Table of Contents

TQMa93xxLA - YOCTO Linux BSP documentation

Overview

The TQMa93xxLA provides a powerful embedded module platform based on NXP’s i.MX 9 CPU 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 MBa93xxCA REV.020x MBa93xxLA REV.020x
RAM configs 1 / 1.5 / 2 GiB 1 / 1.5 / 2 GiB
CPU variants i.MX93 i.MX93
Fuses / OCRAM x x
speed grade / temperature grade detection x x
UART (console on UART1) x x
GPIO
LED x x
Button x x
I2C
system EEPROM parsing x x
PMIC x x
e-MMC / SD
Read x x
Write x x
Ethernet
GigE / FEC via Phy on MBa93xxCA x x
GigE / EQOS via Phy on MBa93xxCA x x
Bootdevices
SD-Card on USDHC2 x x
e-MMC on USDHC1 x x
QSPI-NOR on FlexSPI x x
Serial Downloader x
USB
USB 2.0 Host / Hub x x
USB DRD (USB 2.0 Cable Detect, VBUS) x x
(configured as device to be usable with UUU )
QSPI NOR
Read with 1-1-4 SDR x x
PP / Erase with 1-1-4 SDR x x
Cortex M33
env settings for starting from TCM
examples with UART3 as debug console

TODO or not tested / supported

  • CPU variants with single core and without NPU

Linux

Linux

Support matrix for MBa93xxCA REV.020x and MBa93xxLA REV.010x

Feature linux-imx-tq_6.1 linux-imx-tq_6.6 linux-tq_6.12
RAM configs 1 / 1.5 / 2 GiB 1 / 1.5 / 2 GiB 1 / 1.5 / 2 GiB
CPU variants i.MX93 i.MX93 i.MX93
Fuses / OCRAM x x x
speed grade / temperature grade detection x x
Frequency scaling x
UART
console on UART1 (via USB / UART converter) x x x
UART2/3/4 x x x
GPIO
LED x x x
Button x x x
I2C
EEPROMs x x x
PMIC x x x
RTC x x x
Temperature Sensors x x x
IMU / Gyroscope x x x
Port expander x x x
ENET
GigE / FEC via Phy on MBa93xxCA x x x
GigE / EQOS via Phy on MBa93xxCA x x x
USB
USB 2.0 Host / Hub x x x
USB DRD (USB 2.0 Cable Detect, VBUS) x x x
QSPI NOR
Read with 1-1-4 SDR x
Read with 1-4-4 SDR x x
PP / Erase with 1-1-4 SDR x
PP / Erase with 1-4-4 SDR x x
Display
LVDS x x
CAN-FD
CAN-FD x x x
SPI
spidev at all CS x x
internal ADC
ADC x x x
Cortex M33
examples running from TCM see notes see notes
use UART3 as debug console (see issues) x x
LPB boot
NPU
Firmware for CORTEX M33 see issues
Demo
MIPI CSI (see Issues section)
Gray with Vision Components GmbH camera (Sensor OV9281)
Raw Bayer with Vision Components GmbH camera (Sensor IMX327)

I2C Devices

Onboard I2C Devices

I2C Bus - TQMa93xxLA
I2C1 0x1B
Tempsensor in EEPROM 		0x33
EEPROM SW Protect 		0x25
PMIC 		0x48
Plug & Trust Secure Element
(optional) 		0x51
RTC 		0x53
EEPROM 		0x5F
EEPROM (Identification Page) 		0x6A
Gyroscope
(optional)
I2C Bus - MBa93xxLA
I2C3 0x0F
USB-C Power Delivery Controller 		0x1C
Tempsensor 		0x34
EEPROM SW Protect 		0x54
EEPROM 		0x70
I2C Port expander 		0x71
I2C Port expander 		0x72
I2C Port expander
I2C5 0x0F
Displayport bridge

Changelog

Changelog BSPs

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

Scarthgap.TQ.ARM.BSP.0003

Added

  • linux-tq-6.12: new kernel based on linux-stable kernel

    • support TQMa8MPxL on MBa8MPxL incl. DisplayPort

  • Secure Boot support for TQMa8x and TQMa8Xx

  • TQMa62xx/TQMa64xxL: 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.

  • u-boot-*-env: Provide separate fw_env.config variants for different boot media on TQMa62xx/TQMa64xxL (u-boot-ti-tq-2023.04)

  • tq-bootscripts: Provide new boot-blockdev-rauc boot script for A/B boot with RAUC updates On platforms with Distroboot support (TQMa62xx/TQMa64xxL) the new script will be installed automatically instead of boot-blockdev when "rauc" is enabled in DISTRO_FEATURES.

  • u-boot-tq-2023.04: new default bootloader based on upstream U-Boot. With the update the default environment was completely reworked to use canonical variable names compatible with distro boot etc. Kernel and devicetree are expected in rootfs. This adds also support for U-Boot environment access from Linux OS. Additionally, SDP support is added.

    • support for TQMa6ULx
    • support for TQMa6ULxL
    • support for TQMa6ULLx
    • support for TQMa6ULLxL
    • support for TQMa7x

  • linux-tq-6.6: new default kernel based on mainline-linux-kernel

    • support for TQMa6ULx
    • support for TQMa6ULxL
    • support for TQMa6ULLx
    • support for TQMa6ULLxL
    • support for TQMa7x
    • support for TQMa8Mx
    • support for TQMa8MxML
    • support for TQMa8MxNL
    • support for TQMa8MPxL

  • linux-rt-tq-6.6: new realtime kernel based on linux-tq-6.6

    • support for TQMa6ULx
    • support for TQMa6ULxL
    • support for TQMa6ULLx
    • support for TQMa6ULLxL
    • support for TQMa7x
    • support for TQMa8Mx
    • support for TQMa8MxML
    • support for TQMa8MxNL
    • support for TQMa8MPxL
Changed

  • linux[-ti,-imx,-lsdk,-rt,]-tq recipes: improve local version generation. Upstream poky kernel classes change usage of .scmversion files and start using KERNEL_LOCALVERSION. To keep reproducible version string CONFIG_LOCALVERSION_AUTO will be forcibly disabled.

  • example keys and certificates for AHAB are changed to prepare Secure Boot for TQMa8x and TQMa8Xx

  • u-boot-imx-tq-[2020.04,2023.04]: use generic overrides for secure boot The recipe for imx-boot-tq uses nxp-hab4 and nxp-ahab. These are added by machine config. Use them for consistency.

  • imx-boot-tq: adjust to i.MX9 target split in imx-mkimage lf-6.6.36_2.1.0

  • imx-mkimage-tq: update to use NXP lf-6.6.36_2.1.0 code base

  • linux-ti-tq-6.6: Enable DMVerity kernel module

    Used for integrity checking of RAUC bundles in verity format.

  • tq-bootscripts: Do not add temporary variables to the U-Boot environment

  • u-boot-*-env: Do not leave any enabled configurations in the default/fallback fw_env.config

    If no hardware-specific configuration exists, accessing the environment is not supported out-of-the-box. Avoid shipping an incorrect configuration that might write to the wrong MTD partition on fw_setenv.

  • imx-atf-tq-2.10: prepare support for TQMa91xx

  • tqma62xx / tqma64xx: require arch-armv8a.inc to allow more specific tuning.

  • tqmls10xxa.inc: require arch-armv8a.inc to allow more specific tuning.

Fixed

  • u-boot-tq_2023.04: fix a warning in MTD partition parsing when the last partition uses remaining size but free space is left before this partition.

  • u-boot-imx-tq_2020.04 / u-boot-imx-tq_2023.04 / u-boot-tq_2023.04: provide configurations for U-Boot env tools based on rootfs. Multiconfiguration config file does not work in on device in the configuration is not present.

  • TQMa8M: fix U-Boot compatibility to generated signed images.

    Please note that images generated with imx-mkimage version before lf-6.1.55_2.2.0 are not compatible with newer images and vice versa. Image generation and U-Boot has to be updated in lock step.

Removed
  • u-boot-imx-tq_2016.03: recipe is removed since no SoM uses it anymore.

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.