[U-Boot] [PATCH v2] arm: imx: add i.MX53 Beckhoff CX9020 Embedded PC

[linux-kernel-dev at beckhoff.com <linux-kernel-dev@beckhoff.com>]

From: Patrick Bruenn <p.bruenn@beckhoff.com>

Add CX9020 board based on mx53loco.
Add simplified imx53 base device tree from kernel v4.8-rc8, to reuse
serial_mxc with DTE and prepare for device tree migration of other
functions and imx53 devices.

The CX9020 differs from i.MX53 Quick Start Board by:
- use uart2 instead of uart1
- DVI-D connector instead of VGA
- no audio
- CCAT FPGA connected to emi
- enable rtc

Signed-off-by: Patrick Bruenn <p.bruenn@beckhoff.com>

---

Changes in v2:
- remove #include <asm/errno.h> from mx53cx9020.c
- remove obsolete CONFIG_CMD_CCAT from mx53cx9020.h

 arch/arm/Kconfig                             |   7 +
 arch/arm/dts/Makefile                        |   2 +
 arch/arm/dts/imx53-cx9020.dts                |  26 ++
 arch/arm/dts/imx53.dtsi                      |  41 ++
 board/beckhoff/mx53cx9020/Kconfig            |  15 +
 board/beckhoff/mx53cx9020/MAINTAINERS        |   6 +
 board/beckhoff/mx53cx9020/Makefile           |   9 +
 board/beckhoff/mx53cx9020/imximage.cfg       |  82 ++++
 board/beckhoff/mx53cx9020/mx53cx9020.c       | 563 +++++++++++++++++++++++++++
 board/beckhoff/mx53cx9020/mx53cx9020_video.c |  83 ++++
 configs/mx53cx9020_defconfig                 |  19 +
 include/configs/mx53cx9020.h                 | 208 ++++++++++
 12 files changed, 1061 insertions(+)
 create mode 100644 arch/arm/dts/imx53-cx9020.dts
 create mode 100644 arch/arm/dts/imx53.dtsi
 create mode 100644 board/beckhoff/mx53cx9020/Kconfig
 create mode 100644 board/beckhoff/mx53cx9020/MAINTAINERS
 create mode 100644 board/beckhoff/mx53cx9020/Makefile
 create mode 100644 board/beckhoff/mx53cx9020/imximage.cfg
 create mode 100644 board/beckhoff/mx53cx9020/mx53cx9020.c
 create mode 100644 board/beckhoff/mx53cx9020/mx53cx9020_video.c
 create mode 100644 configs/mx53cx9020_defconfig
 create mode 100644 include/configs/mx53cx9020.h

diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index f55d5b2..ece610a 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -480,6 +480,12 @@ config TARGET_MX53LOCO
 	bool "Support mx53loco"
 	select CPU_V7
 
+config TARGET_MX53CX9020
+	bool "Support mx53cx9020"
+	select CPU_V7
+	select DM
+	select DM_SERIAL
+
 config TARGET_MX53SMD
 	bool "Support mx53smd"
 	select CPU_V7
@@ -965,6 +971,7 @@ source "board/freescale/mx51evk/Kconfig"
 source "board/freescale/mx53ard/Kconfig"
 source "board/freescale/mx53evk/Kconfig"
 source "board/freescale/mx53loco/Kconfig"
+source "board/beckhoff/mx53cx9020/Kconfig"
 source "board/freescale/mx53smd/Kconfig"
 source "board/freescale/s32v234evb/Kconfig"
 source "board/freescale/vf610twr/Kconfig"
diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
index 04d47e7..3f753ba 100644
--- a/arch/arm/dts/Makefile
+++ b/arch/arm/dts/Makefile
@@ -286,6 +286,8 @@ dtb-$(CONFIG_MX6) += imx6ull-14x14-evk.dtb \
 	imx6dl-icore.dtb \
 	imx6q-icore.dtb
 
+dtb-$(CONFIG_TARGET_MX53CX9020) += imx53-cx9020.dtb
+
 dtb-$(CONFIG_SOC_KEYSTONE) += k2hk-evm.dtb \
 	k2l-evm.dtb \
 	k2e-evm.dtb \
diff --git a/arch/arm/dts/imx53-cx9020.dts b/arch/arm/dts/imx53-cx9020.dts
new file mode 100644
index 0000000..4fc6214
--- /dev/null
+++ b/arch/arm/dts/imx53-cx9020.dts
@@ -0,0 +1,26 @@
+/*
+ * Copyright 2016 Beckhoff Automation
+ * Copyright 2011 Freescale Semiconductor, Inc.
+ * Copyright 2011 Linaro Ltd.
+ *
+ * SPDX-License-Identifier:     GPL-2.0+ or X11
+ */
+
+/dts-v1/;
+#include "imx53.dtsi"
+
+/ {
+	model = "Beckhoff CX9020-0100 i.MX53";
+	compatible = "fsl,imx53-qsb", "fsl,imx53";
+
+	chosen {
+		stdout-path = &uart2;
+	};
+};
+
+&uart2 {
+	pinctrl-names = "default";
+	uart-has-rtscts;
+	fsl,dte-mode;
+	status = "okay";
+};
diff --git a/arch/arm/dts/imx53.dtsi b/arch/arm/dts/imx53.dtsi
new file mode 100644
index 0000000..3da0765
--- /dev/null
+++ b/arch/arm/dts/imx53.dtsi
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2016 Beckhoff Automation
+ * Copyright 2011 Freescale Semiconductor, Inc.
+ * Copyright 2011 Linaro Ltd.
+ *
+ * The code contained herein is licensed under the GNU General Public
+ * License. You may obtain a copy of the GNU General Public License
+ * Version 2 or later at the following locations:
+ *
+ * http://www.opensource.org/licenses/gpl-license.html
+ * http://www.gnu.org/copyleft/gpl.html
+ */
+
+#include "skeleton.dtsi"
+
+/ {
+	aliases {
+		serial1 = &uart2;
+	};
+
+	soc {
+		#address-cells = <1>;
+		#size-cells = <1>;
+		compatible = "simple-bus";
+		ranges;
+
+		aips at 50000000 { /* AIPS1 */
+			compatible = "fsl,aips-bus", "simple-bus";
+			#address-cells = <1>;
+			#size-cells = <1>;
+			reg = <0x50000000 0x10000000>;
+			ranges;
+
+			uart2: serial at 53fc0000 {
+				compatible = "fsl,imx7d-uart", "fsl,imx53-uart", "fsl,imx21-uart";
+				reg = <0x53fc0000 0x4000>;
+				status = "disabled";
+			};
+		};
+	};
+};
diff --git a/board/beckhoff/mx53cx9020/Kconfig b/board/beckhoff/mx53cx9020/Kconfig
new file mode 100644
index 0000000..6b60ce3
--- /dev/null
+++ b/board/beckhoff/mx53cx9020/Kconfig
@@ -0,0 +1,15 @@
+if TARGET_MX53CX9020
+
+config SYS_BOARD
+	default "mx53cx9020"
+
+config SYS_VENDOR
+	default "beckhoff"
+
+config SYS_SOC
+	default "mx5"
+
+config SYS_CONFIG_NAME
+	default "mx53cx9020"
+
+endif
diff --git a/board/beckhoff/mx53cx9020/MAINTAINERS b/board/beckhoff/mx53cx9020/MAINTAINERS
new file mode 100644
index 0000000..f84413e
--- /dev/null
+++ b/board/beckhoff/mx53cx9020/MAINTAINERS
@@ -0,0 +1,6 @@
+MX53 CX9020
+M:	Patrick Bruenn <p.bruenn@beckhoff.com>
+S:	Maintained
+F:	board/beckhoff/mx53cx9020/
+F:	include/configs/mx53cx9020.h
+F:	configs/mx53cx9020_defconfig
diff --git a/board/beckhoff/mx53cx9020/Makefile b/board/beckhoff/mx53cx9020/Makefile
new file mode 100644
index 0000000..a01c0f1
--- /dev/null
+++ b/board/beckhoff/mx53cx9020/Makefile
@@ -0,0 +1,9 @@
+#
+# Copyright (C) 2015  Beckhoff Automation GmbH & Co. KG
+# Patrick Bruenn <p.bruenn@beckhoff.com>
+#
+# SPDX-License-Identifier:	GPL-2.0+
+#
+
+obj-y               += mx53cx9020.o
+obj-$(CONFIG_VIDEO) += mx53cx9020_video.o
diff --git a/board/beckhoff/mx53cx9020/imximage.cfg b/board/beckhoff/mx53cx9020/imximage.cfg
new file mode 100644
index 0000000..c6bdc72
--- /dev/null
+++ b/board/beckhoff/mx53cx9020/imximage.cfg
@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2015  Beckhoff Automation GmbH
+ * Patrick Bruenn <p.bruenn@beckhoff.com>
+ *
+ * Based on Freescale's Linux i.MX mx53loco/imximage.cfg file:
+ * Copyright (C) 2011 Freescale Semiconductor, Inc.
+ *
+ * SPDX-License-Identifier:	GPL-2.0+
+ */
+
+/* image version */
+IMAGE_VERSION 2
+
+/*
+ * Boot Device : one of
+ * spi, sd (the board has no nand neither onenand)
+ */
+BOOT_FROM	sd
+
+/*
+ * 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
+ */
+DATA 4 0x53fa8554 0x00300000
+DATA 4 0x53fa8558 0x00300040
+DATA 4 0x53fa8560 0x00300000
+DATA 4 0x53fa8564 0x00300040
+DATA 4 0x53fa8568 0x00300040
+DATA 4 0x53fa8570 0x00300000
+DATA 4 0x53fa8574 0x00300000
+DATA 4 0x53fa8578 0x00300000
+DATA 4 0x53fa857c 0x00300040
+DATA 4 0x53fa8580 0x00300040
+DATA 4 0x53fa8584 0x00300000
+DATA 4 0x53fa8588 0x00300000
+DATA 4 0x53fa8590 0x00300040
+DATA 4 0x53fa8594 0x00300000
+DATA 4 0x53fa86f0 0x00300000
+DATA 4 0x53fa86f4 0x00000000
+DATA 4 0x53fa86fc 0x00000000
+DATA 4 0x53fa8714 0x00000000
+DATA 4 0x53fa8718 0x00300000
+DATA 4 0x53fa871c 0x00300000
+DATA 4 0x53fa8720 0x00300000
+DATA 4 0x53fa8724 0x00000000
+DATA 4 0x53fa8728 0x00300000
+DATA 4 0x53fa872c 0x00300000
+DATA 4 0x63fd9088 0x35343535
+DATA 4 0x63fd9090 0x4d444c44
+DATA 4 0x63fd907c 0x01370138
+DATA 4 0x63fd9080 0x013b013c
+DATA 4 0x63fd9018 0x00011740
+DATA 4 0x63fd9000 0x83190000
+DATA 4 0x63fd900c 0x40425333
+DATA 4 0x63fd9010 0xb68e8a63
+DATA 4 0x63fd9014 0x01ff00db
+DATA 4 0x63fd902c 0x000026d2
+DATA 4 0x63fd9030 0x009f0e21
+DATA 4 0x63fd9008 0x12273030
+DATA 4 0x63fd9004 0x0002002d
+DATA 4 0x63fd901c 0x00008032
+DATA 4 0x63fd901c 0x00008033
+DATA 4 0x63fd901c 0x00028031
+DATA 4 0x63fd901c 0x052080b0
+DATA 4 0x63fd901c 0x04008040
+DATA 4 0x63fd9000 0xc3190000
+DATA 4 0x63fd901c 0x0000803a
+DATA 4 0x63fd901c 0x0000803b
+DATA 4 0x63fd901c 0x00028039
+DATA 4 0x63fd901c 0x05208138
+DATA 4 0x63fd901c 0x04008048
+DATA 4 0x63fd9020 0x00005800
+DATA 4 0x63fd9040 0x05380003
+DATA 4 0x63fd9058 0x00022227
+DATA 4 0x63fd901c 0x00000000
diff --git a/board/beckhoff/mx53cx9020/mx53cx9020.c b/board/beckhoff/mx53cx9020/mx53cx9020.c
new file mode 100644
index 0000000..c92ec15
--- /dev/null
+++ b/board/beckhoff/mx53cx9020/mx53cx9020.c
@@ -0,0 +1,563 @@
+/*
+ * Copyright (C) 2015  Beckhoff Automation GmbH & Co. KG
+ * Patrick Bruenn <p.bruenn@beckhoff.com>
+ *
+ * Based on Freescale's Linux i.MX mx53loco.c file:
+ * Copyright (C) 2011 Freescale Semiconductor, Inc.
+ *
+ * SPDX-License-Identifier:	GPL-2.0+
+ */
+
+#include <common.h>
+#include <asm/io.h>
+#include <asm/arch/imx-regs.h>
+#include <asm/arch/sys_proto.h>
+#include <asm/arch/crm_regs.h>
+#include <asm/arch/clock.h>
+#include <asm/arch/iomux-mx53.h>
+#include <asm/arch/clock.h>
+#include <asm/imx-common/mx5_video.h>
+#include <netdev.h>
+#include <i2c.h>
+#include <mmc.h>
+#include <fsl_esdhc.h>
+#include <asm/gpio.h>
+#include <linux/fb.h>
+#include <ipu_pixfmt.h>
+#include <fs.h>
+#include <dm/platdata.h>
+#include <dm/platform_data/serial_mxc.h>
+
+enum LED_GPIOS {
+	GPIO_SD1_CD = IMX_GPIO_NR(1, 1),
+	GPIO_SD2_CD = IMX_GPIO_NR(1, 4),
+	GPIO_LED_SD2_R = IMX_GPIO_NR(3, 16),
+	GPIO_LED_SD2_B = IMX_GPIO_NR(3, 17),
+	GPIO_LED_SD2_G = IMX_GPIO_NR(3, 18),
+	GPIO_LED_SD1_R = IMX_GPIO_NR(3, 19),
+	GPIO_LED_SD1_B = IMX_GPIO_NR(3, 20),
+	GPIO_LED_SD1_G = IMX_GPIO_NR(3, 21),
+	GPIO_LED_PWR_R = IMX_GPIO_NR(3, 22),
+	GPIO_LED_PWR_B = IMX_GPIO_NR(3, 23),
+	GPIO_LED_PWR_G = IMX_GPIO_NR(3, 24),
+	GPIO_SUPS_INT = IMX_GPIO_NR(3, 31),
+	GPIO_C3_CONFIG = IMX_GPIO_NR(6, 8),
+	GPIO_C3_STATUS = IMX_GPIO_NR(6, 7),
+	GPIO_C3_DONE = IMX_GPIO_NR(6, 9),
+};
+
+#define CCAT_BASE_ADDR ((void *)0xf0000000)
+#define CCAT_END_ADDR (CCAT_BASE_ADDR + (1024 * 1024 * 32))
+#define CCAT_SIGN_ADDR (CCAT_BASE_ADDR + 12)
+static const char CCAT_SIGNATURE[] = "CCAT";
+
+static const u32 CCAT_MODE_CONFIG = 0x0024DC81;
+static const u32 CCAT_MODE_RUN = 0x0033DC8F;
+
+DECLARE_GLOBAL_DATA_PTR;
+
+static uint32_t mx53_dram_size[2];
+
+phys_size_t get_effective_memsize(void)
+{
+	/*
+	 * WARNING: We must override get_effective_memsize() function here
+	 * to report only the size of the first DRAM bank. This is to make
+	 * U-Boot relocator place U-Boot into valid memory, that is, at the
+	 * end of the first DRAM bank. If we did not override this function
+	 * like so, U-Boot would be placed at the address of the first DRAM
+	 * bank + total DRAM size - sizeof(uboot), which in the setup where
+	 * each DRAM bank contains 512MiB of DRAM would result in placing
+	 * U-Boot into invalid memory area close to the end of the first
+	 * DRAM bank.
+	 */
+	return mx53_dram_size[0];
+}
+
+int dram_init(void)
+{
+	mx53_dram_size[0] = get_ram_size((void *)PHYS_SDRAM_1, 1 << 30);
+	mx53_dram_size[1] = get_ram_size((void *)PHYS_SDRAM_2, 1 << 30);
+
+	gd->ram_size = mx53_dram_size[0] + mx53_dram_size[1];
+
+	return 0;
+}
+
+void dram_init_banksize(void)
+{
+	gd->bd->bi_dram[0].start = PHYS_SDRAM_1;
+	gd->bd->bi_dram[0].size = mx53_dram_size[0];
+
+	gd->bd->bi_dram[1].start = PHYS_SDRAM_2;
+	gd->bd->bi_dram[1].size = mx53_dram_size[1];
+}
+
+u32 get_board_rev(void)
+{
+	struct iim_regs *iim = (struct iim_regs *)IMX_IIM_BASE;
+	struct fuse_bank *bank = &iim->bank[0];
+	struct fuse_bank0_regs *fuse =
+	    (struct fuse_bank0_regs *)bank->fuse_regs;
+
+	int rev = readl(&fuse->gp[6]);
+
+	return (get_cpu_rev() & ~(0xF << 8)) | (rev & 0xF) << 8;
+}
+
+/*
+ * Set CCAT mode
+ * @mode: use CCAT_MODE_CONFIG or CCAT_MODE_RUN
+ */
+void weim_cs0_settings(u32 mode)
+{
+	struct weim *weim_regs = (struct weim *)WEIM_BASE_ADDR;
+
+	writel(0x0, &weim_regs->cs0gcr1);
+	writel(mode, &weim_regs->cs0gcr1);
+	writel(0x00001002, &weim_regs->cs0gcr2);
+
+	writel(0x04000000, &weim_regs->cs0rcr1);
+	writel(0x00000000, &weim_regs->cs0rcr2);
+
+	writel(0x04000000, &weim_regs->cs0wcr1);
+	writel(0x00000000, &weim_regs->cs0wcr2);
+}
+
+static void setup_iomux_eim(void)
+{
+	static const iomux_v3_cfg_t eim_pads[] = {
+		NEW_PAD_CTRL(MX53_PAD_EIM_OE__EMI_WEIM_OE,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_WAIT__EMI_WEIM_WAIT,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_LBA__EMI_WEIM_LBA,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_RW__EMI_WEIM_RW,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_EB0__EMI_WEIM_EB_0,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_EB1__EMI_WEIM_EB_1,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_EB2__EMI_WEIM_EB_2,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_EB3__EMI_WEIM_EB_3,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_CS0__EMI_WEIM_CS_0,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_CS1__EMI_WEIM_CS_1,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_A16__EMI_WEIM_A_16,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_A17__EMI_WEIM_A_17,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_A18__EMI_WEIM_A_18,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_A19__EMI_WEIM_A_19,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_A20__EMI_WEIM_A_20,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_A21__EMI_WEIM_A_21,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_A22__EMI_WEIM_A_22,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA0__EMI_NAND_WEIM_DA_0,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA1__EMI_NAND_WEIM_DA_1,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA2__EMI_NAND_WEIM_DA_2,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA3__EMI_NAND_WEIM_DA_3,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA4__EMI_NAND_WEIM_DA_4,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA5__EMI_NAND_WEIM_DA_5,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA6__EMI_NAND_WEIM_DA_6,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA7__EMI_NAND_WEIM_DA_7,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA8__EMI_NAND_WEIM_DA_8,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA9__EMI_NAND_WEIM_DA_9,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA10__EMI_NAND_WEIM_DA_10,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA11__EMI_NAND_WEIM_DA_11,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA12__EMI_NAND_WEIM_DA_12,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA13__EMI_NAND_WEIM_DA_13,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA14__EMI_NAND_WEIM_DA_14,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_EIM_DA15__EMI_NAND_WEIM_DA_15,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA0__EMI_NANDF_D_0,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA1__EMI_NANDF_D_1,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA2__EMI_NANDF_D_2,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA3__EMI_NANDF_D_3,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA4__EMI_NANDF_D_4,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA5__EMI_NANDF_D_5,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA6__EMI_NANDF_D_6,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA7__EMI_NANDF_D_7,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA8__EMI_NANDF_D_8,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA9__EMI_NANDF_D_9,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA10__EMI_NANDF_D_10,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA11__EMI_NANDF_D_11,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA12__EMI_NANDF_D_12,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA13__EMI_NANDF_D_13,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA14__EMI_NANDF_D_14,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_PATA_DATA15__EMI_NANDF_D_15,
+			     PAD_CTL_PKE | PAD_CTL_DSE_HIGH),
+	};
+	imx_iomux_v3_setup_multiple_pads(eim_pads, ARRAY_SIZE(eim_pads));
+
+	imx_iomux_v3_setup_pad(MX53_PAD_NANDF_CLE__GPIO6_7);
+	gpio_direction_input(GPIO_C3_STATUS);
+	imx_iomux_v3_setup_pad(MX53_PAD_NANDF_WP_B__GPIO6_9);
+	gpio_direction_input(GPIO_C3_DONE);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_NANDF_ALE__GPIO6_8);
+	gpio_direction_output(GPIO_C3_CONFIG, 1);
+
+	weim_cs0_settings(CCAT_MODE_RUN);
+}
+
+static void setup_iomux_sups(void)
+{
+	imx_iomux_v3_setup_pad(NEW_PAD_CTRL
+			       (MX53_PAD_EIM_D31__GPIO3_31,
+				PAD_CTL_PUS_100K_DOWN));
+	gpio_direction_input(GPIO_SUPS_INT);
+
+	static const int BLINK_INTERVALL = 50000;
+	int status = 1;
+	while (gpio_get_value(GPIO_SUPS_INT)) {
+		/* signal "CX SUPS power fail" */
+		gpio_set_value(GPIO_LED_PWR_R,
+			       (++status / BLINK_INTERVALL) % 2);
+	}
+
+	/* signal "CX power up" */
+	gpio_set_value(GPIO_LED_PWR_R, 1);
+}
+
+static void setup_iomux_leds(void)
+{
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D16__GPIO3_16);
+	gpio_direction_output(GPIO_LED_SD2_R, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D17__GPIO3_17);
+	gpio_direction_output(GPIO_LED_SD2_B, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D18__GPIO3_18);
+	gpio_direction_output(GPIO_LED_SD2_G, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D19__GPIO3_19);
+	gpio_direction_output(GPIO_LED_SD1_R, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D20__GPIO3_20);
+	gpio_direction_output(GPIO_LED_SD1_B, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D21__GPIO3_21);
+	gpio_direction_output(GPIO_LED_SD1_G, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D22__GPIO3_22);
+	gpio_direction_output(GPIO_LED_PWR_R, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D23__GPIO3_23);
+	gpio_direction_output(GPIO_LED_PWR_B, 0);
+
+	imx_iomux_v3_setup_pad(MX53_PAD_EIM_D24__GPIO3_24);
+	gpio_direction_output(GPIO_LED_PWR_G, 0);
+}
+
+#define UART_PAD_CTRL	(PAD_CTL_HYS | PAD_CTL_DSE_HIGH | \
+			 PAD_CTL_PUS_100K_UP | PAD_CTL_ODE)
+
+#define MX53_PAD_EIM_D26__UART2_RXD_MUX \
+	IOMUX_PAD(0x48c, 0x144, 2, 0x880, 0, MX53_UART_PAD_CTRL)
+#define MX53_PAD_EIM_D27__UART2_TXD_MUX \
+	IOMUX_PAD(0x490, 0x148, 2, 0x000, 0, MX53_UART_PAD_CTRL)
+#define MX53_PAD_EIM_D28__UART2_RTS \
+	IOMUX_PAD(0x494, 0x14c, 2, 0x87C, 0, MX53_UART_PAD_CTRL)
+#define MX53_PAD_EIM_D29__UART2_CTS \
+	IOMUX_PAD(0x498, 0x150, 2, 0x000, 0, MX53_UART_PAD_CTRL)
+static void setup_iomux_uart(void)
+{
+	static const iomux_v3_cfg_t uart_pads[] = {
+		NEW_PAD_CTRL(MX53_PAD_EIM_D26__UART2_RXD_MUX, UART_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_EIM_D27__UART2_TXD_MUX, UART_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_EIM_D28__UART2_RTS, UART_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_EIM_D29__UART2_CTS, UART_PAD_CTRL),
+	};
+
+	imx_iomux_v3_setup_multiple_pads(uart_pads, ARRAY_SIZE(uart_pads));
+}
+
+#ifdef CONFIG_USB_EHCI_MX5
+int board_ehci_hcd_init(int port)
+{
+	/* request VBUS power enable pin, GPIO7_8 */
+	imx_iomux_v3_setup_pad(MX53_PAD_PATA_DA_2__GPIO7_8);
+	gpio_direction_output(IMX_GPIO_NR(7, 8), 1);
+	return 0;
+}
+#endif
+
+static void setup_iomux_fec(void)
+{
+	static const iomux_v3_cfg_t fec_pads[] = {
+		NEW_PAD_CTRL(MX53_PAD_FEC_MDIO__FEC_MDIO, PAD_CTL_HYS |
+			     PAD_CTL_DSE_HIGH | PAD_CTL_PUS_22K_UP |
+			     PAD_CTL_ODE),
+		NEW_PAD_CTRL(MX53_PAD_FEC_MDC__FEC_MDC, PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_FEC_RXD1__FEC_RDATA_1,
+			     PAD_CTL_HYS | PAD_CTL_PKE),
+		NEW_PAD_CTRL(MX53_PAD_FEC_RXD0__FEC_RDATA_0,
+			     PAD_CTL_HYS | PAD_CTL_PKE),
+		NEW_PAD_CTRL(MX53_PAD_FEC_TXD1__FEC_TDATA_1, PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_FEC_TXD0__FEC_TDATA_0, PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_FEC_TX_EN__FEC_TX_EN, PAD_CTL_DSE_HIGH),
+		NEW_PAD_CTRL(MX53_PAD_FEC_REF_CLK__FEC_TX_CLK,
+			     PAD_CTL_HYS | PAD_CTL_PKE),
+		NEW_PAD_CTRL(MX53_PAD_FEC_RX_ER__FEC_RX_ER,
+			     PAD_CTL_HYS | PAD_CTL_PKE),
+		NEW_PAD_CTRL(MX53_PAD_FEC_CRS_DV__FEC_RX_DV,
+			     PAD_CTL_HYS | PAD_CTL_PKE),
+	};
+
+	imx_iomux_v3_setup_multiple_pads(fec_pads, ARRAY_SIZE(fec_pads));
+}
+
+#ifdef CONFIG_FSL_ESDHC
+struct fsl_esdhc_cfg esdhc_cfg[2] = {
+	{MMC_SDHC1_BASE_ADDR},
+	{MMC_SDHC2_BASE_ADDR},
+};
+
+int board_mmc_getcd(struct mmc *mmc)
+{
+	struct fsl_esdhc_cfg *cfg = (struct fsl_esdhc_cfg *)mmc->priv;
+	int ret;
+
+	imx_iomux_v3_setup_pad(MX53_PAD_GPIO_1__GPIO1_1);
+	gpio_direction_input(GPIO_SD1_CD);
+	imx_iomux_v3_setup_pad(MX53_PAD_GPIO_4__GPIO1_4);
+	gpio_direction_input(GPIO_SD2_CD);
+
+	if (cfg->esdhc_base == MMC_SDHC1_BASE_ADDR)
+		ret = !gpio_get_value(GPIO_SD1_CD);
+	else
+		ret = !gpio_get_value(GPIO_SD2_CD);
+
+	return ret;
+}
+
+#define SD_CMD_PAD_CTRL		(PAD_CTL_HYS | PAD_CTL_DSE_HIGH | \
+				 PAD_CTL_PUS_100K_UP)
+#define SD_PAD_CTRL		(PAD_CTL_HYS | PAD_CTL_PUS_47K_UP | \
+				 PAD_CTL_DSE_HIGH)
+
+int board_mmc_init(bd_t *bis)
+{
+	static const iomux_v3_cfg_t sd1_pads[] = {
+		NEW_PAD_CTRL(MX53_PAD_SD1_CMD__ESDHC1_CMD, SD_CMD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD1_CLK__ESDHC1_CLK, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD1_DATA0__ESDHC1_DAT0, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD1_DATA1__ESDHC1_DAT1, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD1_DATA2__ESDHC1_DAT2, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD1_DATA3__ESDHC1_DAT3, SD_PAD_CTRL),
+		MX53_PAD_GPIO_1__GPIO1_1,
+	};
+
+	static const iomux_v3_cfg_t sd2_pads[] = {
+		NEW_PAD_CTRL(MX53_PAD_SD2_CMD__ESDHC2_CMD, SD_CMD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD2_CLK__ESDHC2_CLK, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD2_DATA0__ESDHC2_DAT0, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD2_DATA1__ESDHC2_DAT1, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD2_DATA2__ESDHC2_DAT2, SD_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_SD2_DATA3__ESDHC2_DAT3, SD_PAD_CTRL),
+		MX53_PAD_GPIO_4__GPIO1_4,
+	};
+
+	u32 index;
+	int ret;
+
+	esdhc_cfg[0].sdhc_clk = mxc_get_clock(MXC_ESDHC_CLK);
+	esdhc_cfg[1].sdhc_clk = mxc_get_clock(MXC_ESDHC2_CLK);
+
+	for (index = 0; index < CONFIG_SYS_FSL_ESDHC_NUM; index++) {
+		switch (index) {
+		case 0:
+			imx_iomux_v3_setup_multiple_pads(sd1_pads,
+							 ARRAY_SIZE(sd1_pads));
+			break;
+		case 1:
+			imx_iomux_v3_setup_multiple_pads(sd2_pads,
+							 ARRAY_SIZE(sd2_pads));
+			break;
+		default:
+			printf("Warning: you configured more ESDHC controller(%d) as supported by the board(2)\n",
+			       CONFIG_SYS_FSL_ESDHC_NUM);
+			return -EINVAL;
+		}
+		ret = fsl_esdhc_initialize(bis, &esdhc_cfg[index]);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+#endif
+
+#define I2C_PAD_CTRL	(PAD_CTL_SRE_FAST | PAD_CTL_DSE_HIGH | \
+			 PAD_CTL_PUS_100K_UP | PAD_CTL_ODE)
+
+static void setup_iomux_i2c(void)
+{
+	static const iomux_v3_cfg_t i2c1_pads[] = {
+		NEW_PAD_CTRL(MX53_PAD_CSI0_DAT8__I2C1_SDA, I2C_PAD_CTRL),
+		NEW_PAD_CTRL(MX53_PAD_CSI0_DAT9__I2C1_SCL, I2C_PAD_CTRL),
+	};
+
+	imx_iomux_v3_setup_multiple_pads(i2c1_pads, ARRAY_SIZE(i2c1_pads));
+}
+
+static int power_init(void)
+{
+	/* nothing to do on CX9020 */
+	return 0;
+}
+
+static void clock_1GHz(void)
+{
+	int ret;
+	u32 ref_clk = MXC_HCLK;
+	/*
+	 * After increasing voltage to 1.25V, we can switch
+	 * CPU clock to 1GHz and DDR to 400MHz safely
+	 */
+	ret = mxc_set_clock(ref_clk, 1000, MXC_ARM_CLK);
+	if (ret)
+		printf("CPU:   Switch CPU clock to 1GHZ failed\n");
+
+	ret = mxc_set_clock(ref_clk, 400, MXC_PERIPH_CLK);
+	ret |= mxc_set_clock(ref_clk, 400, MXC_DDR_CLK);
+	if (ret)
+		printf("CPU:   Switch DDR clock to 400MHz failed\n");
+}
+
+int board_early_init_f(void)
+{
+	setup_iomux_leds();
+	setup_iomux_sups();
+	setup_iomux_uart();
+	setup_iomux_fec();
+	setup_iomux_eim();
+	setup_iomux_lcd();
+
+	return 0;
+}
+
+/*
+ * Do not overwrite the console
+ * Use always serial for U-Boot console
+ */
+int overwrite_console(void)
+{
+	return 1;
+}
+
+int board_init(void)
+{
+	gd->bd->bi_boot_params = PHYS_SDRAM_1 + 0x100;
+
+	mxc_set_sata_internal_clock();
+	setup_iomux_i2c();
+
+	return 0;
+}
+
+int board_late_init(void)
+{
+	if (!power_init())
+		clock_1GHz();
+
+	return 0;
+}
+
+int checkboard(void)
+{
+	puts("Board: Beckhoff CX9020\n");
+
+	return 0;
+}
+
+int do_load_ccat(cmd_tbl_t *cmdtp, int flag, int argc, char *const argv[])
+{
+	unsigned char *buffer = (void *)simple_strtoul(argv[3], NULL, 16);
+	const int status = do_load(cmdtp, flag, 5, argv, FS_TYPE_ANY);
+	const ulong buf_len = getenv_hex("filesize", 0);
+	if (status || !buffer || !buf_len) {
+		printf("Unable to read CCAT firmware from '%s'\n", argv[4]);
+		return status;
+	}
+
+	/* prepare FPGA for programming */
+	weim_cs0_settings(CCAT_MODE_CONFIG);
+	gpio_set_value(GPIO_C3_CONFIG, 0);
+	udelay(1);
+	gpio_set_value(GPIO_C3_CONFIG, 1);
+	udelay(230);
+
+	/* program CCAT */
+	int i;
+	for (i = 0; i < buf_len; ++i)
+		writeb(buffer[i], CCAT_BASE_ADDR);
+
+	writeb(0xff, CCAT_BASE_ADDR);
+	writeb(0xff, CCAT_BASE_ADDR);
+
+	/* programming complete? */
+	if (!gpio_get_value(GPIO_C3_DONE)) {
+		printf("Programming CCAT firmware failed, C3_DONE not ready\n");
+		return -1;
+	}
+
+	/* switch to FPGA run mode */
+	weim_cs0_settings(CCAT_MODE_RUN);
+	invalidate_dcache_range((ulong) CCAT_BASE_ADDR, (ulong) CCAT_END_ADDR);
+
+	if (memcmp(CCAT_SIGN_ADDR, CCAT_SIGNATURE, sizeof(CCAT_SIGNATURE))) {
+		printf("Verifing CCAT firmware failed, signature not found\n");
+		return -1;
+	}
+
+	/* signal "CX booting OS" */
+	gpio_set_value(GPIO_LED_PWR_R, 1);
+	gpio_set_value(GPIO_LED_PWR_G, 1);
+	gpio_set_value(GPIO_LED_PWR_B, 0);
+	return 0;
+}
+
+U_BOOT_CMD(loadccat, 5, 1, do_load_ccat,
+	   "loads ccat firmware",
+	   "<interface> <dev[:part]> <addr> <filename>\n"
+	   "    - write FPGA firmware from 'dev' on 'interface' in 'filename' to CCAT using 'addr' as a buffer");
diff --git a/board/beckhoff/mx53cx9020/mx53cx9020_video.c b/board/beckhoff/mx53cx9020/mx53cx9020_video.c
new file mode 100644
index 0000000..0e7315e
--- /dev/null
+++ b/board/beckhoff/mx53cx9020/mx53cx9020_video.c
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) 2015  Beckhoff Automation GmbH & Co. KG
+ * Patrick Bruenn <p.bruenn@beckhoff.com>
+ *
+ * Based on Freescale's Linux i.MX mx53loco_video.c file:
+ * Copyright (C) 2012 Freescale Semiconductor, Inc.
+ *
+ * SPDX-License-Identifier:	GPL-2.0+
+ */
+
+#include <common.h>
+#include <linux/list.h>
+#include <asm/gpio.h>
+#include <asm/arch/iomux-mx53.h>
+#include <linux/fb.h>
+#include <ipu_pixfmt.h>
+
+#define CX9020_DVI_PWD	IMX_GPIO_NR(6, 1)
+
+static struct fb_videomode const vga_640x480 = {
+	.name = "VESA_VGA_640x480",
+	.refresh = 60,
+	.xres = 640,
+	.yres = 480,
+	.pixclock = 39721,	/* picosecond (25.175 MHz) */
+	.left_margin = 40,
+	.right_margin = 60,
+	.upper_margin = 10,
+	.lower_margin = 10,
+	.hsync_len = 20,
+	.vsync_len = 10,
+	.sync = 0,
+	.vmode = FB_VMODE_NONINTERLACED
+};
+
+void setup_iomux_lcd(void)
+{
+	static const iomux_v3_cfg_t lcd_pads[] = {
+		MX53_PAD_DI0_DISP_CLK__IPU_DI0_DISP_CLK,
+		MX53_PAD_DI0_PIN15__IPU_DI0_PIN15,
+		MX53_PAD_DI0_PIN2__IPU_DI0_PIN2,
+		MX53_PAD_DI0_PIN3__IPU_DI0_PIN3,
+		MX53_PAD_DI0_PIN4__IPU_DI0_PIN4,
+		MX53_PAD_DISP0_DAT0__IPU_DISP0_DAT_0,
+		MX53_PAD_DISP0_DAT1__IPU_DISP0_DAT_1,
+		MX53_PAD_DISP0_DAT2__IPU_DISP0_DAT_2,
+		MX53_PAD_DISP0_DAT3__IPU_DISP0_DAT_3,
+		MX53_PAD_DISP0_DAT4__IPU_DISP0_DAT_4,
+		MX53_PAD_DISP0_DAT5__IPU_DISP0_DAT_5,
+		MX53_PAD_DISP0_DAT6__IPU_DISP0_DAT_6,
+		MX53_PAD_DISP0_DAT7__IPU_DISP0_DAT_7,
+		MX53_PAD_DISP0_DAT8__IPU_DISP0_DAT_8,
+		MX53_PAD_DISP0_DAT9__IPU_DISP0_DAT_9,
+		MX53_PAD_DISP0_DAT10__IPU_DISP0_DAT_10,
+		MX53_PAD_DISP0_DAT11__IPU_DISP0_DAT_11,
+		MX53_PAD_DISP0_DAT12__IPU_DISP0_DAT_12,
+		MX53_PAD_DISP0_DAT13__IPU_DISP0_DAT_13,
+		MX53_PAD_DISP0_DAT14__IPU_DISP0_DAT_14,
+		MX53_PAD_DISP0_DAT15__IPU_DISP0_DAT_15,
+		MX53_PAD_DISP0_DAT16__IPU_DISP0_DAT_16,
+		MX53_PAD_DISP0_DAT17__IPU_DISP0_DAT_17,
+		MX53_PAD_DISP0_DAT18__IPU_DISP0_DAT_18,
+		MX53_PAD_DISP0_DAT19__IPU_DISP0_DAT_19,
+		MX53_PAD_DISP0_DAT20__IPU_DISP0_DAT_20,
+		MX53_PAD_DISP0_DAT21__IPU_DISP0_DAT_21,
+		MX53_PAD_DISP0_DAT22__IPU_DISP0_DAT_22,
+		MX53_PAD_DISP0_DAT23__IPU_DISP0_DAT_23,
+	};
+
+	imx_iomux_v3_setup_multiple_pads(lcd_pads, ARRAY_SIZE(lcd_pads));
+
+	/* Turn on DVI_PWD */
+	imx_iomux_v3_setup_pad(MX53_PAD_CSI0_DAT15__GPIO6_1);
+	gpio_direction_output(CX9020_DVI_PWD, 1);
+}
+
+int board_video_skip(void)
+{
+	const int ret = ipuv3_fb_init(&vga_640x480, 0, IPU_PIX_FMT_RGB24);
+	if (ret)
+		printf("VESA VG 640x480 cannot be configured: %d\n", ret);
+	return ret;
+}
diff --git a/configs/mx53cx9020_defconfig b/configs/mx53cx9020_defconfig
new file mode 100644
index 0000000..02ed607
--- /dev/null
+++ b/configs/mx53cx9020_defconfig
@@ -0,0 +1,19 @@
+CONFIG_ARM=y
+CONFIG_TARGET_MX53CX9020=y
+CONFIG_DEFAULT_DEVICE_TREE="imx53-cx9020"
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=board/beckhoff/mx53cx9020/imximage.cfg"
+CONFIG_BOOTDELAY=1
+CONFIG_HUSH_PARSER=y
+CONFIG_CMD_BOOTZ=y
+# CONFIG_CMD_IMLS is not set
+CONFIG_CMD_MMC=y
+#CONFIG_CMD_USB=y
+# CONFIG_CMD_SETEXPR is not set
+CONFIG_CMD_DHCP=y
+CONFIG_CMD_MII=y
+CONFIG_CMD_PING=y
+CONFIG_CMD_EXT2=y
+CONFIG_CMD_EXT4=y
+CONFIG_CMD_FAT=y
+CONFIG_CMD_FS_GENERIC=y
+CONFIG_OF_CONTROL=y
diff --git a/include/configs/mx53cx9020.h b/include/configs/mx53cx9020.h
new file mode 100644
index 0000000..1fdec68
--- /dev/null
+++ b/include/configs/mx53cx9020.h
@@ -0,0 +1,208 @@
+/*
+ * Copyright (C) 2015  Beckhoff Automation GmbH & Co. KG
+ * Patrick Bruenn <p.bruenn@beckhoff.com>
+ *
+ * Configuration settings for Beckhoff CX9020.
+ *
+ * Based on Freescale's Linux i.MX mx53loco.h file:
+ * Copyright (C) 2010-2011 Freescale Semiconductor.
+ *
+ * SPDX-License-Identifier:	GPL-2.0+
+ */
+
+#ifndef __CONFIG_H
+#define __CONFIG_H
+
+#define CONFIG_MX53
+
+#define CONFIG_DISPLAY_BOARDINFO
+
+#define CONFIG_MACH_TYPE	MACH_TYPE_MX53_LOCO
+
+#include <asm/arch/imx-regs.h>
+
+#define CONFIG_CMDLINE_TAG
+#define CONFIG_SETUP_MEMORY_TAGS
+#define CONFIG_INITRD_TAG
+
+#define CONFIG_SYS_FSL_CLK
+
+/* Size of malloc() pool */
+#define CONFIG_SYS_MALLOC_LEN		(10 * 1024 * 1024)
+
+#define CONFIG_BOARD_EARLY_INIT_F
+#define CONFIG_BOARD_LATE_INIT
+#define CONFIG_MXC_GPIO
+#define CONFIG_REVISION_TAG
+
+#define CONFIG_MXC_UART
+
+/* MMC Configs */
+#define CONFIG_FSL_ESDHC
+#define CONFIG_SYS_FSL_ESDHC_ADDR	0
+#define CONFIG_SYS_FSL_ESDHC_NUM	2
+
+#define CONFIG_MMC
+#define CONFIG_GENERIC_MMC
+
+/* bootz: zImage/initrd.img support */
+#define CONFIG_DOS_PARTITION
+
+/* Eth Configs */
+#define CONFIG_MII
+
+#define CONFIG_FEC_MXC
+#define IMX_FEC_BASE	FEC_BASE_ADDR
+#define CONFIG_FEC_MXC_PHYADDR	0x1F
+
+/* USB Configs */
+#define CONFIG_USB_EHCI
+#define CONFIG_USB_EHCI_MX5
+#define CONFIG_USB_STORAGE
+#define CONFIG_USB_HOST_ETHER
+#define CONFIG_USB_ETHER_ASIX
+#define CONFIG_USB_ETHER_MCS7830
+#define CONFIG_USB_ETHER_SMSC95XX
+#define CONFIG_MXC_USB_PORT	1
+#define CONFIG_MXC_USB_PORTSC	(PORT_PTS_UTMI | PORT_PTS_PTW)
+#define CONFIG_MXC_USB_FLAGS	0
+
+/* allow to overwrite serial and ethaddr */
+#define CONFIG_ENV_OVERWRITE
+#define CONFIG_CONS_INDEX		1
+#define CONFIG_BAUDRATE			115200
+
+/* Command definition */
+#define CONFIG_SUPPORT_RAW_INITRD
+
+#define CONFIG_ETHPRIME		"FEC0"
+
+#define CONFIG_LOADADDR		0x70010000	/* loadaddr env var */
+#define CONFIG_SYS_TEXT_BASE    0x77800000
+
+#define CONFIG_EXTRA_ENV_SETTINGS \
+	"fdt_addr=0x71ff0000\0" \
+	"rdaddr=0x72000000\0" \
+	"console=ttymxc1,115200\0" \
+	"uenv=/boot/uEnv.txt\0" \
+	"optargs=\0" \
+	"cmdline=\0" \
+	"mmcdev=0\0" \
+	"mmcpart=1\0" \
+	"mmcrootfstype=ext4 rootwait fixrtc\0" \
+	"mmcargs=setenv bootargs console=${console} " \
+		"${optargs} " \
+		"root=/dev/mmcblk${mmcdev}p${mmcpart} ro " \
+		"rootfstype=${mmcrootfstype} " \
+		"${cmdline}\0" \
+	"loadimage=load mmc ${bootpart} ${loadaddr} ${bootdir}/${bootfile}\0" \
+	"loadrd=load mmc ${bootpart} ${rdaddr} ${bootdir}/${rdfile};" \
+		"setenv rdsize ${filesize}\0" \
+	"loadfdt=echo loading ${fdt_path} ...;" \
+		"load mmc ${bootpart} ${fdt_addr} ${fdt_path}\0" \
+	"mmcboot=mmc dev ${mmcdev}; " \
+		"if mmc rescan; then " \
+			"echo SD/MMC found on device ${mmcdev};" \
+			"echo Checking for: ${uenv} ...;" \
+			"setenv bootpart ${mmcdev}:${mmcpart};" \
+			"if test -e mmc ${bootpart} ${uenv}; then " \
+				"load mmc ${bootpart} ${loadaddr} ${uenv};" \
+				"env import -t ${loadaddr} ${filesize};" \
+				"echo Loaded environment from ${uenv};" \
+				"if test -n ${dtb}; then " \
+					"setenv fdt_file ${dtb};" \
+					"echo Using: dtb=${fdt_file} ...;" \
+				"fi;" \
+				"echo Checking for uname_r in ${uenv}...;" \
+				"if test -n ${uname_r}; then " \
+					"echo Running uname_boot ...;" \
+					"run uname_boot;" \
+				"fi;" \
+			"fi;" \
+		"fi;\0" \
+	"uname_boot="\
+		"setenv bootdir /boot; " \
+		"setenv bootfile vmlinuz-${uname_r}; " \
+		"setenv ccatfile /boot/ccat.rbf; " \
+		"echo loading CCAT firmware from ${ccatfile}; " \
+		"loadccat mmc ${bootpart} ${loadaddr} ${ccatfile}; " \
+		"if test -e mmc ${bootpart} ${bootdir}/${bootfile}; then " \
+			"echo loading ${bootdir}/${bootfile} ...; " \
+			"run loadimage;" \
+			"setenv fdt_path /boot/dtbs/${uname_r}/${fdt_file}; " \
+			"if test -e mmc ${bootpart} ${fdt_path}; then " \
+				"run loadfdt;" \
+			"else " \
+				"echo; echo unable to find ${fdt_file} ...;" \
+				"echo booting legacy ...;"\
+				"run mmcargs;" \
+				"echo debug: [${bootargs}] ... ;" \
+				"echo debug: [bootz ${loadaddr}] ... ;" \
+				"bootz ${loadaddr}; " \
+			"fi;" \
+			"run mmcargs;" \
+			"echo debug: [${bootargs}] ... ;" \
+			"echo debug: [bootz ${loadaddr} - ${fdt_addr}] ... ;" \
+			"bootz ${loadaddr} - ${fdt_addr}; " \
+		"fi;\0"
+
+#define CONFIG_BOOTCOMMAND \
+	"run mmcboot;"
+
+#define CONFIG_ARP_TIMEOUT	200UL
+
+/* Miscellaneous configurable options */
+#define CONFIG_SYS_LONGHELP	/* undef to save memory */
+#define CONFIG_AUTO_COMPLETE
+#define CONFIG_SYS_CBSIZE		512	/* Console I/O Buffer Size */
+
+#define CONFIG_SYS_MAXARGS	16	/* max number of command args */
+#define CONFIG_SYS_BARGSIZE CONFIG_SYS_CBSIZE	/* Boot Argument Buffer Size */
+
+#define CONFIG_SYS_MEMTEST_START       0x70000000
+#define CONFIG_SYS_MEMTEST_END         0x70010000
+
+#define CONFIG_SYS_LOAD_ADDR		CONFIG_LOADADDR
+
+#define CONFIG_CMDLINE_EDITING
+
+/* Physical Memory Map */
+#define CONFIG_NR_DRAM_BANKS	2
+#define PHYS_SDRAM_1			CSD0_BASE_ADDR
+#define PHYS_SDRAM_1_SIZE		(gd->bd->bi_dram[0].size)
+#define PHYS_SDRAM_2			CSD1_BASE_ADDR
+#define PHYS_SDRAM_2_SIZE		(gd->bd->bi_dram[1].size)
+#define PHYS_SDRAM_SIZE			(gd->ram_size)
+
+#define CONFIG_SYS_SDRAM_BASE		(PHYS_SDRAM_1)
+#define CONFIG_SYS_INIT_RAM_ADDR	(IRAM_BASE_ADDR)
+#define CONFIG_SYS_INIT_RAM_SIZE	(IRAM_SIZE)
+
+#define CONFIG_SYS_INIT_SP_OFFSET \
+	(CONFIG_SYS_INIT_RAM_SIZE - GENERATED_GBL_DATA_SIZE)
+#define CONFIG_SYS_INIT_SP_ADDR \
+	(CONFIG_SYS_INIT_RAM_ADDR + CONFIG_SYS_INIT_SP_OFFSET)
+
+/* FLASH and environment organization */
+#define CONFIG_SYS_NO_FLASH
+
+#define CONFIG_ENV_OFFSET      (6 * 64 * 1024)
+#define CONFIG_ENV_SIZE        (8 * 1024)
+#define CONFIG_ENV_IS_IN_MMC
+#define CONFIG_SYS_MMC_ENV_DEV 0
+
+/* Framebuffer and LCD */
+#define CONFIG_PREBOOT
+#define CONFIG_VIDEO
+#define CONFIG_VIDEO_IPUV3
+#define CONFIG_CFB_CONSOLE
+#define CONFIG_VGA_AS_SINGLE_DEVICE
+#define CONFIG_SYS_CONSOLE_IS_IN_ENV
+#define CONFIG_SYS_CONSOLE_OVERWRITE_ROUTINE
+#define CONFIG_VIDEO_BMP_RLE8
+#define CONFIG_SPLASH_SCREEN
+#define CONFIG_BMP_16BPP
+#define CONFIG_VIDEO_LOGO
+#define CONFIG_IPUV3_CLK	200000000
+
+#endif /* __CONFIG_H */
-- 
2.7.4