TQMa91xxCA - YOCTO Linux BSP documentation
Overview
The TQMa91xxCA 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.
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 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
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

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 | MBa91xxCA REV.010x |
---|---|
RAM configs | 1 GiB |
CPU variants | i.MX91 |
Fuses / OCRAM | x |
speed grade / temperature grade detection | x |
UART (console on UART1) | x |
GPIO | |
LED | x |
Button | x |
I2C | |
system EEPROM parsing | x |
PMIC | x |
eMMC / SD | |
Read | x |
Write | x |
Ethernet | |
GigE / FEC via Phy on MBa91xxCA | x |
GigE / EQOS via Phy on MBa91xxCA | x |
Bootdevices | |
SD-Card on USDHC2 | x |
eMMC on USDHC1 | x |
QSPI-NOR on FlexSPI | x |
Serial Downloader | x |
USB | |
USB 2.0 Host / Hub | x |
USB DRD (USB 2.0 Cable Detect, VBUS) | x |
(configured as device to be usable with UUU ) | |
QSPI NOR | |
Read with 1-1-4 SDR | x |
PP / Erase with 1-1-4 SDR | x |
Linux
Linux
Support matrix for MBa91xxCA
REV.010x
Feature | linux-imx-tq_6.6 |
---|---|
RAM configs | 1 GiB |
CPU variants | i.MX91 |
Fuses / OCRAM | x |
speed grade / temperature grade detection | |
UART | |
console on UART1 (via USB / UART converter) | x |
UART2 | x |
GPIO | |
LED | x |
Button | x |
I2C | |
EEPROMs | x |
PMIC | x |
RTC | x |
Temperature Sensors | x |
IMU / Gyroscope | x |
Port expander | x |
ENET | |
GigE / FEC via Phy on MBa91xxCA | x |
GigE / EQOS via Phy on MBa91xxCA | x |
USB | |
USB 2.0 Host / Hub | x |
USB DRD (USB 2.0 Cable Detect, VBUS) | x |
QSPI NOR | |
Read with 1-1-4 SDR | |
Read with 1-4-4 SDR | |
PP / Erase with 1-1-4 SDR | |
PP / Erase with 1-4-4 SDR | |
Display | |
LVDS via Bridge | x |
DPI / RGB | x |
CAN-FD | |
CAN-FD | x |
SPI | |
spidev at all CS | x |
internal ADC | |
ADC | x |
I2C Devices
Onboard I2C Devices
I2C Bus - TQMa91xxCA | ||||||
---|---|---|---|---|---|---|
I2C1 | 0x1B Tempsensor in EEPROM | 0x25 PMIC | 0x48 Plug & Trust Secure Element (optional) | 0x51 RTC | 0x53 EEPROM | 0x6A Gyroscope |
I2C Bus - MBa91xxCA | |||||||
---|---|---|---|---|---|---|---|
I2C3 | 0x0F DisplayPort bridge | 0x18 Audio Codec | 0x1C Tempsensor | 0x34 EEPROM SW Protect | 0x44 USB Hub | 0x54 Tempsensor EEPROM | 0x6A PCIe Clock generator |
Changelog
Changelog BSPs
Changelog PRE-RELEASE
Added
-
linux-rt-tq-6.12: TQMLS10xxA / TQMLX2160A:
Mark recipe as compatible for these machines
-
TQMa8MPxS: add board support for SoM on MB-SMARC-2
-
TQMLX2160A: Add Secure Boot support
See the TQMLX2160A README for more information. The current implementation only secures the boot process up to the bootloader. The kernel and userspace are not verified.
-
imx-atf-tq: TQMa8 / TQMa9:
Include NXP fixes up to tag lf-6.6.52-2.2.1 and adjustments for Layerscape.
-
linux-rt-tq-6.6: TQMa6 / TQMa6UL[L]x[L] / TQMa7 / TQMa8Mx / TQMa8MxML / TQMa8MxNL:
Include stable fixes up to v6.6.101 and stable-rt fixes up to v6.6.101-rt59
-
linux-tq-6.6: TQMa6 / TQMa6UL[L]x[L] / TQMa7 / TQMa8Mx / TQMa8MxML / TQMa8MxNL:
Include stable fixes up to v6.6.102
-
linux-imx-tq-6.6: TQMa8 / TQMa9:
Include NXP fixes up to tag lf-6.6.52-2.2.1 and stable fixes up to 6.6.101 from linux-fslc
-
linux-[rt-]tq-6.12: TQMa335x / TQMa93 / TQMa8MP / TQMLS10xx / TQMLX2160:
- Include linux-stable fixes up to 6.12.41
- configure STMMAC as built-in to support NFS root on boards with MDIO on STMMAC
-
machines: use
require
for machine config includes -
alsa-state: enable IN3_L / Left Mixer input path (prepare MicIn support) for i.MX base SoM
-
layer.conf: add LAYERRECOMMENDS
-
u-boot-tq-2023.04: TQMa6x:
Add errata workarounds for KSZ9031 ethernet phy to improve reliability of establishing a link.
-
u-boot-tq-2017.11: TQMLS102xA:
Upstream device tree node naming for ESDHC controller was changes. Fix board specific DSR code to be compatibel with old and new naming.
-
u-boot-imx-tq-2024.04:
FEC driver MDIO bus handling for enabled DM_MDIO and DM_ETH_PHY has several flaws that were hidden behind ifdefs. The code has fixes for the relevant code paths.
-
u-boot-tq-2023.04: TQMa7x:
No MDIO bus was found after fixing several bugs in fec-mxc driver. Bug was caused by forcing unique MDIO bus names via device tree. Naming should be handled by FEC driver that creates the bus depending on Kconfig settings.
-
u-boot-lsdk-tq-2019.04: TQMLS1028A: Fix PCIe initialisation flow
Backport some fixes to the initalisation flow, limit to Gen2 and add wait for link polling. Both the limitation and the polling loop improve compatibility to more cards, since bootloader support is crucial for working PCIe under Linux.
-
tq-bootconf: add reproducible default for 'FIT_CONF_PREFIX'
When adding support to machines a reproducible default is needed to keep boot configurations and fitImages in sync.
-
TQMLS1012AL: Fix build with Secure Boot support
Secure Boot on the TQMLS1012AL is build-tested only.
-
qoriq-atf: Fix hash calculation on all Layerscape platforms
Fixes validation failure when Secure Boot is enabled.
- u-boot-tq_2018.07: remove recipe after TQMLS10xxA was upgraded to v2022.04