TQMa91xxCA - YOCTO Linux BSP documentation

This page is work in progress and therefore subject to change

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.

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 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
e-MMC / 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
e-MMC 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

  • 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-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.

  • 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:

    • integrate changes from linux-stable up to tag v6.12.18

  • linux-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:

    • backport upstream fixes for TMPDIR leakage
    • integrate changes from linux-stable up to tag v6.1.129

  • 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
  • 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

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.