200000 1225000
+				996000	1175000
+				852000	1175000
+				792000	1150000
+				396000	1150000
+			>;
+		};
+
+		cpu1: cpu@1 {
+			operating-points = <
+				/* kHz    uV */
+				1200000 1275000
+				996000  1225000
+				852000  1225000
+				792000  1150000
+				396000  950000
+			>;
+			fsl,soc-operating-points = <
+				/* ARM kHz  SOC-PU uV */
+				1200000 1225000
+				996000	1175000
+				852000	1175000
+				792000	1150000
+				396000	1150000
+			>;
+		};
+	};
+
+	leds {
+		compatible = "pwm-leds";
+
+		led_red: red {
+			label = "red";
+			max-brightness = <248>;
+			default-state = "off";
+			pwms = <&pwm2 0 500000>;
+		};
+
+		led_white: white {
+			label = "white";
+			max-brightness = <248>;
+			default-state = "off";
+			pwms = <&pwm3 0 500000>;
+			linux,default-trigger = "heartbeat";
+		};
+	};
+
+	memory {
+		reg = <0x10000000 0x40000000>;
+	};
+
+	regulators: regulators {
+		compatible = "simple-bus";
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		supply_5P0: regulator@0 {
+			compatible = "regulator-fixed";
+			reg = <0>;
+			regulator-name = "5P0";
+			regulator-min-microvolt = <5000000>;
+			regulator-max-microvolt = <5000000>;
+			regulator-always-on;
+		};
+
+		supply_VIN: regulator@1 {
+			compatible = "regulator-fixed";
+			reg = <1>;
+			regulator-name = "VIN";
+			regulator-min-microvolt = <4500000>;
+			regulator-max-microvolt = <4500000>;
+			regulator-always-on;
+			vin-supply = <&supply_5P0>;
+		};
+
+		reg_usb_otg_vbus: regulator@2 {
+			compatible = "regulator-fixed";
+			reg = <2>;
+			regulator-name = "usb_otg_vbus";
+			regulator-min-microvolt = <5000000>;
+			regulator-max-microvolt = <5000000>;
+		};
+
+		reg_usb_h1_vbus: regulator@3 {
+			compatible = "regulator-fixed";
+			reg = <3>;
+			regulator-name = "usb_h1_vbus";
+			regulator-min-microvolt = <5000000>;
+			regulator-max-microvolt = <5000000>;
+			regulator-always-on;
+			vin-supply = <&supply_5P0>;
+		};
+
+		supply_VSNVS_3V0: regulator@4 {
+			compatible = "regulator-fixed";
+			reg = <4>;
+			regulator-name = "VSNVS_3V0";
+			regulator-min-microvolt = <3000000>;
+			regulator-max-microvolt = <3000000>;
+			regulator-always-on;
+			vin-supply = <&supply_5P0>;
+		};
+
+		reg_lcd0_pwr: regulator-lcd0-pwr {
+			compatible = "regulator-fixed";
+			regulator-name = "LCD0 POWER";
+			regulator-min-microvolt = <5000000>;
+			regulator-max-microvolt = <5000000>;
+			pinctrl-names = "default";
+			pinctrl-0 = <&pinctrl_lcd_enable>;
+			gpio = <&gpio3 23 GPIO_ACTIVE_HIGH>;
+			enable-active-high;
+			regulator-boot-on;
+		};
+
+		reg_usb_h2_vbus: regulator@6 {
+			compatible = "regulator-fixed";
+			reg = <6>;
+			regulator-name = "usb_h2_vbus";
+			regulator-min-microvolt = <5000000>;
+			regulator-max-microvolt = <5000000>;
+			vin-supply = <&supply_5P0> ;
+			regulator-always-on;
+		};
+
+		supply_vref_dac: vref_dac {
+			compatible = "regulator-fixed";
+			regulator-name = "vref_dac";
+			regulator-min-microvolt = <20000>;
+			regulator-max-microvolt = <20000>;
+			vin-supply = <&supply_5P0> ;
+			regulator-boot-on;
+		};
+	};
+
+	reset_gpio_led {
+		compatible = "gpio-leds";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_reset_gpio_led>;
+
+		reset {
+			label = "red_reset";
+			gpios = <&gpio5 18 0>;
+			default-state = "off";
+		};
+	};
+
+	soc {
+		aips1: bus@2000000 {};
+	};
+};
+
+&reg_arm {
+	vin-supply = <&pmic_sw2>;
+};
+
+&reg_soc {
+	vin-supply = <&pmic_sw1abc>;
+};
+
+&reg_vdd1p1 {
+	vin-supply = <&supply_VSNVS_3V0>;
+};
+
+&reg_vdd2p5 {
+	vin-supply = <&supply_VSNVS_3V0>;
+};
+
+&reg_vdd3p0 {
+	vin-supply = <&supply_VSNVS_3V0>;
+};
+
+&audmux {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_audmux>;
+	status = "okay";
+};
+
+&fec {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_enet>;
+	status = "okay";
+
+	clocks = <&clks IMX6QDL_CLK_ENET>,
+		<&clks IMX6QDL_CLK_ENET>,
+		<&clks IMX6QDL_CLK_ENET>,
+		<&clks IMX6QDL_CLK_ENET_REF>;
+	clock-names = "ipg", "ahb", "ptp", "enet_out";
+	phy-mode = "rmii";
+	phy-supply = <&supply_sw4_3V3>;
+	phy-handle = <&ethphy>;
+
+	mdio {
+		#address-cells = <1>;
+		#size-cells = <0>;
+		ethphy: ethernet-phy@0 {
+			compatible = "ethernet-phy-ieee802.3-c22";
+			reg = <0>;
+			interrupt-parent = <&gpio1>;
+			interrupts = <23 IRQ_TYPE_EDGE_FALLING>;
+			smsc,disable-energy-detect;
+		};
+	};
+};
+
+&gpu_vg {
+	status = "disabled";
+};
+
+&gpu_2d {
+	status = "disabled";
+};
+
+&i2c1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c1>;
+	clock-frequency = <400000>;
+	status = "okay";
+
+	eeprom: eeprom@50 {
+		compatible = "atmel,24c32";
+		reg = <0x50>;
+		pagesize = <32>;
+		bytelen = <4096>;
+		bus-id = <0>;
+		flags = <0x80>;		/* AT24_FLAG_ADDR16 */
+	};
+
+	lm75: lm75@49 {
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_lm75>;
+
+		compatible = "national,lm75b";
+		reg = <0x49>;
+
+		interrupts = <7 0x4>;
+		interrupt-parent = <&gpio4>;
+	};
+
+	pmic: pfuze100@8 {
+		compatible = "fsl,pfuze100";
+		reg = <0x08>;
+		uboot,bootcounter;
+
+		VGEN1-supply = <&supply_AUX_3V15>;
+		VGEN2-supply = <&supply_AUX_3V15>;
+		VGEN3-supply = <&supply_sw4_3V3>;
+		VGEN4-supply = <&supply_sw4_3V3>;
+		VGEN5-supply = <&supply_SYS_4V2>;
+		VGEN6-supply = <&supply_SYS_4V2>;
+
+		VREFDDR-supply = <&supply_DDR_1V5>;
+
+		SW1AB-supply = <&supply_SYS_4V2>;
+		SW1C-supply = <&supply_SYS_4V2>;
+		SW2-supply = <&supply_SYS_4V2>;
+		SW3A-supply = <&supply_SYS_4V2>;
+		SW3B-supply = <&supply_SYS_4V2>;
+		SW4-supply = <&supply_SYS_4V2>;
+
+		regulators {
+			/*
+			 * VDD_CORE is connected to SW1 ABC
+			 * We need to define sw1ab and sw1c, but later it is controlled solely with
+			 * sw1c and therefore only this is named "VDD_SOC".
+			 * See PMIC datasheet Rev. 18, chapter 6.4.4.3.1: "The feedback and all
+			 * other controls are accomplished by use of pin SW1CFB and SW1C control
+			 * registers, respectively."
+			 * Setting min and max according to SOC datasheet
+			 */
+			pmic_sw1abc: sw1c {
+				regulator-name = "VDD_SOC (sw1abc)";
+				regulator-min-microvolt = <1275000>;
+				regulator-max-microvolt = <1500000>;
+				regulator-boot-on;
+				regulator-always-on;
+				regulator-ramp-delay = <6250>;
+
+				default-voltage = <1300000>;
+			};
+
+			pmic_sw2: sw2{
+				regulator-name = "VDD_ARM (sw2)";
+
+				regulator-min-microvolt = <1050000>;
+				regulator-max-microvolt = <1500000>;
+				regulator-boot-on;
+				regulator-always-on;
+				regulator-ramp-delay = <6250>;
+
+				default-voltage = <1300000>;
+			};
+
+			pmic_sw3a: sw3a {
+				/* U-Boot sets correct voltage, shall not be touched by the OS */
+				compatible = "regulator-fixed";
+				regulator-name = "DDR_1V5a";
+				regulator-boot-on;
+				regulator-always-on;
+
+			};
+
+			supply_DDR_1V5: sw3b {
+				/* U-Boot sets correct voltage, shall not be touched by the OS */
+				compatible = "regulator-fixed";
+				regulator-name = "DDR_1V5b";
+				regulator-boot-on;
+				regulator-always-on;
+
+			};
+
+			supply_AUX_3V15: sw4 {
+				regulator-name = "AUX 3V15 (sw4)";
+				regulator-min-microvolt = <800000>;
+				regulator-max-microvolt = <3300000>;
+
+				default-voltage = <3150000>;
+
+			};
+
+			swbst_reg: swbst {
+				status = "disabled";
+				regulator-min-microvolt = <5000000>;
+				regulator-max-microvolt = <5150000>;
+				regulator-boot-on;
+				regulator-always-on;
+
+			};
+
+			snvs_reg: vsnvs {
+				regulator-min-microvolt = <1200000>;
+				regulator-max-microvolt = <3000000>;
+				regulator-boot-on;
+				regulator-always-on;
+
+				default-voltage = <3000000>;
+			};
+
+			vref_reg: vrefddr {
+				regulator-boot-on;
+				regulator-always-on;
+
+				default-voltage = <675000>;
+			};
+
+			vgen1_reg: vgen1 {
+				regulator-min-microvolt = <800000>;
+				regulator-max-microvolt = <1550000>;
+				regulator-always-on;
+
+				default-voltage = <1500000>;
+			};
+
+			vgen2_reg: vgen2 {
+				regulator-min-microvolt = <800000>;
+				regulator-max-microvolt = <1550000>;
+				regulator-always-on;
+
+				default-voltage = <1200000>;
+			};
+
+			vgen3_reg: vgen3 {
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <3300000>;
+				regulator-always-on;
+
+				default-voltage = <2500000>;
+			};
+
+			vgen4_reg: vgen4 {
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <3300000>;
+				regulator-always-on;
+				regulator-boot-on;
+
+				default-voltage = <1800000>;
+			};
+
+			vgen5_reg: vgen5 {
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <3300000>;
+				regulator-always-on;
+				regulator-boot-on;
+
+				default-voltage = <2800000>;
+			};
+
+			vgen6_reg: vgen6 {
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <3300000>;
+				regulator-always-on;
+
+				default-voltage = <2800000>;
+			};
+
+		};
+	};
+
+	rtc: rtcpcf8563@51 {
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_rtc>;
+
+		compatible = "nxp,pcf8563";
+		reg = <0x51>;
+	};
+};
+
+&i2c2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c2>;
+	clock-frequency = <100000>;
+	status = "okay";
+
+	adc101c: ac101c@54 {
+		compatible = "ti,adc101c";
+		reg = <0x54>;
+		status = "okay";
+		vref-supply = <&supply_vref_dac>;
+		vcc-supply = <&supply_vref_dac>;
+	};
+
+	ad5602: ad5602@c {
+		compatible = "adi,ad5602";
+		reg = <0x0c>;
+		status = "okay";
+		vcc-supply = <&supply_vref_dac>;
+	};
+
+	eeprom_ext: eeprom_ext@50 {
+		compatible = "atmel,24c32";
+		reg = <0x50>;
+		pagesize = <32>;
+		bytelen = <4096>;
+		bus-id = <1>;
+		flags = <0x80>;		/* AT24_FLAG_ADDR16 */
+	};
+};
+
+&i2c3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c3>;
+	clock-frequency = <400000>;
+	status = "okay";
+
+	exc3000: exc3000@2a {
+		compatible = "eeti,exc3000";
+		reg = <0x2a>;
+
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_ctouch>;
+
+		interrupt-parent = <&gpio4>;
+		interrupts = <6 IRQ_TYPE_LEVEL_LOW>;
+
+		touchscreen-size-x = <4096>;
+		touchscreen-size-y = <4096>;
+
+		status = "okay";
+	};
+
+	usb3503: usb3503@8 {
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_usb3503>;
+		status = "okay";
+
+		compatible = "smsc,usb3503";
+		reg = <0x08>;
+		connect-gpios = <&gpio1 16 GPIO_ACTIVE_HIGH>; /* Old: 0, SS: HIGH */
+		intn-gpios = <&gpio7 12 GPIO_ACTIVE_LOW>; /* Old: 1, SS: HIGH */
+		reset-gpios = <&gpio5 5 GPIO_ACTIVE_LOW>; /* Old: 0, SS: HIGH */
+		initial-mode = <1>;
+
+		clocks = <&usb3503_refclk>;
+		clock-names = "refclk";
+		refclk-frequency = <12000000>;
+	};
+
+	vcnl4035: vcnl4035@60 {
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_proximity>;
+		compatible = "vishay,vcnl4035";
+		reg = <0x60>;
+		status = "okay";
+	};
+};
+
+&iomuxc {
+	pinctrl_audmux: audmuxgrp {
+		fsl,pins = <
+			MX6QDL_PAD_DISP0_DAT20__AUD4_TXC    0x130b0
+			MX6QDL_PAD_DISP0_DAT21__AUD4_TXD    0x130b0
+			MX6QDL_PAD_DISP0_DAT22__AUD4_TXFS   0x110b0
+			MX6QDL_PAD_DISP0_DAT23__AUD4_RXD    0x130b0
+		>;
+	};
+
+	pinctrl_enet: enetgrp {
+		fsl,pins = <
+			MX6QDL_PAD_ENET_MDC__ENET_MDC		0x1b0b0
+			MX6QDL_PAD_ENET_MDIO__ENET_MDIO		0x1b0b0
+			MX6QDL_PAD_ENET_CRS_DV__ENET_RX_EN	0x1b0b0
+			MX6QDL_PAD_ENET_REF_CLK__GPIO1_IO23	0x1b0b0	/* FEC INT */
+			MX6QDL_PAD_ENET_RX_ER__ENET_RX_ER	0x1b0b0
+			MX6QDL_PAD_ENET_TX_EN__ENET_TX_EN	0x0001B098
+			MX6QDL_PAD_ENET_RXD0__ENET_RX_DATA0	0x1b0b0
+			MX6QDL_PAD_ENET_RXD1__ENET_RX_DATA1	0x1b0b0
+			MX6QDL_PAD_ENET_TXD1__ENET_TX_DATA1	0x0001B098
+			MX6QDL_PAD_ENET_TXD0__ENET_TX_DATA0	0x0001B098
+			MX6QDL_PAD_GPIO_16__ENET_REF_CLK	0x4001b0a8
+		>;
+	};
+
+	pinctrl_gpio_export_gpio_fixed_in: pinctrl_gpio_export_gpio_fixed_in_grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL2__GPIO4_IO10		0x80000000	/* CLEAR ALL */
+			MX6QDL_PAD_CSI0_DAT4__GPIO5_IO22	0x80000000	/* DIG_IN_1 */
+			MX6QDL_PAD_CSI0_DAT5__GPIO5_IO23	0x80000000	/* DIG_IN_2 */
+			MX6QDL_PAD_SD3_CMD__GPIO7_IO02		0x80000000	/* PoE */
+			MX6QDL_PAD_SD3_CLK__GPIO7_IO03		0x80000000	/* PoE T2P */
+		>;
+	};
+
+	pinctrl_reset_gpio_led: pinctrl_reset_gpio_led_pin {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_PIXCLK__GPIO5_IO18		0x80000000
+		>;
+	};
+
+	pinctrl_gpio_export_gpio_fixed_out: pinctrl_gpio_export_gpio_fixed_out_grp {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_DAT6__GPIO5_IO24	0x0001B0B0	/*  DIG_OUT_1 */
+			MX6QDL_PAD_CSI0_DAT7__GPIO5_IO25	0x0001B0B0	/*  DIG_OUT_2 */
+			MX6QDL_PAD_DI0_DISP_CLK__GPIO4_IO16	0x0001B0B0	/*  nUART_RESET */
+			MX6QDL_PAD_DI0_PIN2__GPIO4_IO18		0x0001B0B0	/*  nETH1_RESET */
+			MX6QDL_PAD_DI0_PIN3__GPIO4_IO19		0x0001B0B0	/*  nETH2_RESET */
+			MX6QDL_PAD_DI0_PIN4__GPIO4_IO20		0x0001B0B0	/*  RS485#1_PWR */
+			MX6QDL_PAD_DI0_PIN15__GPIO4_IO17	0x0001B0B0	/*  RS485#2_PWR */
+			MX6QDL_PAD_DISP0_DAT0__GPIO4_IO21	0x0001B0B0	/*  RS485#3_PWR */
+			MX6QDL_PAD_DISP0_DAT1__GPIO4_IO22	0x0001B0B0	/*  RS485#4_PWR */
+			MX6QDL_PAD_DISP0_DAT6__GPIO4_IO27	0x0001B0B0	/*  FEC_RESET_B */
+			MX6QDL_PAD_GPIO_7__GPIO1_IO07		0x0001B0B0	/*  AN_IN_PWR */
+			MX6QDL_PAD_GPIO_8__GPIO1_IO08		0x0001B0B0	/*  AN_OUT_PWR */
+			MX6QDL_PAD_GPIO_0__GPIO1_IO00		0x0001B0B0	/*  nUSBH1_PWR */
+		>;
+	};
+
+	pinctrl_hog: hoggrp {
+		fsl,pins = <
+			/* not used SD2 and SD3 pins */
+			/* [HYS 1] [100K PU] [PU] [PU EN] [CMOS] [Med. Speed] [40R] [Slow SR] */
+			MX6QDL_PAD_SD3_CLK__GPIO7_IO03   0x0001B0B0
+			MX6QDL_PAD_SD3_CMD__GPIO7_IO02   0x0001B0B0
+			MX6QDL_PAD_EIM_CS0__GPIO2_IO23   0x0000B0B1
+			MX6QDL_PAD_EIM_D17__GPIO3_IO17   0x0001B0B0
+			MX6QDL_PAD_EIM_D18__GPIO3_IO18   0x0001B0B0
+			MX6QDL_PAD_EIM_D20__GPIO3_IO20   0x0001B0B0
+			MX6QDL_PAD_EIM_OE__GPIO2_IO25    0x0000B0B1
+			MX6QDL_PAD_NANDF_CS2__GPIO6_IO15 0x0001B0B0
+			MX6QDL_PAD_NANDF_D0__GPIO2_IO00  0x0001B8B1
+			MX6QDL_PAD_NANDF_D1__GPIO2_IO01  0x0001B8B1
+			MX6QDL_PAD_NANDF_D2__GPIO2_IO02  0x000138B1
+		>;
+	};
+
+	pinctrl_i2c1: i2c1grp {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_DAT8__I2C1_SDA 0x4001b8b1
+			MX6QDL_PAD_CSI0_DAT9__I2C1_SCL 0x4001b8b1
+		>;
+	};
+
+	pinctrl_i2c1_gpio: i2c1grp-gpio {
+		fsl,pins = <
+			MX6QDL_PAD_CSI0_DAT8__GPIO5_IO26 0x80000000
+			MX6QDL_PAD_CSI0_DAT9__GPIO5_IO27 0x80000000
+		>;
+	};
+
+	pinctrl_i2c2: i2c2grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL3__I2C2_SCL 0x4001b810
+			MX6QDL_PAD_KEY_ROW3__I2C2_SDA 0x4001b810
+			/* NO SRE | 130 Ohm | SPEED LOW | Open Drain | PKE | PUE | 100k PU | HYS  */
+		>;
+	};
+
+	pinctrl_i2c2_gpio: i2c2grp-gpio {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL3__GPIO4_IO12 0x80000000
+			MX6QDL_PAD_KEY_ROW3__GPIO4_IO13 0x80000000
+		>;
+	};
+
+	pinctrl_i2c3: i2c3grp {
+		fsl,pins = <
+			MX6QDL_PAD_GPIO_5__I2C3_SCL  0x4001b8b1
+			MX6QDL_PAD_GPIO_6__I2C3_SDA 0x4001b8b1
+		>;
+	};
+	pinctrl_i2c3_gpio: i2c3grp-gpio {
+		fsl,pins = <
+			MX6QDL_PAD_GPIO_5__GPIO1_IO05 0x80000000
+			MX6QDL_PAD_GPIO_6__GPIO1_IO06 0x80000000
+		>;
+	};
+
+	pinctrl_lcd_enable: lcdenablerp {
+		fsl,pins = <
+			MX6QDL_PAD_EIM_D23__GPIO3_IO23  0x80000000 /* lcd enable */
+			MX6QDL_PAD_EIM_D16__GPIO3_IO16  0x80000000 /* sel6_8 */
+		>;
+	};
+
+	pinctrl_lm75: lm75grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_ROW0__GPIO4_IO07		0x80000000
+		>;
+	};
+
+	pinctrl_pfid_0_2: pfid_0_2_grp {
+		fsl,pins = <
+			MX6QDL_PAD_NANDF_D0__GPIO2_IO00  0x0001B0B0
+			MX6QDL_PAD_NANDF_D1__GPIO2_IO01  0x0001B0B0
+			MX6QDL_PAD_NANDF_D2__GPIO2_IO02  0x0001B0B0
+		>;
+	};
+
+	pinctrl_pfid_3_4: pfid_3_4_grp {
+		fsl,pins = <
+			MX6QDL_PAD_NANDF_D3__GPIO2_IO03  0x0001B0B0
+			MX6QDL_PAD_NANDF_D4__GPIO2_IO04  0x0001B0B0
+		>;
+	};
+
+	pinctrl_pfid_5_7: pfid_5_7_grp {
+		fsl,pins = <
+			MX6QDL_PAD_NANDF_D5__GPIO2_IO05  0x0001B0B0
+			MX6QDL_PAD_NANDF_D6__GPIO2_IO06  0x0001B0B0
+			MX6QDL_PAD_NANDF_D7__GPIO2_IO07  0x0001B0B0
+		>;
+	};
+
+	pinctrl_pfid_8_9: pfid_8_9_grp {
+		fsl,pins = <
+			MX6QDL_PAD_NANDF_CS3__GPIO6_IO16  0x0001B0B0
+			MX6QDL_PAD_NANDF_CS1__GPIO6_IO14  0x0001B0B0
+		>;
+	};
+
+	pinctrl_proximity: proximitygrp {
+		fsl,pins = <
+			/* PROXIMITY_INT */
+			MX6QDL_PAD_KEY_ROW2__GPIO4_IO11         0x80000000
+		>;
+	};
+
+	pinctrl_pwm1: pwm1grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD1_DAT3__PWM1_OUT 0x0001B0B0
+		>;
+	};
+
+	pinctrl_pwm2: pwm2grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD1_DAT2__PWM2_OUT 0x0001B0B0
+		>;
+	};
+
+	pinctrl_pwm3: pwm3grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD1_DAT1__PWM3_OUT 0x0001B0B0
+		>;
+	};
+
+	pinctrl_pwm4: pwm4grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD1_CMD__PWM4_OUT 0x0001B0B0
+		>;
+	};
+
+	pinctrl_rtc: rtc-grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL1__GPIO4_IO08 0x80000000 /* RTC INT */
+		>;
+	};
+
+	pinctrl_ctouch: ctouch-grp {
+		fsl,pins = <
+			MX6QDL_PAD_KEY_COL0__GPIO4_IO06 0x80000000 /* CTOUCH_INT */
+			MX6QDL_PAD_SD1_CLK__GPIO1_IO20 0x0001B0B0 /* CTOUCH_RESET */
+		>;
+	};
+
+	pinctrl_uart1: uart1grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD3_DAT6__UART1_RX_DATA 0x1b0b1
+			MX6QDL_PAD_SD3_DAT7__UART1_TX_DATA 0x1b0b1
+			MX6QDL_PAD_SD3_RST__GPIO7_IO08 0x0001B0B0
+		>;
+	};
+
+	pinctrl_uart2: uart2grp {
+		fsl,pins = <
+			MX6QDL_PAD_SD3_DAT4__UART2_RX_DATA 0x1b0b1
+			MX6QDL_PAD_SD3_DAT5__UART2_TX_DATA 0x1b0b1
+			MX6QDL_PAD_EIM_D28__UART2_CTS_B 0x1b0b1
+			MX6QDL_PAD_EIM_D29__UART2_RTS_B 0x1b0b1
+		>;
+	};
+
+	pinctrl_usbh2_idle: usbh2-idle-grp {
+		fsl,pins = <
+			/* 100K Pull-Down, 76_OHM drive strength */
+			MX6QDL_PAD_RGMII_TXC__USB_H2_DATA      0x00013018
+			/* 100K Pull-Down, 76_OHM drive strength */
+			MX6QDL_PAD_RGMII_TX_CTL__USB_H2_STROBE 0x00013018
+		>;
+	};
+
+	pinctrl_usbh2_active: usbh2-active-grp {
+		fsl,pins = <
+			/* 100K Pull-Down, 76_OHM drive strength */
+			MX6QDL_PAD_RGMII_TXC__USB_H2_DATA      0x00013018
+			/* 47K Pull-Up, 76_OHM drive strength */
+			MX6QDL_PAD_RGMII_TX_CTL__USB_H2_STROBE 0x00017018
+		>;
+	};
+
+	pinctrl_usb3503: pinctrl_usb3503-grp {
+		fsl,pins = <
+			/* USB Hub REFCLK - No pull-up/pull-down, CMOS output, low speed, 90 Ohm */
+			MX6QDL_PAD_CSI0_MCLK__CCM_CLKO1    0x00000018
+			MX6QDL_PAD_GPIO_17__GPIO7_IO12     0x80000000 /* USB INT */
+			MX6QDL_PAD_DISP0_DAT11__GPIO5_IO05 0x0001B0B0 /* USB Reset */
+			MX6QDL_PAD_SD1_DAT0__GPIO1_IO16    0x80000000 /* USB Connect */
+		>;
+	};
+
+	pinctrl_usbotg: usbotggrp {
+		fsl,pins = <
+			MX6QDL_PAD_GPIO_1__USB_OTG_ID	0x17059
+		>;
+	};
+
+	pinctrl_usdhc2: usdhc2grp {
+		/* CMD and DATA0..3 have external pull-up, CLK does not need a pull-up.
+		 * CLK signal is half the speed than the others (52 MHz compared to 104 MHz)
+		 */
+		fsl,pins = <
+			MX6QDL_PAD_SD2_CMD__SD2_CMD    0x00017069
+			MX6QDL_PAD_SD2_CLK__SD2_CLK    0x00010038
+			MX6QDL_PAD_SD2_DAT0__SD2_DATA0 0x00017069
+			MX6QDL_PAD_SD2_DAT1__SD2_DATA1 0x00017069
+			MX6QDL_PAD_SD2_DAT2__SD2_DATA2 0x00017069
+			MX6QDL_PAD_SD2_DAT3__SD2_DATA3 0x00017069
+			MX6QDL_PAD_GPIO_4__SD2_CD_B    0x0001B0B0
+		>;
+	};
+
+	pinctrl_usdhc4: usdhc4grp {
+		/* CMD has external pull-up, DATA0..7 within eMMC, CLK does not need a pull-up.
+		 * CLK signal is half the speed than the others (52 MHz compared to 104 MHz)
+		 */
+		fsl,pins = <
+			MX6QDL_PAD_SD4_CMD__SD4_CMD    0x00017059
+			MX6QDL_PAD_SD4_CLK__SD4_CLK    0x00010059
+			MX6QDL_PAD_SD4_DAT0__SD4_DATA0 0x00017059
+			MX6QDL_PAD_SD4_DAT1__SD4_DATA1 0x00017059
+			MX6QDL_PAD_SD4_DAT2__SD4_DATA2 0x00017059
+			MX6QDL_PAD_SD4_DAT3__SD4_DATA3 0x00017059
+			MX6QDL_PAD_SD4_DAT4__SD4_DATA4 0x00017059
+			MX6QDL_PAD_SD4_DAT5__SD4_DATA5 0x00017059
+			MX6QDL_PAD_SD4_DAT6__SD4_DATA6 0x00017059
+			MX6QDL_PAD_SD4_DAT7__SD4_DATA7 0x00017059
+		>;
+	};
+
+	pinctrl_wdog1: wdoggrp {
+		fsl,pins = <
+			MX6QDL_PAD_GPIO_9__WDOG1_B 0x1b0b0
+		>;
+	};
+};
+
+&ldb {
+	status = "okay";
+
+	lvds0: lvds-channel@0 {
+		fsl,data-mapping = "spwg";
+		fsl,data-width = <24>;
+		status = "okay";
+
+		display-timings {
+			native-mode = <&lvds0_timing0>;
+			lvds0_timing0: hsd100pxn1 {
+				clock-frequency = <79479000>;
+				hactive = <1280>;
+				vactive = <800>;
+				hback-porch = <100>;
+				hfront-porch = <100>;
+				vback-porch = <5>;
+				vfront-porch = <5>;
+				hsync-len = <24>;
+				vsync-len = <3>;
+				hsync-active = <0>;
+				vsync-active = <0>;
+				de-active = <1>;
+				pixelclk-active = <1>;
+			};
+		};
+	};
+};
+
+&pmu {
+	interrupt-affinity = <&{/cpus/cpu@0}>,
+			     <&{/cpus/cpu@1}>;
+};
+
+&pwm1 {
+	#pwm-cells = <2>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm1>;
+	status = "okay";
+};
+
+&pwm2 {
+	#pwm-cells = <2>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm2>;
+	status = "okay";
+};
+
+&pwm3 {
+	#pwm-cells = <2>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm3>;
+	status = "okay";
+	linux,default-trigger = "heartbeat";
+};
+
+&pwm4 {
+	#pwm-cells = <2>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_pwm4>;
+	status = "okay";
+};
+
+&regulators {
+	supply_sw4_3V3: regulator@8 {
+		compatible = "regulator-fixed";
+		reg = <8>;
+		regulator-name = "SW4_3V3";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-always-on;
+		vin-supply = <&supply_5P0>;
+	};
+
+	supply_SYS_4V2: regulator@9 {
+			compatible = "regulator-fixed";
+			reg = <9>;
+			regulator-name = "SYS_4V2";
+			regulator-min-microvolt = <4200000>;
+			regulator-max-microvolt = <4200000>;
+			regulator-always-on;
+			vin-supply = <&supply_5P0>;
+		};
+};
+
+&sdma {
+	fsl,sdma-ram-script-name = "imx/sdma/sdma-imx6q.bin";
+	iram = <&ocram>;
+};
+
+&uart1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart1>;
+	status = "okay";
+
+	rts-gpios = <&gpio7 8 0>;
+	linux,rs485-enabled-at-boot-time;
+	rs485-rx-during-tx;
+};
+
+&uart2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart2>;
+	fsl,uart-has-rtscts;
+	status = "okay";
+};
+
+&usbh1 {
+	vbus-supply = <&reg_usb_h1_vbus>;
+	status = "okay";
+};
+
+&usbh2 {
+	pinctrl-names = "idle", "active";
+	pinctrl-0 = <&pinctrl_usbh2_idle>;
+	pinctrl-1 = <&pinctrl_usbh2_active>;
+	status = "okay";
+
+	vbus-supply = <&reg_usb_h2_vbus>;
+	osc-clkgate-delay = <0x3>;
+
+	pad-supply = <&vgen2_reg>;
+};
+
+&usbotg {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usbotg>;
+	status = "okay";
+
+	vbus-supply = <&reg_usb_otg_vbus>;
+	disable-over-current;
+	dr_mode = "otg";
+	srp-disable;
+	hnp-disable;
+	adp-disable;
+};
+
+/* sdcard */
+&usdhc2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc2>;
+	status = "okay";
+
+	cd-gpios = <&gpio1 4 GPIO_ACTIVE_LOW>;
+	no-1-8-v;
+	keep-power-in-suspend;
+	enable-sdio-wakeup;
+	voltage-ranges = <3300 3300>;
+	vmmc-supply = <&supply_sw4_3V3>;
+	fsl,wp-controller;
+};
+
+/* emmc */
+&usdhc4 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc4>;
+	status = "okay";
+
+	bus-width = <8>;
+	non-removable;
+	no-1-8-v;
+	keep-power-in-suspend;
+	voltage-ranges = <3300 3300>;
+	vmmc-supply = <&supply_sw4_3V3>;
+	fsl,wp-controller;
+};
+
+&wdog1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_wdog1>;
+	fsl,ext-reset-output;
+	status = "okay";
+	timeout-sec=<10>;
+};
+
diff --git a/arch/arm/mach-imx/mx6/Kconfig b/arch/arm/mach-imx/mx6/Kconfig
index 98df4d4e42..995b4b2426 100644
--- a/arch/arm/mach-imx/mx6/Kconfig
+++ b/arch/arm/mach-imx/mx6/Kconfig
@@ -345,6 +345,20 @@ config TARGET_MX6Q_ENGICAM
 	select SUPPORT_SPL
 	imply CMD_DM
 
+config TARGET_MX6Q_ACC
+	bool "Support for Bosch ACC board"
+	depends on MX6QDL
+	select BOARD_LATE_INIT
+	select OF_CONTROL
+	select SPL_OF_LIBFDT
+	select DM
+	select DM_ETH
+	select DM_GPIO
+	select DM_I2C
+	select DM_MMC
+	select DM_THERMAL
+	select SUPPORT_SPL
+
 config TARGET_MX6SABREAUTO
 	bool "mx6sabreauto"
 	depends on MX6QDL
@@ -674,6 +688,7 @@ source "board/freescale/mx6sxsabresd/Kconfig"
 source "board/freescale/mx6sxsabreauto/Kconfig"
 source "board/freescale/mx6ul_14x14_evk/Kconfig"
 source "board/freescale/mx6ullevk/Kconfig"
+source "board/bosch/acc/Kconfig"
 source "board/grinn/liteboard/Kconfig"
 source "board/phytec/pcm058/Kconfig"
 source "board/phytec/pcl063/Kconfig"
diff --git a/board/bosch/acc/Kconfig b/board/bosch/acc/Kconfig
new file mode 100644
index 0000000000..da54d96e40
--- /dev/null
+++ b/board/bosch/acc/Kconfig
@@ -0,0 +1,19 @@
+if TARGET_MX6Q_ACC
+
+config SYS_VENDOR
+	default "bosch"
+
+config SYS_BOARD
+	default "acc"
+
+config SYS_CONFIG_NAME
+	default "imx6q-bosch-acc"
+
+config SYS_BOOT_EMMC
+	bool "Boot from EMMC"
+	default y
+	help
+	  Say N here if you want to boot from SD card or microUSB.
+	  Say Y to boot from eMMC.
+
+endif
diff --git a/board/bosch/acc/MAINTAINERS b/board/bosch/acc/MAINTAINERS
new file mode 100644
index 0000000000..1b88003712
--- /dev/null
+++ b/board/bosch/acc/MAINTAINERS
@@ -0,0 +1,9 @@
+MX6Q_ACC
+M:	Matthias Winker <matthias.winker@de.bosch.com>
+M:	Philip Oberfichtner <pro@denx.de>
+S:	Maintained
+F:	board/bosch/acc
+F:	include/configs/imx6q-bosch-acc.h
+F:	configs/imx6q_bosch_acc_defconfig
+F:	arch/arm/dts/imx6q-bosch-acc.dts
+F:	arch/arm/dts/imx6q-bosch-acc-u-boot.dts
diff --git a/board/bosch/acc/Makefile b/board/bosch/acc/Makefile
new file mode 100644
index 0000000000..d425a677bc
--- /dev/null
+++ b/board/bosch/acc/Makefile
@@ -0,0 +1,6 @@
+# Copyright (C) 2017
+#
+# SPDX-License-Identifier:	GPL-2.0+
+#
+
+obj-y  := acc.o
diff --git a/board/bosch/acc/acc.c b/board/bosch/acc/acc.c
new file mode 100644
index 0000000000..dbc03c9371
--- /dev/null
+++ b/board/bosch/acc/acc.c
@@ -0,0 +1,755 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Copyright (c) 2017 DENX Software Engineering GmbH, Heiko Schocher <hs@denx.de>
+ * Copyright (c) 2019 Bosch Thermotechnik GmbH
+ * Copyright (c) 2022 DENX Software Engineering GmbH, Philip Oberfichtner <pro@denx.de>
+ */
+
+#include <common.h>
+#include <bootstage.h>
+#include <dm.h>
+#include <dm/platform_data/serial_mxc.h>
+#include <dm/device-internal.h>
+#include <env.h>
+#include <env_internal.h>
+#include <hang.h>
+#include <init.h>
+#include <linux/delay.h>
+#include <mmc.h>
+
+#include <asm/io.h>
+#include <asm/gpio.h>
+#include <linux/sizes.h>
+
+#include <asm/arch/clock.h>
+#include <asm/arch/crm_regs.h>
+#include <asm/arch/iomux.h>
+#include <asm/arch/mx6-pins.h>
+#include <asm/arch/sys_proto.h>
+#include <asm/mach-imx/iomux-v3.h>
+#include <usb.h>
+#include <usb/ehci-ci.h>
+#include <fuse.h>
+
+#include <watchdog.h>
+
+DECLARE_GLOBAL_DATA_PTR;
+
+#define GPIO_ACC_PLAT_DETECT     IMX_GPIO_NR(5, 9)
+#define GPIO_ACC_RAM_VOLT_DETECT IMX_GPIO_NR(5, 0)
+#define GPIO_BUZZER              IMX_GPIO_NR(1, 18)
+#define GPIO_LAN1_RESET          IMX_GPIO_NR(4, 27)
+#define GPIO_LAN2_RESET          IMX_GPIO_NR(4, 19)
+#define GPIO_LAN3_RESET          IMX_GPIO_NR(4, 18)
+#define GPIO_USB_HUB_RESET       IMX_GPIO_NR(5, 5)
+#define GPIO_EXP_RS485_RESET     IMX_GPIO_NR(4, 16)
+#define GPIO_TOUCH_RESET         IMX_GPIO_NR(1, 20)
+
+#define BOARD_INFO_MAGIC 0x19730517
+
+struct board_info {
+	int magic;
+	int board;
+	int rev;
+};
+
+static struct board_info *detect_board(void);
+
+#define PFID_BOARD_ACC 0xe
+
+static const char * const name_board[] = {
+	[PFID_BOARD_ACC] = "ACC",
+};
+
+#define PFID_REV_22 0x8
+#define PFID_REV_21 0x9
+#define PFID_REV_20 0xa
+#define PFID_REV_14 0xb
+#define PFID_REV_13 0xc
+#define PFID_REV_12 0xd
+#define PFID_REV_11 0xe
+#define PFID_REV_10 0xf
+
+static const char * const name_revision[] = {
+	[0 ... PFID_REV_10] = "Unknown",
+	[PFID_REV_10] = "1.0",
+	[PFID_REV_11] = "1.1",
+	[PFID_REV_12] = "1.2",
+	[PFID_REV_13] = "1.3",
+	[PFID_REV_14] = "1.4",
+	[PFID_REV_20] = "2.0",
+	[PFID_REV_21] = "2.1",
+	[PFID_REV_22] = "2.2",
+};
+
+/*
+ * NXP Reset Default: 0x0001B0B0
+ * - Schmitt trigger input (PAD_CTL_HYS)
+ * - 100K Ohm Pull Up (PAD_CTL_PUS_100K_UP)
+ * - Pull Enabled (PAD_CTL_PUE)
+ * - Pull/Keeper Enabled (PAD_CTL_PKE)
+ * - CMOS output (No PAD_CTL_ODE)
+ * - Medium Speed (PAD_CTL_SPEED_MED)
+ * - 40 Ohm drive strength (PAD_CTL_DSE_40ohm)
+ * - Slow (PAD_CTL_SRE_SLOW)
+ */
+
+/* Input, no pull up/down: 0x0x000100B0 */
+#define GPIN_PAD_CTRL (PAD_CTL_HYS \
+		| PAD_CTL_SPEED_MED \
+		| PAD_CTL_DSE_40ohm \
+		| PAD_CTL_SRE_SLOW)
+
+/* Input, pull up: 0x0x0001B0B0 */
+#define GPIN_PU_PAD_CTRL (PAD_CTL_HYS \
+		| PAD_CTL_PUS_100K_UP \
+		| PAD_CTL_PUE \
+		| PAD_CTL_PKE \
+		| PAD_CTL_SPEED_MED \
+		| PAD_CTL_DSE_40ohm \
+		| PAD_CTL_SRE_SLOW)
+
+/* Input, pull down: 0x0x000130B0 */
+#define GPIN_PD_PAD_CTRL (PAD_CTL_HYS \
+		| PAD_CTL_PUS_100K_DOWN \
+		| PAD_CTL_PUE \
+		| PAD_CTL_PKE \
+		| PAD_CTL_SPEED_MED \
+		| PAD_CTL_DSE_40ohm \
+		| PAD_CTL_SRE_SLOW)
+
+static const iomux_v3_cfg_t board_detect_pads[] = {
+	/* Platform detect */
+	IOMUX_PADS(PAD_DISP0_DAT15__GPIO5_IO09 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	/* RAM Volt detect */
+	IOMUX_PADS(PAD_EIM_WAIT__GPIO5_IO00 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	/* PFID 0..9 */
+	IOMUX_PADS(PAD_NANDF_D0__GPIO2_IO00 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_D1__GPIO2_IO01 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_D2__GPIO2_IO02 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_D3__GPIO2_IO03 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_D4__GPIO2_IO04 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_D5__GPIO2_IO05 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_D6__GPIO2_IO06 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_D7__GPIO2_IO07 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_CS3__GPIO6_IO16 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	IOMUX_PADS(PAD_NANDF_CS1__GPIO6_IO14 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	/* Manufacturer */
+	IOMUX_PADS(PAD_EIM_A24__GPIO5_IO04 | MUX_PAD_CTRL(GPIN_PAD_CTRL)),
+	/* Redundant */
+	IOMUX_PADS(PAD_NANDF_CS2__GPIO6_IO15 | MUX_PAD_CTRL(GPIN_PU_PAD_CTRL))
+};
+
+static int gpio_acc_pfid[] = {
+	IMX_GPIO_NR(2, 0),
+	IMX_GPIO_NR(2, 1),
+	IMX_GPIO_NR(2, 2),
+	IMX_GPIO_NR(2, 3),
+	IMX_GPIO_NR(2, 4),
+	IMX_GPIO_NR(6, 14),
+	IMX_GPIO_NR(6, 15),
+	IMX_GPIO_NR(2, 5),
+	IMX_GPIO_NR(2, 6),
+	IMX_GPIO_NR(2, 7),
+	IMX_GPIO_NR(6, 16),
+	IMX_GPIO_NR(5, 4),
+};
+
+static int init_gpio(int nr)
+{
+	int ret;
+
+	ret = gpio_request(nr, "");
+	if (ret != 0) {
+		printf("Could not request gpio nr: %d\n", nr);
+		hang();
+	}
+	ret = gpio_direction_input(nr);
+	if (ret != 0) {
+		printf("Could not set gpio nr: %d to input\n", nr);
+		hang();
+	}
+	return 0;
+}
+
+/*
+ * We want to detect the board type only once in SPL,
+ * so we store the board_info struct at beginning in IRAM.
+ *
+ * U-Boot itself can read it also, and do not need again
+ * to detect board type.
+ *
+ */
+static struct board_info *detect_board(void)
+{
+	struct board_info *binfo = (struct board_info *)IRAM_BASE_ADDR;
+	int i;
+
+	if (binfo->magic == BOARD_INFO_MAGIC)
+		return binfo;
+
+	puts("Board: ");
+	SETUP_IOMUX_PADS(board_detect_pads);
+	init_gpio(GPIO_ACC_PLAT_DETECT);
+	if (gpio_get_value(GPIO_ACC_PLAT_DETECT)) {
+		puts("not supported");
+		hang();
+	} else {
+		puts("Bosch ");
+	}
+
+	for (i = 0; i < sizeof(gpio_acc_pfid) / sizeof(int); i++)
+		init_gpio(gpio_acc_pfid[i]);
+
+	binfo->board = gpio_get_value(gpio_acc_pfid[0]) << 0 |
+	    gpio_get_value(gpio_acc_pfid[1]) << 1 |
+	    gpio_get_value(gpio_acc_pfid[2]) << 2 |
+	    gpio_get_value(gpio_acc_pfid[11]) << 3;
+	printf("%s ", name_board[binfo->board]);
+
+	binfo->rev = gpio_get_value(gpio_acc_pfid[7]) << 0 |
+	    gpio_get_value(gpio_acc_pfid[8]) << 1 |
+	    gpio_get_value(gpio_acc_pfid[9]) << 2 |
+	    gpio_get_value(gpio_acc_pfid[10]) << 3;
+	printf("rev: %s\n", name_revision[binfo->rev]);
+
+	binfo->magic = BOARD_INFO_MAGIC;
+
+	return binfo;
+}
+
+static void unset_early_gpio(void)
+{
+	init_gpio(GPIO_LAN1_RESET);
+	init_gpio(GPIO_LAN2_RESET);
+	init_gpio(GPIO_LAN3_RESET);
+	init_gpio(GPIO_USB_HUB_RESET);
+	init_gpio(GPIO_EXP_RS485_RESET);
+	init_gpio(GPIO_TOUCH_RESET);
+
+	gpio_set_value(GPIO_LAN1_RESET, 1);
+	gpio_set_value(GPIO_LAN2_RESET, 1);
+	gpio_set_value(GPIO_LAN3_RESET, 1);
+	gpio_set_value(GPIO_USB_HUB_RESET, 1);
+	gpio_set_value(GPIO_EXP_RS485_RESET, 1);
+	gpio_set_value(GPIO_TOUCH_RESET, 1);
+}
+
+enum env_location env_get_location(enum env_operation op, int prio)
+{
+	if (op == ENVOP_SAVE || op == ENVOP_ERASE)
+		return ENVL_MMC;
+
+	switch (prio) {
+	case 0:
+		return ENVL_NOWHERE;
+
+	case 1:
+		return ENVL_MMC;
+	}
+
+	return ENVL_UNKNOWN;
+}
+
+int board_late_init(void)
+{
+	struct board_info *binfo = detect_board();
+
+	switch (binfo->board) {
+	case PFID_BOARD_ACC:
+		env_set("bootconf", "conf-imx6q-bosch-acc.dtb");
+		break;
+	default:
+		printf("Unknown board %d\n", binfo->board);
+		break;
+	}
+
+	unset_early_gpio();
+
+	return 0;
+}
+
+int board_init(void)
+{
+	/* Address of boot parameters */
+	gd->bd->bi_boot_params = PHYS_SDRAM + 0x100;
+
+	return 0;
+}
+
+int dram_init(void)
+{
+	gd->ram_size = imx_ddr_size();
+
+	return 0;
+}
+
+#if IS_ENABLED(CONFIG_SPL_BUILD)
+#include <asm/arch/crm_regs.h>
+#include <asm/arch/imx-regs.h>
+#include <asm/arch/iomux.h>
+#include <asm/arch/mx6-ddr.h>
+#include <asm/arch/mx6-pins.h>
+#include <asm/arch/sys_proto.h>
+#include <spl.h>
+
+/* Early
+ * - Buzzer -> GPIO IN, Pull-Down (PWM enabled by Kernel later-on, lacks of an
+ *   external pull-down resistor)
+ * - Touch clean reset on every boot
+ * - Ethernet(s), USB Hub, Expansion RS485 -> Clean reset on each u-boot init
+ */
+static const iomux_v3_cfg_t early_pads[] = {
+	IOMUX_PADS(PAD_SD1_CMD__GPIO1_IO18 | MUX_PAD_CTRL(GPIN_PD_PAD_CTRL)), /* Buzzer PWM */
+	IOMUX_PADS(PAD_DISP0_DAT6__GPIO4_IO27 | MUX_PAD_CTRL(GPIN_PD_PAD_CTRL)), /* #FEC_RESET_B */
+	IOMUX_PADS(PAD_DI0_PIN2__GPIO4_IO18 | MUX_PAD_CTRL(GPIN_PD_PAD_CTRL)), /* #ETH1_RESET */
+	IOMUX_PADS(PAD_DI0_PIN3__GPIO4_IO19 | MUX_PAD_CTRL(GPIN_PD_PAD_CTRL)), /* #ETH2_RESET */
+	IOMUX_PADS(PAD_DISP0_DAT11__GPIO5_IO05 | MUX_PAD_CTRL(GPIN_PD_PAD_CTRL)), /* #USB Reset */
+	IOMUX_PADS(PAD_DI0_DISP_CLK__GPIO4_IO16 | MUX_PAD_CTRL(GPIN_PD_PAD_CTRL)), /* #UART_RESET */
+	IOMUX_PADS(PAD_SD1_CLK__GPIO1_IO20 | MUX_PAD_CTRL(GPIN_PD_PAD_CTRL)), /* #CTOUCH_RESET */
+};
+
+static void setup_iomux_early(void)
+{
+	SETUP_IOMUX_PADS(early_pads);
+}
+
+static void set_early_gpio(void)
+{
+	init_gpio(GPIO_BUZZER);
+	init_gpio(GPIO_LAN1_RESET);
+	init_gpio(GPIO_LAN2_RESET);
+	init_gpio(GPIO_LAN3_RESET);
+	init_gpio(GPIO_USB_HUB_RESET);
+	init_gpio(GPIO_EXP_RS485_RESET);
+	init_gpio(GPIO_TOUCH_RESET);
+
+	/* Reset signals are active low */
+	gpio_set_value(GPIO_BUZZER, 0);
+	gpio_set_value(GPIO_LAN1_RESET, 0);
+	gpio_set_value(GPIO_LAN2_RESET, 0);
+	gpio_set_value(GPIO_LAN3_RESET, 0);
+	gpio_set_value(GPIO_USB_HUB_RESET, 0);
+	gpio_set_value(GPIO_EXP_RS485_RESET, 0);
+	gpio_set_value(GPIO_TOUCH_RESET, 0);
+}
+
+/* UART */
+#define UART_PAD_CTRL \
+		(PAD_CTL_PUS_100K_UP | PAD_CTL_SPEED_MED | PAD_CTL_DSE_40ohm | \
+		PAD_CTL_SRE_FAST  | PAD_CTL_HYS)
+
+#undef UART_PAD_CTRL
+#define UART_PAD_CTRL 0x1b0b1
+static const iomux_v3_cfg_t uart2_pads[] = {
+	IOMUX_PADS(PAD_SD3_DAT4__UART2_RX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT5__UART2_TX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_CMD__UART2_CTS_B | MUX_PAD_CTRL(UART_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_CLK__UART2_RTS_B | MUX_PAD_CTRL(UART_PAD_CTRL)),
+};
+
+static void setup_iomux_uart(void)
+{
+	SETUP_IOMUX_PADS(uart2_pads);
+}
+
+void spl_board_init(void)
+{
+}
+
+static const struct mx6dq_iomux_ddr_regs acc_mx6d_ddr_ioregs = {
+	.dram_sdclk_0 = 0x00008038,
+	.dram_sdclk_1 = 0x00008038,
+	.dram_cas = 0x00008028,
+	.dram_ras = 0x00008028,
+	.dram_reset = 0x00000028,
+	.dram_sdcke0 = 0x00003000,
+	.dram_sdcke1 = 0x00003000,
+	.dram_sdba2 = 0x00008000,
+	.dram_sdodt0 = 0x00000028,
+	.dram_sdodt1 = 0x00000028,
+	.dram_sdqs0 = 0x00008038,
+	.dram_sdqs1 = 0x00008038,
+	.dram_sdqs2 = 0x00008038,
+	.dram_sdqs3 = 0x00008038,
+	.dram_sdqs4 = 0x00008038,
+	.dram_sdqs5 = 0x00008038,
+	.dram_sdqs6 = 0x00008038,
+	.dram_sdqs7 = 0x00008038,
+	.dram_dqm0 = 0x00008038,
+	.dram_dqm1 = 0x00008038,
+	.dram_dqm2 = 0x00008038,
+	.dram_dqm3 = 0x00008038,
+	.dram_dqm4 = 0x00008038,
+	.dram_dqm5 = 0x00008038,
+	.dram_dqm6 = 0x00008038,
+	.dram_dqm7 = 0x00008038,
+};
+
+static const struct mx6dq_iomux_grp_regs acc_mx6d_grp_ioregs = {
+	.grp_ddr_type = 0x000C0000,
+	.grp_ddrmode_ctl = 0x00020000,
+	.grp_ddrpke = 0x00000000,
+	.grp_addds = 0x00000030,
+	.grp_ctlds = 0x00000028,
+	.grp_ddrmode = 0x00020000,
+	.grp_b0ds = 0x00000038,
+	.grp_b1ds = 0x00000038,
+	.grp_b2ds = 0x00000038,
+	.grp_b3ds = 0x00000038,
+	.grp_b4ds = 0x00000038,
+	.grp_b5ds = 0x00000038,
+	.grp_b6ds = 0x00000038,
+	.grp_b7ds = 0x00000038,
+};
+
+static const struct mx6_mmdc_calibration acc_mx6d_mmdc_calib = {
+	.p0_mpwldectrl0 = 0x0020001F,
+	.p0_mpwldectrl1 = 0x00280021,
+	.p1_mpwldectrl0 = 0x00120028,
+	.p1_mpwldectrl1 = 0x000D001F,
+	.p0_mpdgctrl0 = 0x43340342,
+	.p0_mpdgctrl1 = 0x03300325,
+	.p1_mpdgctrl0 = 0x4334033E,
+	.p1_mpdgctrl1 = 0x03280270,
+	.p0_mprddlctl = 0x46373B3E,
+	.p1_mprddlctl = 0x3B383544,
+	.p0_mpwrdlctl = 0x36383E40,
+	.p1_mpwrdlctl = 0x4030433A,
+};
+
+/* Micron MT41K128M16JT-125 (standard - 1600,CL=11)
+ * !!! i.MX6 does NOT support data rates higher than DDR3-1066 !!!
+ * So this setting is actually invalid!
+ *
+static const struct mx6_ddr3_cfg acc_mx6d_mem_ddr3_1600 = {
+	.mem_speed = 1600,
+	.density = 2,
+	.width = 16,
+	.banks = 8,
+	.rowaddr = 14,
+	.coladdr = 10,
+	.pagesz = 2,
+	.trcd = 1375,
+	.trcmin = 4875,
+	.trasmin = 3500,
+	.SRT = 0,
+};
+ */
+
+/* Micron MT41K128M16JT-125 is backward-compatible with 1333,CL=9 (-15E) and 1066,CL=7 (-187E)
+ * Lowering to 1066 saves on ACC ~0.25 Watt at DC In with negligible performance loss
+ * width set to 64, as four chips are used on acc (4 * 16 = 64)
+ */
+static const struct mx6_ddr3_cfg acc_mx6d_mem_ddr3_1066 = {
+	.mem_speed = 1066,
+	.density = 2,
+	.width = 64,
+	.banks = 8,
+	.rowaddr = 14,
+	.coladdr = 10,
+	.pagesz = 2,
+	.trcd = 1313, // 13.125ns
+	.trcmin = 5063, // 50.625ns
+	.trasmin = 3750, // 37.5ns
+	.SRT = 0, // Set to 1 for temperatures above 85°C
+};
+
+static const struct mx6_ddr_sysinfo acc_mx6d_ddr_info = {
+	.ddr_type = DDR_TYPE_DDR3,
+	/* width of data bus:0=16,1=32,2=64 */
+	.dsize = 2,
+	.cs_density = 32,	/* 32Gb per CS */
+	.ncs = 1,		/* single chip select */
+	.cs1_mirror = 0,
+	.rtt_wr = 1,		/* DDR3_RTT_60_OHM, RTT_Wr = RZQ/4 */
+	.rtt_nom = 1,		/* DDR3_RTT_60_OHM, RTT_Nom = RZQ/4 */
+	.walat = 0,		/* Write additional latency */
+	.ralat = 5,		/* Read additional latency */
+	.mif3_mode = 3,		/* Command prediction working mode */
+	.bi_on = 1,		/* Bank interleaving enabled */
+	.sde_to_rst = 0x33,	/* 14 cycles, 200us (JEDEC default) */
+	.rst_to_cke = 0x33,	/* 33 cycles, 500us (JEDEC default) */
+};
+
+#define ACC_SPREAD_SPECTRUM_STOP	0x0fa
+#define ACC_SPREAD_SPECTRUM_STEP	0x001
+#define ACC_SPREAD_SPECTRUM_DENOM	0x190
+
+static void ccgr_init(void)
+{
+	struct mxc_ccm_reg *ccm = (struct mxc_ccm_reg *)CCM_BASE_ADDR;
+
+	/* Turn clocks on/off */
+	writel(0x00C0000F, &ccm->CCGR0);
+	writel(0x0030FC00, &ccm->CCGR1);
+	writel(0x03FF0033, &ccm->CCGR2);
+	writel(0x3FF3300F, &ccm->CCGR3);
+	writel(0x0003C300, &ccm->CCGR4);
+	writel(0x0F3000C3, &ccm->CCGR5);
+	writel(0x00000FFF, &ccm->CCGR6);
+
+	/* Enable spread spectrum */
+	writel(BM_ANADIG_PLL_528_SS_ENABLE |
+	       BF_ANADIG_PLL_528_SS_STOP(ACC_SPREAD_SPECTRUM_STOP) |
+	       BF_ANADIG_PLL_528_SS_STEP(ACC_SPREAD_SPECTRUM_STEP),
+	       &ccm->analog_pll_528_ss);
+
+	writel(BF_ANADIG_PLL_528_DENOM_B(ACC_SPREAD_SPECTRUM_DENOM),
+	       &ccm->analog_pll_528_denom);
+}
+
+/* MMC board initialization is needed till adding DM support in SPL */
+#if IS_ENABLED(CONFIG_FSL_ESDHC_IMX) && !IS_ENABLED(CONFIG_DM_MMC)
+#include <mmc.h>
+#include <fsl_esdhc_imx.h>
+
+static const iomux_v3_cfg_t usdhc2_pads[] = {
+	IOMUX_PADS(PAD_SD2_CMD__SD2_CMD | MUX_PAD_CTRL(0x00017069)),
+	IOMUX_PADS(PAD_SD2_CLK__SD2_CLK | MUX_PAD_CTRL(0x00010038)),
+	IOMUX_PADS(PAD_SD2_DAT0__SD2_DATA0 | MUX_PAD_CTRL(0x00017069)),
+	IOMUX_PADS(PAD_SD2_DAT1__SD2_DATA1 | MUX_PAD_CTRL(0x00017069)),
+	IOMUX_PADS(PAD_SD2_DAT2__SD2_DATA2 | MUX_PAD_CTRL(0x00017069)),
+	IOMUX_PADS(PAD_SD2_DAT3__SD2_DATA3 | MUX_PAD_CTRL(0x00017069)),
+	IOMUX_PADS(PAD_GPIO_4__GPIO1_IO04 | MUX_PAD_CTRL(0x0001B0B0)),	/* CD */
+};
+
+static const iomux_v3_cfg_t usdhc4_pads[] = {
+	IOMUX_PADS(PAD_SD4_CMD__SD4_CMD | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_CLK__SD4_CLK | MUX_PAD_CTRL(0x00010059)),
+	IOMUX_PADS(PAD_SD4_DAT0__SD4_DATA0 | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_DAT1__SD4_DATA1 | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_DAT2__SD4_DATA2 | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_DAT3__SD4_DATA3 | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_DAT4__SD4_DATA4 | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_DAT5__SD4_DATA5 | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_DAT6__SD4_DATA6 | MUX_PAD_CTRL(0x00017059)),
+	IOMUX_PADS(PAD_SD4_DAT7__SD4_DATA7 | MUX_PAD_CTRL(0x00017059)),
+};
+
+struct fsl_esdhc_cfg usdhc_cfg[2] = {
+	{USDHC2_BASE_ADDR, 1, 4},
+	{USDHC4_BASE_ADDR, 1, 8},
+};
+
+#define USDHC2_CD_GPIO	IMX_GPIO_NR(1, 4)
+
+int board_mmc_getcd(struct mmc *mmc)
+{
+	struct fsl_esdhc_cfg *cfg = (struct fsl_esdhc_cfg *)mmc->priv;
+	int ret = 0;
+
+	detect_board();
+
+	switch (cfg->esdhc_base) {
+	case USDHC2_BASE_ADDR:
+		return !gpio_get_value(USDHC2_CD_GPIO);
+	case USDHC4_BASE_ADDR:
+		return 1;	/* eMMC always present */
+	}
+
+	return ret;
+}
+
+int board_mmc_init(struct bd_info *bis)
+{
+	int i, ret;
+
+	gpio_direction_input(USDHC2_CD_GPIO);
+	/*
+	 * According to the board_mmc_init() the following map is done:
+	 * (U-boot device node) (Physical Port)
+	 * mmc0 USDHC2
+	 * mmc1 USDHC4
+	 */
+	for (i = 0; i < CONFIG_SYS_FSL_USDHC_NUM; i++) {
+		switch (i) {
+		case 0:
+			SETUP_IOMUX_PADS(usdhc2_pads);
+			usdhc_cfg[i].sdhc_clk = mxc_get_clock(MXC_ESDHC2_CLK);
+			break;
+		case 1:
+			SETUP_IOMUX_PADS(usdhc4_pads);
+			usdhc_cfg[i].sdhc_clk = mxc_get_clock(MXC_ESDHC4_CLK);
+			break;
+		default:
+			printf("Warning - USDHC%d controller not supporting\n",
+			       i + 1);
+			return 0;
+		}
+
+		ret = fsl_esdhc_initialize(bis, &usdhc_cfg[i]);
+		if (ret) {
+			printf("Warning: failed to initialize mmc dev %d\n", i);
+			return ret;
+		}
+	}
+
+	return 0;
+}
+#endif
+
+void board_boot_order(u32 *spl_boot_list)
+{
+	u32 bmode = imx6_src_get_boot_mode();
+	u8 boot_dev = BOOT_DEVICE_MMC1;
+
+	detect_board();
+
+	switch ((bmode & IMX6_BMODE_MASK) >> IMX6_BMODE_SHIFT) {
+	case IMX6_BMODE_SD:
+	case IMX6_BMODE_ESD:
+		/* SD/eSD - BOOT_DEVICE_MMC1 */
+		if (IS_ENABLED(CONFIG_SYS_BOOT_EMMC)) {
+			/*
+			 * boot from SD is not allowed, if boot from eMMC is
+			 * configured.
+			 */
+			puts("SD boot not allowed\n");
+			spl_boot_list[0] = BOOT_DEVICE_NONE;
+			return;
+		}
+
+		boot_dev = BOOT_DEVICE_MMC1;
+		break;
+
+	case IMX6_BMODE_MMC:
+	case IMX6_BMODE_EMMC:
+		/* MMC/eMMC */
+		boot_dev = BOOT_DEVICE_MMC2;
+		break;
+	default:
+		/* Default - BOOT_DEVICE_MMC1 */
+		printf("Wrong board boot order\n");
+		break;
+	}
+
+	spl_boot_list[0] = boot_dev;
+}
+
+static void setup_ddr(void)
+{
+	struct board_info *binfo = detect_board();
+
+	switch (binfo->rev) {
+	case PFID_REV_20:
+	case PFID_REV_21:
+	case PFID_REV_22:
+	default:
+		/* Rev 2 board has i.MX6 Dual with 64-bit RAM */
+		mx6dq_dram_iocfg(acc_mx6d_mem_ddr3_1066.width,
+				 &acc_mx6d_ddr_ioregs,
+				 &acc_mx6d_grp_ioregs);
+		mx6_dram_cfg(&acc_mx6d_ddr_info, &acc_mx6d_mmdc_calib,
+			     &acc_mx6d_mem_ddr3_1066);
+		/* Perform DDR DRAM calibration */
+		udelay(100);
+		mmdc_do_write_level_calibration(&acc_mx6d_ddr_info);
+		mmdc_do_dqs_calibration(&acc_mx6d_ddr_info);
+		break;
+	}
+}
+
+void board_init_f(ulong dummy)
+{
+	/* setup AIPS and disable watchdog power-down counter (only enabled after reset) */
+	arch_cpu_init();
+
+	ccgr_init();
+	gpr_init();
+
+	/* setup GP timer */
+	timer_init();
+
+	/* Enable device tree and early DM support*/
+	spl_early_init();
+
+	/* Setup early required pinmuxes */
+	setup_iomux_early();
+	set_early_gpio();
+
+	/* Setup UART pinmux */
+	setup_iomux_uart();
+
+	/* UART clocks enabled and gd valid - init serial console */
+	preloader_console_init();
+
+	setup_ddr();
+
+	/* Clear the BSS. */
+	memset(__bss_start, 0, __bss_end - __bss_start);
+
+	/* load/boot image from boot device */
+	board_init_r(NULL, 0);
+}
+#endif
+
+#if IS_ENABLED(CONFIG_USB_EHCI_MX6)
+#define USB_OTHERREGS_OFFSET	0x800
+#define UCTRL_PWR_POL		BIT(9)
+
+int board_usb_phy_mode(int port)
+{
+	if (port == 1)
+		return USB_INIT_HOST;
+	else
+		return usb_phy_mode(port);
+}
+
+int board_ehci_hcd_init(int port)
+{
+	u32 *usbnc_usb_ctrl;
+
+	if (port > 1)
+		return -EINVAL;
+
+	usbnc_usb_ctrl = (u32 *)(USB_BASE_ADDR + USB_OTHERREGS_OFFSET +
+				  port * 4);
+
+	/* Set Power polarity */
+	setbits_le32(usbnc_usb_ctrl, UCTRL_PWR_POL);
+
+	return 0;
+}
+#endif
+
+int board_fit_config_name_match(const char *name)
+{
+	if (!strcmp(name, "imx6q-bosch-acc"))
+		return 0;
+	return -1;
+}
+
+void reset_cpu(ulong addr)
+{
+	puts("Hanging CPU for watchdog reset!\n");
+	hang();
+}
+
+#if CONFIG_IS_ENABLED(SHOW_BOOT_PROGRESS)
+void show_boot_progress(int val)
+{
+	u32 fuseval;
+	int ret;
+
+	if (val < 0)
+		val *= -1;
+
+	switch (val) {
+	case BOOTSTAGE_ID_ENTER_CLI_LOOP:
+		printf("autoboot failed, check fuse\n");
+		ret = fuse_read(0, 6, &fuseval);
+		if (ret == 0 && (fuseval & 0x2) == 0x0) {
+			printf("Enter cmdline, as device not closed\n");
+			return;
+		}
+		ret = fuse_read(5, 7, &fuseval);
+		if (ret == 0 && fuseval == 0x0) {
+			printf("Enter cmdline, as it is a Development device\n");
+			return;
+		}
+		panic("do not enter cmdline");
+		break;
+	}
+}
+#endif
diff --git a/configs/imx6q_bosch_acc_defconfig b/configs/imx6q_bosch_acc_defconfig
new file mode 100644
index 0000000000..3c02f0f5dd
--- /dev/null
+++ b/configs/imx6q_bosch_acc_defconfig
@@ -0,0 +1,110 @@
+CONFIG_ARM=y
+CONFIG_ARCH_MX6=y
+CONFIG_SYS_TEXT_BASE=0x17780000
+CONFIG_SYS_MALLOC_LEN=0x01000000
+CONFIG_SYS_MALLOC_F_LEN=0x9000
+CONFIG_SPL_GPIO=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
+CONFIG_NR_DRAM_BANKS=1
+CONFIG_ENV_SIZE=0x1000
+CONFIG_ENV_OFFSET=0x1fe000
+CONFIG_MX6QDL=y
+CONFIG_MX6_DDRCAL=y
+CONFIG_TARGET_MX6Q_ACC=y
+CONFIG_DEFAULT_DEVICE_TREE="imx6q-bosch-acc"
+CONFIG_SPL_TEXT_BASE=0x00908000
+CONFIG_SPL_MMC=y
+CONFIG_SPL_SERIAL=y
+CONFIG_SPL_DRIVERS_MISC=y
+CONFIG_BOOTCOUNT_BOOTLIMIT=8
+CONFIG_SPL_SIZE_LIMIT=69632
+CONFIG_SPL=y
+CONFIG_ENV_OFFSET_REDUND=0x1ff000
+CONFIG_IMX_HAB=y
+# CONFIG_CMD_BMODE is not set
+# CONFIG_CMD_DEKBLOB is not set
+CONFIG_BUILD_TARGET=""
+# CONFIG_LOCALVERSION_AUTO is not set
+CONFIG_FIT=y
+CONFIG_FIT_SIGNATURE=y
+CONFIG_FIT_VERBOSE=y
+CONFIG_SHOW_BOOT_PROGRESS=y
+CONFIG_USE_BOOTCOMMAND=y
+CONFIG_BOOTCOMMAND="run mmc_mmc_fit"
+CONFIG_SPL_BOARD_INIT=y
+CONFIG_SPL_RAW_IMAGE_SUPPORT=y
+CONFIG_SPL_SEPARATE_BSS=y
+CONFIG_SYS_MMCSD_RAW_MODE_U_BOOT_SECTOR=0xaa
+# CONFIG_SPL_CRC32 is not set
+# CONFIG_SPL_CRYPTO is not set
+CONFIG_SPL_WATCHDOG=y
+CONFIG_HUSH_PARSER=y
+# CONFIG_CMD_BDI is not set
+# CONFIG_CMD_CONSOLE is not set
+# CONFIG_CMD_BOOTD is not set
+# CONFIG_CMD_ELF is not set
+# CONFIG_CMD_FDT is not set
+# CONFIG_CMD_GO is not set
+# CONFIG_CMD_IMI is not set
+# CONFIG_CMD_XIMG is not set
+# CONFIG_CMD_EXPORTENV is not set
+# CONFIG_CMD_IMPORTENV is not set
+# CONFIG_CMD_ENV_EXISTS is not set
+# CONFIG_CMD_CRC32 is not set
+# CONFIG_CMD_MEMORY is not set
+# CONFIG_CMD_FUSE is not set
+# CONFIG_CMD_LOADB is not set
+# CONFIG_CMD_LOADS is not set
+CONFIG_CMD_MMC=y
+CONFIG_CMD_PART=y
+# CONFIG_CMD_PINMUX is not set
+# CONFIG_CMD_ECHO is not set
+# CONFIG_CMD_ITEST is not set
+# CONFIG_CMD_SOURCE is not set
+# CONFIG_CMD_SETEXPR is not set
+# CONFIG_CMD_NET is not set
+# CONFIG_CMD_BLOCK_CACHE is not set
+# CONFIG_CMD_SLEEP is not set
+# CONFIG_CMD_MP is not set
+# CONFIG_CMD_HASH is not set
+CONFIG_CMD_EXT4=y
+CONFIG_DOS_PARTITION=y
+CONFIG_EFI_PARTITION=y
+# CONFIG_SPL_EFI_PARTITION is not set
+CONFIG_SPL_OF_CONTROL=y
+CONFIG_MULTI_DTB_FIT=y
+CONFIG_OF_SPL_REMOVE_PROPS="pinctrl-0 pinctrl-names clocks clock-names interrupt-parent"
+CONFIG_ENV_OVERWRITE=y
+CONFIG_ENV_IS_NOWHERE=y
+CONFIG_ENV_IS_IN_MMC=y
+CONFIG_SYS_REDUNDAND_ENVIRONMENT=y
+CONFIG_SYS_MMC_ENV_PART=1
+CONFIG_ENV_APPEND=y
+CONFIG_ENV_WRITEABLE_LIST=y
+CONFIG_ENV_ACCESS_IGNORE_FORCE=y
+CONFIG_VERSION_VARIABLE=y
+CONFIG_TFTP_BLOCKSIZE=512
+CONFIG_SPL_DM=y
+CONFIG_BOOTCOUNT_LIMIT=y
+CONFIG_DM_BOOTCOUNT=y
+CONFIG_DM_BOOTCOUNT_PMIC_PFUZE100=y
+CONFIG_SYS_I2C_MXC=y
+CONFIG_SUPPORT_EMMC_BOOT=y
+CONFIG_FSL_USDHC=y
+CONFIG_PHYLIB=y
+CONFIG_FEC_MXC=y
+CONFIG_MII=y
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX6=y
+CONFIG_DM_PMIC=y
+CONFIG_DM_PMIC_PFUZE100=y
+CONFIG_DM_SERIAL=y
+CONFIG_MXC_UART=y
+CONFIG_WATCHDOG_TIMEOUT_MSECS=60000
+CONFIG_IMX_WATCHDOG=y
+CONFIG_WDT=y
+CONFIG_EXT4_WRITE=y
+CONFIG_FS_FAT=y
+CONFIG_CC_OPTIMIZE_LIBS_FOR_SPEED=y
+# CONFIG_EFI_LOADER is not set
diff --git a/include/configs/imx6q-bosch-acc.h b/include/configs/imx6q-bosch-acc.h
new file mode 100644
index 0000000000..686d5f007f
--- /dev/null
+++ b/include/configs/imx6q-bosch-acc.h
@@ -0,0 +1,128 @@
+/* SPDX-License-Identifier: GPL-2.0+
+ *
+ * Copyright (c) 2017 DENX Software Engineering GmbH, Heiko Schocher <hs@denx.de>
+ * Copyright (c) 2019 Bosch Thermotechnik GmbH
+ * Copyright (c) 2022 DENX Software Engineering GmbH, Philip Oberfichtner <pro@denx.de>
+ */
+
+#ifndef __IMX6Q_ACC_H
+#define __IMX6Q_ACC_H
+
+#include <linux/sizes.h>
+#include "mx6_common.h"
+
+#ifdef CONFIG_SYS_BOOT_EMMC
+#define MMC_ROOTFS_DEV 0
+#define MMC_ROOTFS_PART 2
+#endif
+
+#ifdef CONFIG_SYS_BOOT_EMMC
+/* eMMC Boot */
+#define ENV_EXTRA \
+	"mmcdev=" __stringify(MMC_ROOTFS_DEV) "\0" \
+	"mmcpart=" __stringify(MMC_ROOTFS_PART) "\0" \
+	"fitpart=1\0" \
+	"optargs=ro quiet systemd.gpt_auto=false\0" \
+	"production=1\0" \
+	"mmcautodetect=yes\0" \
+	"mmcrootfstype=ext4\0" \
+	"finduuid=part uuid mmc ${mmcdev}:${mmcpart} uuid\0" \
+	"mmcargs=run finduuid; setenv bootargs " \
+		"root=PARTUUID=${uuid} ${optargs} rootfstype=${mmcrootfstype}\0" \
+	"mmc_mmc_fit=run env_persist; run setbm; run mmcloadfit; " \
+		"run auth_fit_or_reset; run mmcargs addcon; " \
+		"bootm ${fit_addr}#${bootconf}\0" \
+	"bootset=0\0" \
+	"setbm=if test ${bootset} -eq 1; " \
+		"then setenv mmcpart 4; setenv fitpart 3; " \
+		"else; setenv mmcpart 2; setenv fitpart 1; fi\0" \
+	"handle_ustate=if test ${ustate} -eq 2; then setenv ustate 3; fi\0" \
+	"switch_bootset=if test ${bootset} -eq 1; then setenv bootset 0; " \
+		"else; setenv bootset 1;fi\0" \
+	"env_persisted=0\0" \
+	"env_persist=if test ${env_persisted} != 1; " \
+		"then env set env_persisted 1; run save_env; fi;\0" \
+	"save_env=env save; env save\0" \
+	"altbootcmd=run handle_ustate; run switch_bootset; run save_env; run bootcmd\0"
+
+#define CONFIG_ENV_FLAGS_LIST_STATIC \
+	"bootset:bw," \
+	"clone_pending:bw," \
+	"endurance_test:bw," \
+	"env_persisted:bw," \
+	"factory_reset:bw," \
+	"fdtcontroladdr:xw," \
+	"fitpart:dw," \
+	"mmcpart:dw," \
+	"production:bw," \
+	"ustate:dw"
+
+#else
+/* SD Card boot */
+#define ENV_EXTRA \
+	"mmcdev=1\0" \
+	"fitpart=1\0" \
+	"rootpart=2\0" \
+	"optargs=ro systemd.gpt_auto=false\0" \
+	"finduuid=part uuid mmc ${mmcdev}:${rootpart} uuid\0" \
+	"mmcargs=run finduuid;setenv bootargs root=PARTUUID=${uuid} ${optargs}\0" \
+	"mmc_mmc_fit=run mmcloadfit; run auth_fit_or_reset; run mmcargs addcon; " \
+		"bootm ${fit_addr}#${bootconf}\0"
+
+#endif
+
+/* Default environment */
+#define CONFIG_EXTRA_ENV_SETTINGS \
+	"bootconf=conf-imx6q-bosch-acc.dtb\0"\
+	"mmcfit_name=fitImage\0" \
+	"mmcloadfit=ext4load mmc ${mmcdev}:${fitpart} ${fit_addr} ${mmcfit_name}\0" \
+	"auth_fit_or_reset=hab_auth_img ${fit_addr} ${filesize} || reset\0" \
+	"console=ttymxc0\0" \
+	"addcon=setenv bootargs ${bootargs} console=${console},${baudrate}\0" \
+	"fit_addr=19000000\0" \
+	ENV_EXTRA
+
+/* 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)
+
+/* Ethernet */
+#ifdef CONFIG_FEC_MXC
+#define CONFIG_FEC_MXC_PHYADDR 0
+#define CONFIG_FEC_XCV_TYPE    RMII
+#endif
+
+/* SPL */
+#ifdef CONFIG_SPL
+#include "imx6_spl.h"
+
+#ifdef CONFIG_SPL_BUILD
+#define CONFIG_SYS_FSL_USDHC_NUM 2
+
+#ifdef CONFIG_SYS_BOOT_EMMC
+
+/* Boot from eMMC */
+#define CONFIG_SYS_FSL_ESDHC_ADDR 1
+
+#else
+
+/* Boot from SD-card */
+#  define CONFIG_SYS_FSL_ESDHC_ADDR	0
+
+#endif
+
+#endif
+#endif
+
+#define CONFIG_EHCI_HCD_INIT_AFTER_RESET
+#define CONFIG_MXC_USB_PORTSC            (PORT_PTS_UTMI | PORT_PTS_PTW)
+#define CONFIG_MXC_USB_FLAGS             0
+#define CONFIG_USB_MAX_CONTROLLER_COUNT  1	/* Enabled USB controller number */
+
+#endif /* __IMX6Q_ACC_H */
-- 
2.34.1


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