Table of Contents

Embedded module TQMa64xxL - YOCTO Linux BSP documentation

Overview

The TQMa64xxL which is located on the MBaX4XxL provides a powerful embedded module platform based on Ti’s Sitara™ series. The BSP is based on the Yocto Project using TQ’s meta-tq hardware support layer, with build host setup instructions and BSP sources provided via GitHub.

Please see the meta-tq repository on GitHub for further instructions. A list of supported Yocto images and example configurations is available in the BSP repository GitHub.

For each Board Support Package (BSP), the corresponding modules are versioned under the matching Git tag in our GitHub repository. Simply check out the tag that matches your BSP release, then open the module’s README file in the “doc” folder to find detailed information.

Documentation and Downloads

Documentation and Downloads

All TQ Systems products come with comprehensive documentation to help you get started and integrate our hardware into your designs.

Publicly Available User Manuals & Datasheets

The following documents can be downloaded directly from our Website (no login required) for the desired product:

User Manual (Baseboard)
Detailed hardware descriptions, installation steps, jumper settings, connector layouts and troubleshooting tips.
User Manual (Module)
Electrical specifications, interface overviews, software setup guides and reference tables.
Datasheets
Absolute maximum ratings, timing diagrams and ordering information.

Customer Info Archive (Starter Kit Customers)

The Customer Info Archive is provided upon purchase of an official Starter Kit and is released manually by TQ Support. To obtain it, please open a Support Ticket with your order details.

The archive includes:

  • Mainboard schematic & placement diagram
  • Module CAD files (native format)
  • Module mechanical dimensions (2D/3D drawings)
  • Pinmuxing configuration (recommended device tree fragments)
  • Pinout reference (signal assignments, voltage domains)
  • Design checklist (layout guidelines, EMI/ESD considerations)
  • Processing instructions (LGA Modules)

BSP Tagging and Revisioning

BSP Git Tagging and Revisioning

TQ manages all Board Support Package (BSP) releases in the meta-tq GitHub repository using annotated Git tags. This ensures each release is traceable to an exact source snapshot and clearly documents which Yocto branch, platform (module) and software revision it covers.

Tag Format:
<YoctoBranch>.<ModuleIdentifier>.TQ.ARM.BSP.<RevisionNumber>

Component Description
YoctoBranch Name of the Yocto Project release (e.g. kirkstone, scarthgap)
ModuleIdentifier Target module name when present; omitted entirely for “scarthgap” tags
TQ.ARM.BSP Literal marker for “Board Support Package – Software”
RevisionNumber Four-digit, zero-padded incrementing counter (e.g. 0001, 0002, …)

Examples:
kirkstone.TQMa64xxL.BSP.SW.0008
scarthgap.BSP.SW.0001 – here no module identifier is used

Supported Platforms Reference:
To see exactly which platforms (machines/boards) each BSP tag covers, open the meta-tq folder in that tag and view its README.md:
/tq-systems/meta-tq/tree/<git-tag>/meta-tq
Click on README.md there to find the full list of Yocto machine names, board variants, RAM options and support status.

Get Notified

Enable Notifications:
In order to be automatically notified of new BSP releases by e-mail, you must activate notifications in the corresponding Github repository.

1. Go to the desired repository in Github (e.g. meta-tq)
2. Click on the notification button in the top right corner.
3. Log in or create a Github account if you have not already done so.
4. Select “All activity” so that you will be notified of every new release.

Software Versions:
For the exact versions of U-Boot, Linux kernel and other components used in a BSP tag, view doc/README.SoftwareVersions.md in that tag.
tq-systems/meta-tq/blob/<git-tag>/meta-tq/doc/README.SoftwareVersions.md

Current BSP Information

U-boot

U-Boot

Feature
RAM configs 1 GiB, 2GiB
CPU variants AM6442, AM6411
UART (console on UART0) x
GPIO x
I2C x
System EEPROM parsing x
eMMC / SD x
SPI-NOR x
Ethernet Port X5 only
Cortex-R5F no
Cortex-M4F no
Boot devices
eMMC x
SD card x
SPI-NOR x
USB Mass Storage (X1) x
USB DFU (X1) x
USB
USB Host (X1, via OTG adapter) USB Mass Storage boot only
USB Device (X1) All boot devices execpt for USB Mass Storage
USB Cable Detect / ID (X1) no
USB switchable VBUS (X1) no (fixed setting for boot device)

Linux

Linux

Feature
Suspend (deep / s2idle) no
UART
Console (UART0, via X2 USB / UART converter) x
RS485 (MCU_UART0) x
BG95 IoT module (MAIN_UART1/4/5) x
GPIO
LED x
Button x
I2C
EEPROMs x
PMIC x
RTC x
Temperature sensor x
Ethernet
1x Gigabit Ethernet on MBaX4XxL (X5) x
2x PRU Gigabit Ethernet on MBaX4XxL (X6) x
WLAN/Bluetooth
Marvell/NXP 88W8987-based WLAN/BT WLAN only
CAN
2x CAN with CAN FD x
USB
USB (X1: Dual role, Cable Detect, VBUS) x
PWM
Fan control x (disabled by default)
SPI-NOR
Read with 1-4-4 SDR x
Write / erase with 1-4-4 SDR x
SPI
Analog frontend (NAFE1338) x

I2C Devices

Onboard I2C Devices

I2C bus TQMa64xxL
I2C0 0x4A
Temperature Sensor 		0x48
SEC (optional) 		0x50
Manufacturer EEPROM 		0x51
RTC 		0x54
Customer EEPROM

Changelog

Changelog BSPs

Changelog Scarthgap.TQ.ARM.BSP.0005

Added

  • TQMa67xx: new module

    The TQMa67xx SoM and its starterkit baseboard MBa67xx are a new platform based on the TI J722S/AM67(A) SoC family.

  • TQMa8MPxL:

    • add optionally usable RAUC A/B support
    • add optionally usable distroboot support (need to modify U-Boot bootcmd)

  • u-boot-imx-tq-2024.04:

    • support TQMa8MPxL on MBa8MPxL and MBa8MP-RAS414

  • linux-imx-tq-6.6:

    • support TQMLS1012AL
    • support TQMLS1028A

  • linux-tq-6.12:

    • support TQMLS102xA
    • support TQMLS10xxA
    • support TQMLX2160A

  • linux-ti-tq-6.12: New default kernel for TQMa62xx[L], TQMa64xxL and TQMa67xx[L]

  • u-boot-tq-2025.07: New U-Boot for TQMa62xx[L], TQMa64xxL and TQMa67xx[L]

    Differing from u-boot-ti-tq-2023.04, the A53 SPL stage (tispl.bin) has been dropped, simplifying and speeding up the boot process. The R5 SPL (tiboot3.bin) now directly boots into the U-Boot proper (u-boot.img).

  • TQMLS1028A:

    • u-boot-lsdk-tq: Insert MTD partitions into DT for Linux

  • TQMLX2160A:

    • Re-add SFP support
    • Install fitImage into root filesystem
    • Add SATA support in U-Boot
Changed

  • TQMa6ULx[L] / TQMa6ULLx[L]:

    • u-boot-tq-2023.04: enable some more features like gpio button, LED, CLI regulator and PMIC support.

  • tq-extlinux: The console option in the kernel cmdline is now populated based on SERIAL_CONSOLES instead of relying on the console and baudrate variables in the U-Boot environment

  • TQMLS1028A:

    • u-boot-lsdk-tq-2019.10:
      • update module EEPROM handling, use DM for I2C and I2C EEPROM
      • use GPIO HOG for inputs
      • update default devicetree name (matching updated kernel version)

  • u-boot-imx-tq-2024.04:

    • TQMa91 / TQMa93: enable watchdog support. The watchdog is used as sysreset provider. It can be enabled from console before booting kernel.

  • linux-tq-6.12:

    • use generic sound card name for MBa8Mx (TQMa8Mx, TQMa8MxNL, TQMa8MxNL), MBa8MPxL (TQMa8MPxL), MBa6ULxL (TQMa6ULx, TQMa6ULLx), MBa7x (TQMa7x)
    • include stable fixes up to v6.12.30

  • linux-tq-6.6:

    • use generic sound card name for MBa8Mx (TQMa8Mx, TQMa8MxNL, TQMa8MxNL), MBa8MPxL (TQMa8MPxL), MBa6ULxL (TQMa6ULx, TQMa6ULLx), MBa7x (TQMa7x)
    • include stable fixes up to v6.6.92

  • linux-imx-tq-6.6:

    • use generic sound card name for MBa8Mx (TQMa8Mx, TQMa8MxNL, TQMa8MxNL), MBa8MPxL (TQMa8MPxL), MBa6ULxL (TQMa6ULx, TQMa6ULLx), MBa7x (TQMa7x)
    • update with fixes from FSLC 6.6-2.2.x-imx branch including stable fixes up to v6.6.91

  • machines: use wic.zst instead of uncompressed wic for default IMAGE_FSTYPES for all machines. bmaptool supports also packed images, so we can lower the IO pressure for copying artifacts while keeping usability.

    The TQ_IMAGE_COMPRESSION variable (defined in meta-tq/conf/machine/include/tq-image.inc) can be adjusted in local.conf or a custom distro to use a different compression algorithm; setting it to an empty value will leave the files uncompressed.

  • u-boot-tq-2017.11:

    • TQMLS102xA: use external generated RCW images from rcw recipe instead of in tree RCW.

  • u-boot-lsdk-tq-2022.04:

    • TQMLS10xxA: adjust for node names in v6.12 Linux kernel

  • rcw:

    • TQMLS102xA: improve RCW generation
    • incorporate changes from NXP upstream since lf-5.15.32-2.0.0 up to tag lf-6.6.52-2.2.0 / lf-6.12.3-1.0.0

  • TQMLS102xA

    • Machine uses the common ALSA configuration (alsa-state)
    • Machine uses the common WKS file for ARMv7-A modules
    • Uses 'mainline' BSP as defined in meta-freescale

  • TQMLS1028A:

    • Use mainline BSP graphic software stack

  • TQMLX2160A:

    • u-boot-lsdk-tq-2019.04: Update XFI & retimer configuration
Fixed

  • TQMa6x / TQMa6ULx[L] / TQMa6ULLx[L] / TQMa7x:

    • u-boot-tq-2023.04: fix FEC initialisation flow for compiling with DM_MDIO and DM_ETH_PHY without the fixes depending on presence of MAC addresses, multiple instances of MDIO bus will be allocated but never freed. If no MAC address is given, mdio command may cause an infinite loop.

  • TQMa6ULx[L] / TQMa6ULLx[L]:

    • u-boot-tq-2023.04: redundand environment was not configured but is expected by environment access tools in rootfs

  • machines: fix creation of multiple wic images for machines with a fixed boot firmware dependency to the actual assembled RAM.

    • TQMa6x
    • TQMa6ULx[L]
    • TQMa6ULLx[L]
    • TQMa7x
    • TQMa8Mx
    • TQMa8MxML

  • TMa8MPxL:

    • linux-tq-6.12: Fix SD-Card disconnect due to automatic disable of LDO5.

  • TQMLS1028A:

    • u-boot-lsdk-tq: implement reset pulse for PCIe and SATA ports, deactivate W_DISABLE (PCIE_DIS). This allows PCIe link training and PCIe device tree fixups. for Linux. Cards with bridges were previously not detected and handled in linux.
    • qoriq-atf: Fix applying errata #841119 and #826419 in Linux

  • TQMLS1088A:

    • Fix muxing of USB2_DRVVBUS/USB2_PWRFAULT. These pins were previously GPIO and could not be used for USB host power control.

  • TQMLX2160A:

    • Set snoop-delayed exclusive handling. Fixes load/store exclusive related issues
    • qoriq-atf: Fix applying errata #841119 and #826419 in Linux
    • Configure DPMAC 17 and 18 for SGMII in SERDES2 configs 7 and 11
      • RGMII usage is not supported in this case
    • Fix unreliable detection of onboard USB hub

  • u-boot-imx-tq-2024.04

    • TQMa93xx: Cortex M33 is usable again. Basic initialisation in secure Cortex A55 was hidden behind a conditional since TQMa91xx support was added

  • rcw

    • TQMLX2160A: Mux RGMII pins as GPIO if SGMII is used at SERDES2
Removed

  • linux-ti-tq-6.1

    linux-ti-tq-6.1 has been obsolete since scarthgap.TQ.ARM.BSP.0001 in favor of linux-ti-tq-6.6. With the addition of linux-ti-tq-6.12 as the new default kernel for TQMa62xx[L]/TQMa64xxL/TQMa67xx[L], the linux-ti-tq-6.1 recipe is removed.

  • u-boot-ti-tq-2023.04: remove recipe

    Only u-boot-tq-2025.07 is supported for the TQMa62xx[L], TQMa64xxL and TQMa67xx[L] in future BSP releases.

  • linux-tq-5.4

    • TQMLS102xA is now supported by linux-tq-6.12

  • linux-rt-tq-5.4

    • Currently there is no replacement for RT-enabled kernel on TQMLS102xA
    • Support for newer kernels can be added on request

  • linux-imx-tq-5.15

    • Both TQMLS1012AL and TQMLS10128A are now supported by linux-imx-tq-6.6

  • MBaX4XxL

    • The legacy Image kernel image has been removed from the root filesystem

      We boot the fitImage by default since kirkstone.TQMa64xxL.BSP.SW.0007. U-Boot versions older than that release need to be updated, or a custom BSP image including Image in KERNEL_IMAGETYPES needs to be built.

Changelog Scarthgap.TQ.ARM.BSP.0004

Added

  • Verified Boot with signed U-Boot, signed FIT image and dm-verity rootfs for

    • TQMa8x
    • TQMa8Xx
    • TQMa8XxS
    • TQMa91xx/TQMa93xx

  • TQMa91xx/TQMa93xx: Add new WKS template with two root partitions and a separate data partition for A/B boot with RAUC updates

    The new partitioning will be selected automatically when "rauc" is enabled in DISTRO_FEATURES. The WIC_ROOTPART_SIZE and `WIC_DATAPART_SIZE variables default to "1G" and "100M", respectively, and can be adjusted as needed.

  • machines:

    • restore support for TQMa6ULxL on MBa6ULxL SBC
    • add new machine for TQMa8MPxL on MBa8MP-RAS314 starter kit
    • add new machine for TQMa91xxCA/LA on MBa91xxCA starter kit

  • u-boot-imx-tq_2024.03: new recipe with support for TQMa91xx and TQMa93xx

  • imx-tq-atf_2.10: support for TQMa91xxCA/LA

  • linux-rt-tq-6.12: add recipe to support PREEMPT_RT with the same branch as used for linux-tq-6.12

  • linux-tq-6.12:

    • support TQMa93xx[CA/LA] on MBa93xxCA / MBa93xxLA / MBa91xxCA
    • support TQMa335x[L] on MBa335x
Changed

  • u-boot-tq-2023-04:

    • TQMa6UL: decrease bootdelay for mfg / uuu defconfigs to 1 sec
    • TQMa6UL: bootcmd is adjusted to start only fastboot gadget for mfg / uuu defconfigs.

  • linux-rt-tq-6.1:

    • backport upstream fixes for TMPDIR leakage
    • integrate changes from linux stable-rt up to tag v6.1.132-rt50
    • rewrite recipe to keep shared settings in include file

  • u-boot-ti-tq-2023.04: allow boot without signed kernel

    • meta-ti does not set UBOOT_SIGN_ENABLE by default anymore, breaking boot with our U-Boot branch. Disable enforcement of signature checks.

      This only has an effect on U-Boot build that do not embed a public key to check a signature against (which is the default now). If UBOOT_SIGN_ENABLE is set, a key will be built into U-Boot and signatures will be verified.

  • linux-imx-tq-6.6:

    • TQMa91/TQMa93:
      • improve DVFS support
      • revert Open Drain for MDIO pads to prevent signal spec violation
    • integrate changes from linux fslc up to commit 237948c6e22c "Merge pull request #719 from Gerbach/6.6-2.2.x-imx" including stable tag v6.6.84

  • u-boot-imx-tq-2024.04:

    • TQMa93xx/TQMa91xx:
      • revert Open Drain for MDIO pads to prevent signal spec violation
      • enable KASLR support
    • integrate changes from NXP BSP release lf-6.6.52-2.2.0

  • machines

    • tq-distroboot.inc: add tq-extlinux to MACHINE_ESSENTIAL_EXTRA_RRECOMMENDS since this is needed for booting system if using U-Boot distroboot
    • tq-machine.inc: new config include that adds kernel-devicetree and kernel-image to MACHINE_ESSENTIAL_EXTRA_RDEPENDS since they are needed for booting system when expecting them in /boot. linux-modules are added to MACHINE_EXTRA_RRECOMMENDS. This file is included at board level to simplify machine configs.

  • u-boot-tq-2019.04:

    • TQMa335x:
      • Update MMC indices to use mmc0 for eMMC and mmc1 for SD card
      • Clean up default environment
      • Various code cleanups

  • linux-tq-6.12:

    • TQMa93: revert Open Drain for MDIO pads to prevent signal spec violation
    • enable BACKLIGHT_CLASS_DEVICE and SPI_SPIDEV as module
    • integrate changes from linux-stable up to tag v6.12.18
    • Compile UBI/UBIFS support into kernel to support boot from QSPI

  • linux-tq-6.6:

    • enable SPI_SPIDEV as module
    • rewrite recipe to reuse settings shared with linux-rt-tq-6.6
    • backport upstream fix for TMPDIR leakage
    • integrate changes from linux-stable up to tag v6.6.80

  • linux-rt-tq-6.6: integrate changes from linux-stable up to tag v6.6.80 via TQ Systems branch TQM-linux-v6.6.y and changes from stable-rt up to tag v6.6.78-rt51

  • linux-tq-6.1:

    • rewrite recipe to keep shared settings in include file
    • backport upstream fixes for TMPDIR leakage
    • integrate changes from linux-stable up to tag v6.1.132

  • imx-tq-atf_2.10: integrate changes from NXP BSP release lf-6.6.52-2.2.0

  • linux-imx-tq-6.6:

    • integrate fixes from linux-fslc up to 5ff4cf4d61e1 ("Merge pull request #713 from angolini/fix_imx93")
    • Add TCP SYN cookie support (expected by default sysctl.conf)
    • integrate changes from NXP BSP release lf-6.6.52-2.2.0 via the matching branch of linux-fslc repo. Integrates linux-stable fixes up to v6.6.74
    • Enable kernel options required for RAUC updates:
      • DMVerity
      • Squashfs
      • Loop block device
Fixed

  • u-boot-tq-2023-04:

    • MBa6ULxL: fix SPL bootflow for serial downloader mode
    • TQMa6x: SMSC9500 USB-ethernetbridge did not work after update to new U-Boot version
    • TQMa6x/6ULx[L]/6ULLx[L]/TQMa7x: save env does not work after usb start

  • linux-tq-6.6 / 6.1:

    • Change USB_ONBOARD_HUB from module to builtin to prevent USB bus reenumeration when loading as module. Follow the recommendation from Linux Kconfig

  • linux-imx-tq-6.6: fix flexspi driver error caused by update to new fslc branch: commit 791210cc944a ("meta-tq: linux-imx-tq_6.6: update to new branch TQMa-fslc-6.6-2.2.x-imx")

  • imx-boot-tq: do not overwrite settings for IMX_EXTRA_FIRMWARE.

Removed
  • libimxvpuapi2:
    • Remove custom patches
    • Requires meta-freescale >= commit 1699cb16 ("libimxvpuapi2: Upgrade to version 2.3.1")
  • linux-ti-tq-5.4:
    • Removed recipe
  • Support for Basler cameras on TQMa8MPxL

The information provided on this wiki page is subject to change due to circumstances beyond our control. While we strive to keep all details as accurate and up-to-date as possible, it is possible that certain updates or changes may go unnoticed for some time. As a result, some sections of this page may contain outdated information. If you notice any mistakes in the documentation, we kindly ask you to inform the TQ Support through our ticket system.