udoo: Switch to SPL support

Currently we need to build one U-boot image for each of the udoo
variants: quad and dual-lite.

By switching to SPL we can support all two variants with a single binary.

Based on the SPL for wandboard.

Tested with OpenELEC (Open Embedded Linux Entertainment Center)
on both boards.

Signed-off-by: Peter Vicman <peter.vicman@gmail.com>
Cc: Fabio Estevam <fabio.estevam@freescale.com>
Cc: Stefano Babic <sbabic@denx.de>
Acked-by: Stefano Babic <sbabic@denx.de>
Signed-off-by: Peter Vicman <peter.vicman@gmail.com>
Acked-by: Fabio Estevam <fabio.estevam@freescale.com>

12 files changed, 351 insertions, 253 deletions

diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index cd88df443a..ed8fd36aba 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -514,6 +514,7 @@ config TARGET_VISION2
 config TARGET_UDOO
 	bool "Support udoo"
 	select CPU_V7
+	select SUPPORT_SPL
 
 config TARGET_WANDBOARD
 	bool "Support wandboard"
diff --git a/board/udoo/1066mhz_4x256mx16.cfg b/board/udoo/1066mhz_4x256mx16.cfg
deleted file mode 100644
index 1ac0aec773..0000000000
--- a/board/udoo/1066mhz_4x256mx16.cfg
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * Copyright (C) 2013 Boundary Devices
- *
- * SPDX-License-Identifier:	GPL-2.0+
- */
-
-DATA 4, MX6_MMDC_P0_MDPDC, 0x00020036
-DATA 4, MX6_MMDC_P0_MDOTC, 0x09444040
-
-DATA 4, MX6_MMDC_P0_MDCFG0, 0x54597955
-DATA 4, MX6_MMDC_P0_MDCFG1, 0xFF328F64
-DATA 4, MX6_MMDC_P0_MDCFG2, 0x01FF00DB
-
-DATA 4, MX6_MMDC_P0_MDMISC, 0x00001740
-DATA 4, MX6_MMDC_P0_MDSCR,  0x00008000
-DATA 4, MX6_MMDC_P0_MDRWD,  0x000026D2
-
-DATA 4, MX6_MMDC_P0_MDOR,  0x00591023
-DATA 4, MX6_MMDC_P0_MDASP, 0x00000027
-DATA 4, MX6_MMDC_P0_MDCTL, 0x831A0000
-
-DATA 4, MX6_MMDC_P0_MDSCR, 0x04088032
-DATA 4, MX6_MMDC_P0_MDSCR, 0x00008033
-
-DATA 4, MX6_MMDC_P0_MDSCR, 	0x00048031
-DATA 4, MX6_MMDC_P0_MDSCR,	0x09408030
-DATA 4, MX6_MMDC_P0_MDSCR, 	0x04008040
-DATA 4, MX6_MMDC_P0_MPZQHWCTRL, 0xA1380003
-DATA 4, MX6_MMDC_P1_MPZQHWCTRL, 0xA1380003
-DATA 4, MX6_MMDC_P0_MDREF, 	0x00005800
-DATA 4, MX6_MMDC_P0_MPODTCTRL, 	0x00011117
-DATA 4, MX6_MMDC_P1_MPODTCTRL, 	0x00011117
-
-DATA 4, MX6_MMDC_P0_MPDGCTRL0, 0x43510360
-DATA 4, MX6_MMDC_P0_MPDGCTRL1, 0x0342033F
-DATA 4, MX6_MMDC_P1_MPDGCTRL0, 0x033F033F
-DATA 4, MX6_MMDC_P1_MPDGCTRL1, 0x03290266
-
-DATA 4, MX6_MMDC_P0_MPRDDLCTL, 0x4B3E4141
-DATA 4, MX6_MMDC_P1_MPRDDLCTL, 0x47413B4A
-DATA 4, MX6_MMDC_P0_MPWRDLCTL, 0x42404843
-DATA 4, MX6_MMDC_P1_MPWRDLCTL, 0x4C3F4C45
-
-DATA 4, MX6_MMDC_P0_MPWLDECTRL0, 0x00350035
-DATA 4, MX6_MMDC_P0_MPWLDECTRL1, 0x001F001F
-DATA 4, MX6_MMDC_P1_MPWLDECTRL0, 0x00010001
-DATA 4, MX6_MMDC_P1_MPWLDECTRL1, 0x00010001
-
-DATA 4, MX6_MMDC_P0_MPMUR0, 0x00000800
-DATA 4, MX6_MMDC_P1_MPMUR0, 0x00000800
-
-DATA 4, MX6_MMDC_P0_MDPDC, 0x00025576
-DATA 4, MX6_MMDC_P0_MAPSR, 0x00011006
-DATA 4, MX6_MMDC_P0_MDSCR, 0x00000000
-
diff --git a/board/udoo/MAINTAINERS b/board/udoo/MAINTAINERS
index ee8b61e37e..789e98ff85 100644
--- a/board/udoo/MAINTAINERS
+++ b/board/udoo/MAINTAINERS
@@ -3,4 +3,4 @@ M:	Fabio Estevam <fabio.estevam@freescale.com>
 S:	Maintained
 F:	board/udoo/
 F:	include/configs/udoo.h
-F:	configs/udoo_quad_defconfig
+F:	configs/udoo_defconfig
diff --git a/board/udoo/Makefile b/board/udoo/Makefile
index 80efadaf0d..1d6d9f891f 100644
--- a/board/udoo/Makefile
+++ b/board/udoo/Makefile
@@ -4,4 +4,4 @@
 # SPDX-License-Identifier:	GPL-2.0+
 #
 
-obj-y  := udoo.o
+obj-y  := udoo.o udoo_spl.o
diff --git a/board/udoo/clocks.cfg b/board/udoo/clocks.cfg
deleted file mode 100644
index 9cd1af128f..0000000000
--- a/board/udoo/clocks.cfg
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * Copyright (C) 2013 Boundary Devices
- *
- * SPDX-License-Identifier:	GPL-2.0+
- *
- * Device Configuration Data (DCD)
- *
- * Each entry must have the format:
- * Addr-type           Address        Value
- *
- * where:
- *      Addr-type register length (1,2 or 4 bytes)
- *      Address   absolute address of the register
- *      value     value to be stored in the register
- */
-
-/* set the default clock gate to save power */
-DATA 4, CCM_CCGR0, 0x00C03F3F
-DATA 4, CCM_CCGR1, 0x0030FC03
-DATA 4, CCM_CCGR2, 0x0FFFC000
-DATA 4, CCM_CCGR3, 0x3FF00000
-DATA 4, CCM_CCGR4, 0x00FFF300
-DATA 4, CCM_CCGR5, 0x0F0000C3
-DATA 4, CCM_CCGR6, 0x000003FF
-
-/* enable AXI cache for VDOA/VPU/IPU */
-DATA 4, MX6_IOMUXC_GPR4, 0xF00000FF
-
-/* set IPU AXI-id0 Qos=0xf(bypass) AXI-id1 Qos=0x7 */
-DATA 4, MX6_IOMUXC_GPR6, 0x007F007F
-DATA 4, MX6_IOMUXC_GPR7, 0x007F007F
-
diff --git a/board/udoo/ddr-setup.cfg b/board/udoo/ddr-setup.cfg
deleted file mode 100644
index 78cbe17db4..0000000000
--- a/board/udoo/ddr-setup.cfg
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * Copyright (C) 2013 Boundary Devices
- *
- * SPDX-License-Identifier:	GPL-2.0+
- *
- * Device Configuration Data (DCD)
- *
- * Each entry must have the format:
- * Addr-type           Address        Value
- *
- * where:
- *      Addr-type register length (1,2 or 4 bytes)
- *      Address   absolute address of the register
- *      value     value to be stored in the register
- */
-
-/*
- * DDR3 settings
- * MX6Q    ddr is limited to 1066 Mhz	currently 1056 MHz(528 MHz clock),
- *	   memory bus width: 64 bits	x16/x32/x64
- * MX6DL   ddr is limited to 800 MHz(400 MHz clock)
- *	   memory bus width: 64 bits	x16/x32/x64
- * MX6SOLO ddr is limited to 800 MHz(400 MHz clock)
- *	   memory bus width: 32 bits	x16/x32
- */
-DATA 4, MX6_IOM_DRAM_SDQS0, 0x00000030
-DATA 4, MX6_IOM_DRAM_SDQS1, 0x00000030
-DATA 4, MX6_IOM_DRAM_SDQS2, 0x00000030
-DATA 4, MX6_IOM_DRAM_SDQS3, 0x00000030
-DATA 4, MX6_IOM_DRAM_SDQS4, 0x00000030
-DATA 4, MX6_IOM_DRAM_SDQS5, 0x00000030
-DATA 4, MX6_IOM_DRAM_SDQS6, 0x00000030
-DATA 4, MX6_IOM_DRAM_SDQS7, 0x00000030
-
-DATA 4, MX6_IOM_GRP_B0DS, 0x00000030
-DATA 4, MX6_IOM_GRP_B1DS, 0x00000030
-DATA 4, MX6_IOM_GRP_B2DS, 0x00000030
-DATA 4, MX6_IOM_GRP_B3DS, 0x00000030
-DATA 4, MX6_IOM_GRP_B4DS, 0x00000030
-DATA 4, MX6_IOM_GRP_B5DS, 0x00000030
-DATA 4, MX6_IOM_GRP_B6DS, 0x00000030
-DATA 4, MX6_IOM_GRP_B7DS, 0x00000030
-DATA 4, MX6_IOM_GRP_ADDDS, 0x00000030
-/* 40 Ohm drive strength for cs0/1,sdba2,cke0/1,sdwe */
-DATA 4, MX6_IOM_GRP_CTLDS, 0x00000030
-
-DATA 4, MX6_IOM_DRAM_DQM0, 0x00020030
-DATA 4, MX6_IOM_DRAM_DQM1, 0x00020030
-DATA 4, MX6_IOM_DRAM_DQM2, 0x00020030
-DATA 4, MX6_IOM_DRAM_DQM3, 0x00020030
-DATA 4, MX6_IOM_DRAM_DQM4, 0x00020030
-DATA 4, MX6_IOM_DRAM_DQM5, 0x00020030
-DATA 4, MX6_IOM_DRAM_DQM6, 0x00020030
-DATA 4, MX6_IOM_DRAM_DQM7, 0x00020030
-
-DATA 4, MX6_IOM_DRAM_CAS, 0x00020030
-DATA 4, MX6_IOM_DRAM_RAS, 0x00020030
-DATA 4, MX6_IOM_DRAM_SDCLK_0, 0x00020030
-DATA 4, MX6_IOM_DRAM_SDCLK_1, 0x00020030
-
-DATA 4, MX6_IOM_DRAM_RESET, 0x00020030
-DATA 4, MX6_IOM_DRAM_SDCKE0, 0x00003000
-DATA 4, MX6_IOM_DRAM_SDCKE1, 0x00003000
-
-DATA 4, MX6_IOM_DRAM_SDODT0, 0x00003030
-DATA 4, MX6_IOM_DRAM_SDODT1, 0x00003030
-
-/* (differential input) */
-DATA 4, MX6_IOM_DDRMODE_CTL, 0x00020000
-/* (differential input) */
-DATA 4, MX6_IOM_GRP_DDRMODE, 0x00020000
-/* disable ddr pullups */
-DATA 4, MX6_IOM_GRP_DDRPKE, 0x00000000
-DATA 4, MX6_IOM_DRAM_SDBA2, 0x00000000
-/* 40 Ohm drive strength for cs0/1,sdba2,cke0/1,sdwe */
-DATA 4, MX6_IOM_GRP_DDR_TYPE, 0x000C0000
-
-/* Read data DQ Byte0-3 delay */
-DATA 4, MX6_MMDC_P0_MPRDDQBY0DL, 0x33333333
-DATA 4, MX6_MMDC_P0_MPRDDQBY1DL, 0x33333333
-DATA 4, MX6_MMDC_P0_MPRDDQBY2DL, 0x33333333
-DATA 4, MX6_MMDC_P0_MPRDDQBY3DL, 0x33333333
-DATA 4, MX6_MMDC_P1_MPRDDQBY0DL, 0x33333333
-DATA 4, MX6_MMDC_P1_MPRDDQBY1DL, 0x33333333
-DATA 4, MX6_MMDC_P1_MPRDDQBY2DL, 0x33333333
-DATA 4, MX6_MMDC_P1_MPRDDQBY3DL, 0x33333333
-
diff --git a/board/udoo/udoo.c b/board/udoo/udoo.c
index e9236d444c..a8bd90a42a 100644
--- a/board/udoo/udoo.c
+++ b/board/udoo/udoo.c
@@ -42,28 +42,28 @@ DECLARE_GLOBAL_DATA_PTR;
 
 int dram_init(void)
 {
-	gd->ram_size = (phys_size_t)CONFIG_DDR_MB * 1024 * 1024;
+	gd->ram_size = imx_ddr_size();
 
 	return 0;
 }
 
 static iomux_v3_cfg_t const uart2_pads[] = {
-	MX6_PAD_EIM_D26__UART2_TX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL),
-	MX6_PAD_EIM_D27__UART2_RX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL),
+	IOMUX_PADS(PAD_EIM_D26__UART2_TX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL)),
+	IOMUX_PADS(PAD_EIM_D27__UART2_RX_DATA | MUX_PAD_CTRL(UART_PAD_CTRL)),
 };
 
 static iomux_v3_cfg_t const usdhc3_pads[] = {
-	MX6_PAD_SD3_CLK__SD3_CLK    | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD3_CMD__SD3_CMD    | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD3_DAT0__SD3_DATA0 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD3_DAT1__SD3_DATA1 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD3_DAT2__SD3_DATA2 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
-	MX6_PAD_SD3_DAT3__SD3_DATA3 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+	IOMUX_PADS(PAD_SD3_CLK__SD3_CLK    | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_CMD__SD3_CMD    | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT0__SD3_DATA0 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT1__SD3_DATA1 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT2__SD3_DATA2 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
+	IOMUX_PADS(PAD_SD3_DAT3__SD3_DATA3 | MUX_PAD_CTRL(USDHC_PAD_CTRL)),
 };
 
 static iomux_v3_cfg_t const wdog_pads[] = {
-	MX6_PAD_EIM_A24__GPIO5_IO04 | MUX_PAD_CTRL(NO_PAD_CTRL),
-	MX6_PAD_EIM_D19__GPIO3_IO19,
+	IOMUX_PADS(PAD_EIM_A24__GPIO5_IO04 | MUX_PAD_CTRL(NO_PAD_CTRL)),
+	IOMUX_PADS(PAD_EIM_D19__GPIO3_IO19),
 };
 
 int mx6_rgmii_rework(struct phy_device *phydev)
@@ -96,43 +96,43 @@ int mx6_rgmii_rework(struct phy_device *phydev)
 }
 
 static iomux_v3_cfg_t const enet_pads1[] = {
-	MX6_PAD_ENET_MDIO__ENET_MDIO		| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET_MDC__ENET_MDC		| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_TXC__RGMII_TXC	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_TD0__RGMII_TD0	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_TD1__RGMII_TD1	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_TD2__RGMII_TD2	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_TD3__RGMII_TD3	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_TX_CTL__RGMII_TX_CTL	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_ENET_REF_CLK__ENET_TX_CLK	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_RXC__RGMII_RXC	| MUX_PAD_CTRL(ENET_PAD_CTRL),
+	IOMUX_PADS(PAD_ENET_MDIO__ENET_MDIO		| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_ENET_MDC__ENET_MDC		| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_TXC__RGMII_TXC	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_TD0__RGMII_TD0	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_TD1__RGMII_TD1	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_TD2__RGMII_TD2	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_TD3__RGMII_TD3	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_TX_CTL__RGMII_TX_CTL	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_ENET_REF_CLK__ENET_TX_CLK	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_RXC__RGMII_RXC	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
 	/* RGMII reset */
-	MX6_PAD_EIM_D23__GPIO3_IO23		| MUX_PAD_CTRL(NO_PAD_CTRL),
+	IOMUX_PADS(PAD_EIM_D23__GPIO3_IO23		| MUX_PAD_CTRL(NO_PAD_CTRL)),
 	/* Ethernet power supply */
-	MX6_PAD_EIM_EB3__GPIO2_IO31		| MUX_PAD_CTRL(NO_PAD_CTRL),
+	IOMUX_PADS(PAD_EIM_EB3__GPIO2_IO31		| MUX_PAD_CTRL(NO_PAD_CTRL)),
 	/* pin 32 - 1 - (MODE0) all */
-	MX6_PAD_RGMII_RD0__GPIO6_IO25		| MUX_PAD_CTRL(NO_PAD_CTRL),
+	IOMUX_PADS(PAD_RGMII_RD0__GPIO6_IO25		| MUX_PAD_CTRL(NO_PAD_CTRL)),
 	/* pin 31 - 1 - (MODE1) all */
-	MX6_PAD_RGMII_RD1__GPIO6_IO27		| MUX_PAD_CTRL(NO_PAD_CTRL),
+	IOMUX_PADS(PAD_RGMII_RD1__GPIO6_IO27		| MUX_PAD_CTRL(NO_PAD_CTRL)),
 	/* pin 28 - 1 - (MODE2) all */
-	MX6_PAD_RGMII_RD2__GPIO6_IO28		| MUX_PAD_CTRL(NO_PAD_CTRL),
+	IOMUX_PADS(PAD_RGMII_RD2__GPIO6_IO28		| MUX_PAD_CTRL(NO_PAD_CTRL)),
 	/* pin 27 - 1 - (MODE3) all */
-	MX6_PAD_RGMII_RD3__GPIO6_IO29		| MUX_PAD_CTRL(NO_PAD_CTRL),
+	IOMUX_PADS(PAD_RGMII_RD3__GPIO6_IO29		| MUX_PAD_CTRL(NO_PAD_CTRL)),
 	/* pin 33 - 1 - (CLK125_EN) 125Mhz clockout enabled */
-	MX6_PAD_RGMII_RX_CTL__GPIO6_IO24	| MUX_PAD_CTRL(NO_PAD_CTRL),
+	IOMUX_PADS(PAD_RGMII_RX_CTL__GPIO6_IO24	| MUX_PAD_CTRL(NO_PAD_CTRL)),
 };
 
 static iomux_v3_cfg_t const enet_pads2[] = {
-	MX6_PAD_RGMII_RD0__RGMII_RD0	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_RD1__RGMII_RD1	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_RD2__RGMII_RD2	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_RD3__RGMII_RD3	| MUX_PAD_CTRL(ENET_PAD_CTRL),
-	MX6_PAD_RGMII_RX_CTL__RGMII_RX_CTL	| MUX_PAD_CTRL(ENET_PAD_CTRL),
+	IOMUX_PADS(PAD_RGMII_RD0__RGMII_RD0	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_RD1__RGMII_RD1	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_RD2__RGMII_RD2	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_RD3__RGMII_RD3	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
+	IOMUX_PADS(PAD_RGMII_RX_CTL__RGMII_RX_CTL	| MUX_PAD_CTRL(ENET_PAD_CTRL)),
 };
 
 static void setup_iomux_enet(void)
 {
-	imx_iomux_v3_setup_multiple_pads(enet_pads1, ARRAY_SIZE(enet_pads1));
+	SETUP_IOMUX_PADS(enet_pads1);
 	udelay(20);
 	gpio_direction_output(IMX_GPIO_NR(2, 31), 1); /* Power supply on */
 
@@ -156,17 +156,17 @@ static void setup_iomux_enet(void)
 	gpio_free(IMX_GPIO_NR(6, 28));
 	gpio_free(IMX_GPIO_NR(6, 29));
 
-	imx_iomux_v3_setup_multiple_pads(enet_pads2, ARRAY_SIZE(enet_pads2));
+	SETUP_IOMUX_PADS(enet_pads2);
 }
 
 static void setup_iomux_uart(void)
 {
-	imx_iomux_v3_setup_multiple_pads(uart2_pads, ARRAY_SIZE(uart2_pads));
+	SETUP_IOMUX_PADS(uart2_pads);
 }
 
 static void setup_iomux_wdog(void)
 {
-	imx_iomux_v3_setup_multiple_pads(wdog_pads, ARRAY_SIZE(wdog_pads));
+	SETUP_IOMUX_PADS(wdog_pads);
 	gpio_direction_output(WDT_TRG, 0);
 	gpio_direction_output(WDT_EN, 1);
 	gpio_direction_input(WDT_TRG);
@@ -212,7 +212,7 @@ int board_eth_init(bd_t *bis)
 
 int board_mmc_init(bd_t *bis)
 {
-	imx_iomux_v3_setup_multiple_pads(usdhc3_pads, ARRAY_SIZE(usdhc3_pads));
+	SETUP_IOMUX_PADS(usdhc3_pads);
 	usdhc_cfg.sdhc_clk = mxc_get_clock(MXC_ESDHC3_CLK);
 	usdhc_cfg.max_bus_width = 4;
 
@@ -242,14 +242,29 @@ int board_init(void)
 	gd->bd->bi_boot_params = PHYS_SDRAM + 0x100;
 
 #ifdef CONFIG_CMD_SATA
-	setup_sata();
+	if (is_cpu_type(MXC_CPU_MX6Q))
+		setup_sata();
+#endif
+	return 0;
+}
+
+int board_late_init(void)
+{
+#ifdef CONFIG_ENV_VARS_UBOOT_RUNTIME_CONFIG
+	if (is_cpu_type(MXC_CPU_MX6Q))
+		setenv("board_rev", "MX6Q");
+	else
+		setenv("board_rev", "MX6DL");
 #endif
 	return 0;
 }
 
 int checkboard(void)
 {
-	puts("Board: Udoo\n");
+	if (is_cpu_type(MXC_CPU_MX6Q))
+		puts("Board: Udoo Quad\n");
+	else
+		puts("Board: Udoo DualLite\n");
 
 	return 0;
 }
diff --git a/board/udoo/udoo.cfg b/board/udoo/udoo.cfg
deleted file mode 100644
index 8d7ff25f7f..0000000000
--- a/board/udoo/udoo.cfg
+++ /dev/null
@@ -1,29 +0,0 @@
-/*
- * Copyright (C) 2013 Boundary Devices
- *
- * SPDX-License-Identifier:	GPL-2.0+
- *
- * Refer doc/README.imximage for more details about how-to configure
- * and create imximage boot image
- *
- * The syntax is taken as close as possible with the kwbimage
- */
-
-/* image version */
-IMAGE_VERSION 2
-
-/*
- * Boot Device : one of
- * spi, sd (the board has no nand neither onenand)
- */
-BOOT_FROM      sd
-
-#define __ASSEMBLY__
-#include <config.h>
-#include "asm/arch/mx6-ddr.h"
-#include "asm/arch/iomux.h"
-#include "asm/arch/crm_regs.h"
-
-#include "ddr-setup.cfg"
-#include "1066mhz_4x256mx16.cfg"
-#include "clocks.cfg"
diff --git a/board/udoo/udoo_spl.c b/board/udoo/udoo_spl.c
new file mode 100644
index 0000000000..a1154edf69
--- /dev/null
+++ b/board/udoo/udoo_spl.c
@@ -0,0 +1,271 @@
+/*
+ * Copyright (C) 2015 Udoo
+ * Author: Tungyi Lin <tungyilin1127@gmail.com>
+ *         Richard Hu <hakahu@gmail.com>
+ * Based on board/wandboard/spl.c
+ * SPDX-License-Identifier:     GPL-2.0+
+ */
+
+#include <asm/arch/clock.h>
+#include <asm/arch/imx-regs.h>
+#include <asm/arch/iomux.h>
+#include <asm/arch/mx6-pins.h>
+#include <asm/errno.h>
+#include <asm/gpio.h>
+#include <asm/imx-common/iomux-v3.h>
+#include <asm/imx-common/video.h>
+#include <mmc.h>
+#include <fsl_esdhc.h>
+#include <asm/arch/crm_regs.h>
+#include <asm/io.h>
+#include <asm/arch/sys_proto.h>
+#include <spl.h>
+
+DECLARE_GLOBAL_DATA_PTR;
+
+#if defined(CONFIG_SPL_BUILD)
+#include <asm/arch/mx6-ddr.h>
+
+/*
+ * Driving strength:
+ *   0x30 == 40 Ohm
+ *   0x28 == 48 Ohm
+ */
+#define IMX6DQ_DRIVE_STRENGTH		0x30
+#define IMX6SDL_DRIVE_STRENGTH	0x28
+
+/* configure MX6Q/DUAL mmdc DDR io registers */
+static struct mx6dq_iomux_ddr_regs mx6dq_ddr_ioregs = {
+	.dram_sdclk_0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdclk_1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_cas = IMX6DQ_DRIVE_STRENGTH,
+	.dram_ras = IMX6DQ_DRIVE_STRENGTH,
+	.dram_reset = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdcke0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdcke1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdba2 = 0x00000000,
+	.dram_sdodt0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdodt1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs2 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs3 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs4 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs5 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs6 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_sdqs7 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm0 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm1 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm2 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm3 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm4 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm5 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm6 = IMX6DQ_DRIVE_STRENGTH,
+	.dram_dqm7 = IMX6DQ_DRIVE_STRENGTH,
+};
+
+/* configure MX6Q/DUAL mmdc GRP io registers */
+static struct mx6dq_iomux_grp_regs mx6dq_grp_ioregs = {
+	.grp_ddr_type = 0x000c0000,
+	.grp_ddrmode_ctl = 0x00020000,
+	.grp_ddrpke = 0x00000000,
+	.grp_addds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_ctlds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_ddrmode = 0x00020000,
+	.grp_b0ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b1ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b2ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b3ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b4ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b5ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b6ds = IMX6DQ_DRIVE_STRENGTH,
+	.grp_b7ds = IMX6DQ_DRIVE_STRENGTH,
+};
+
+/* configure MX6SOLO/DUALLITE mmdc DDR io registers */
+struct mx6sdl_iomux_ddr_regs mx6sdl_ddr_ioregs = {
+	.dram_sdclk_0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdclk_1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_cas = IMX6SDL_DRIVE_STRENGTH,
+	.dram_ras = IMX6SDL_DRIVE_STRENGTH,
+	.dram_reset = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdcke0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdcke1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdba2 = 0x00000000,
+	.dram_sdodt0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdodt1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs2 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs3 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs4 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs5 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs6 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_sdqs7 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm0 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm1 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm2 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm3 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm4 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm5 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm6 = IMX6SDL_DRIVE_STRENGTH,
+	.dram_dqm7 = IMX6SDL_DRIVE_STRENGTH,
+};
+
+/* configure MX6SOLO/DUALLITE mmdc GRP io registers */
+struct mx6sdl_iomux_grp_regs mx6sdl_grp_ioregs = {
+	.grp_ddr_type = 0x000c0000,
+	.grp_ddrmode_ctl = 0x00020000,
+	.grp_ddrpke = 0x00000000,
+	.grp_addds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_ctlds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_ddrmode = 0x00020000,
+	.grp_b0ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b1ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b2ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b3ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b4ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b5ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b6ds = IMX6SDL_DRIVE_STRENGTH,
+	.grp_b7ds = IMX6SDL_DRIVE_STRENGTH,
+};
+
+/* MT41K128M16JT-125 */
+static struct mx6_ddr3_cfg mt41k128m16jt_125 = {
+	/* quad = 1066, duallite = 800 */
+	.mem_speed = 1066,
+	.density = 2,
+	.width = 16,
+	.banks = 8,
+	.rowaddr = 14,
+	.coladdr = 10,
+	.pagesz = 2,
+	.trcd = 1375,
+	.trcmin = 4875,
+	.trasmin = 3500,
+	.SRT = 0,
+};
+
+static struct mx6_mmdc_calibration mx6q_1g_mmdc_calib = {
+	.p0_mpwldectrl0 = 0x00350035,
+	.p0_mpwldectrl1 = 0x001F001F,
+	.p1_mpwldectrl0 = 0x00010001,
+	.p1_mpwldectrl1 = 0x00010001,
+	.p0_mpdgctrl0 = 0x43510360,
+	.p0_mpdgctrl1 = 0x0342033F,
+	.p1_mpdgctrl0 = 0x033F033F,
+	.p1_mpdgctrl1 = 0x03290266,
+	.p0_mprddlctl = 0x4B3E4141,
+	.p1_mprddlctl = 0x47413B4A,
+	.p0_mpwrdlctl = 0x42404843,
+	.p1_mpwrdlctl = 0x4C3F4C45,
+};
+
+static struct mx6_mmdc_calibration mx6dl_1g_mmdc_calib = {
+	.p0_mpwldectrl0 = 0x002F0038,
+	.p0_mpwldectrl1 = 0x001F001F,
+	.p1_mpwldectrl0 = 0x001F001F,
+	.p1_mpwldectrl1 = 0x001F001F,
+	.p0_mpdgctrl0 = 0x425C0251,
+	.p0_mpdgctrl1 = 0x021B021E,
+	.p1_mpdgctrl0 = 0x021B021E,
+	.p1_mpdgctrl1 = 0x01730200,
+	.p0_mprddlctl = 0x45474C45,
+	.p1_mprddlctl = 0x44464744,
+	.p0_mpwrdlctl = 0x3F3F3336,
+	.p1_mpwrdlctl = 0x32383630,
+};
+
+/* DDR 64bit 1GB */
+static struct mx6_ddr_sysinfo mem_qdl = {
+	.dsize = 2,
+	.cs1_mirror = 0,
+	/* config for full 4GB range so that get_mem_size() works */
+	.cs_density = 32,
+	.ncs = 1,
+	.bi_on = 1,
+	/* quad = 2, duallite = 1 */
+	.rtt_nom = 2,
+	/* quad = 2, duallite = 1 */
+	.rtt_wr = 2,
+	.ralat = 5,
+	.walat = 0,
+	.mif3_mode = 3,
+	.rst_to_cke = 0x23,
+	.sde_to_rst = 0x10,
+};
+
+static void ccgr_init(void)
+{
+	struct mxc_ccm_reg *ccm = (struct mxc_ccm_reg *)CCM_BASE_ADDR;
+
+	/* set the default clock gate to save power */
+	writel(0x00C03F3F, &ccm->CCGR0);
+	writel(0x0030FC03, &ccm->CCGR1);
+	writel(0x0FFFC000, &ccm->CCGR2);
+	writel(0x3FF00000, &ccm->CCGR3);
+	writel(0x00FFF300, &ccm->CCGR4);
+	writel(0x0F0000C3, &ccm->CCGR5);
+	writel(0x000003FF, &ccm->CCGR6);
+}
+
+static void gpr_init(void)
+{
+	struct iomuxc *iomux = (struct iomuxc *)IOMUXC_BASE_ADDR;
+
+	/* enable AXI cache for VDOA/VPU/IPU */
+	writel(0xF00000FF, &iomux->gpr[4]);
+	/* set IPU AXI-id0 Qos=0xf(bypass) AXI-id1 Qos=0x7 */
+	writel(0x007F007F, &iomux->gpr[6]);
+	writel(0x007F007F, &iomux->gpr[7]);
+}
+
+static void spl_dram_init(void)
+{
+	if (is_cpu_type(MXC_CPU_MX6DL)) {
+		mt41k128m16jt_125.mem_speed = 800;
+		mem_qdl.rtt_nom = 1;
+		mem_qdl.rtt_wr = 1;
+
+		mx6sdl_dram_iocfg(64, &mx6sdl_ddr_ioregs, &mx6sdl_grp_ioregs);
+		mx6_dram_cfg(&mem_qdl, &mx6dl_1g_mmdc_calib, &mt41k128m16jt_125);
+	} else if (is_cpu_type(MXC_CPU_MX6Q)) {
+		mt41k128m16jt_125.mem_speed = 1066;
+		mem_qdl.rtt_nom = 2;
+		mem_qdl.rtt_wr = 2;
+
+		mx6dq_dram_iocfg(64, &mx6dq_ddr_ioregs, &mx6dq_grp_ioregs);
+		mx6_dram_cfg(&mem_qdl, &mx6q_1g_mmdc_calib, &mt41k128m16jt_125);
+	}
+
+	udelay(100);
+}
+
+void board_init_f(ulong dummy)
+{
+	ccgr_init();
+
+	/* setup AIPS and disable watchdog */
+	arch_cpu_init();
+
+	gpr_init();
+
+	/* iomux */
+	board_early_init_f();
+
+	/* setup GP timer */
+	timer_init();
+
+	/* UART clocks enabled and gd valid - init serial console */
+	preloader_console_init();
+
+	/* DDR initialization */
+	spl_dram_init();
+
+	/* Clear the BSS. */
+	memset(__bss_start, 0, __bss_end - __bss_start);
+
+	/* load/boot image from boot device */
+	board_init_r(NULL, 0);
+}
+#endif
diff --git a/configs/udoo_defconfig b/configs/udoo_defconfig
new file mode 100644
index 0000000000..9fe30d361c
--- /dev/null
+++ b/configs/udoo_defconfig
@@ -0,0 +1,6 @@
+CONFIG_SPL=y
+CONFIG_ARM=y
+CONFIG_DM=y
+CONFIG_DM_THERMAL=y
+CONFIG_TARGET_UDOO=y
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=arch/arm/imx-common/spl_sd.cfg,MX6QDL"
diff --git a/configs/udoo_quad_defconfig b/configs/udoo_quad_defconfig
deleted file mode 100644
index 42c21c69d4..0000000000
--- a/configs/udoo_quad_defconfig
+++ /dev/null
@@ -1,5 +0,0 @@
-CONFIG_ARM=y
-CONFIG_TARGET_UDOO=y
-CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=board/udoo/udoo.cfg,MX6Q,DDR_MB=1024"
-# CONFIG_CMD_IMLS is not set
-# CONFIG_CMD_FLASH is not set
diff --git a/include/configs/udoo.h b/include/configs/udoo.h
index 910bf01688..f93b67a5ae 100644
--- a/include/configs/udoo.h
+++ b/include/configs/udoo.h
@@ -11,6 +11,10 @@
 
 #include "mx6_common.h"
 
+#define CONFIG_SPL_MMC_SUPPORT
+#define CONFIG_SPL_FAT_SUPPORT
+#include "imx6_spl.h"
+
 #define MACH_TYPE_UDOO		4800
 #define CONFIG_MACH_TYPE	MACH_TYPE_UDOO
 
@@ -18,6 +22,7 @@
 #define CONFIG_SYS_MALLOC_LEN		(2 * SZ_1M)
 
 #define CONFIG_BOARD_EARLY_INIT_F
+#define CONFIG_BOARD_LATE_INIT
 
 #define CONFIG_MXC_UART
 #define CONFIG_MXC_UART_BASE		UART2_BASE
@@ -58,7 +63,7 @@
 /* MMC Configuration */
 #define CONFIG_SYS_FSL_ESDHC_ADDR	0
 
-#define CONFIG_DEFAULT_FDT_FILE		"imx6q-udoo.dtb"
+#define CONFIG_ENV_VARS_UBOOT_RUNTIME_CONFIG
 
 #define CONFIG_EXTRA_ENV_SETTINGS \
 	"script=boot.scr\0" \
@@ -67,7 +72,7 @@
 	"splashpos=m,m\0" \
 	"fdt_high=0xffffffff\0" \
 	"initrd_high=0xffffffff\0" \
-	"fdt_file=" CONFIG_DEFAULT_FDT_FILE "\0" \
+	"fdt_file=undefined\0" \
 	"fdt_addr=0x18000000\0" \
 	"boot_fdt=try\0" \
 	"ip_dyn=yes\0" \
@@ -134,9 +139,17 @@
 			"fi; " \
 		"else " \
 			"bootz; " \
-		"fi;\0"
+		"fi;\0" \
+		"findfdt=" \
+			"if test $board_rev = MX6Q ; then " \
+				"setenv fdt_file imx6q-udoo.dtb; fi; " \
+			"if test $board_rev = MX6DL ; then " \
+				"setenv fdt_file imx6dl-udoo.dtb; fi; " \
+			"if test $fdt_file = undefined; then " \
+				"echo WARNING: Could not determine dtb to use; fi; \0"
 
 #define CONFIG_BOOTCOMMAND \
+	   "run findfdt; " \
 	   "mmc dev ${mmcdev}; if mmc rescan; then " \
 		   "if run loadbootscript; then " \
 			   "run bootscript; " \