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+.. SPDX-License-Identifier: GPL-2.0+
+
+mx6sabreauto
+============
+
+How to use and build U-Boot on mx6sabreauto
+-------------------------------------------
+
+mx6sabreauto_defconfig target supports mx6q/mx6dl/mx6qp sabreauto variants.
+
+In order to build it:
+
+.. code-block:: bash
+
+   $ make mx6sabreauto_defconfig
+   $ make
+
+This will generate the SPL and u-boot-dtb.img binaries.
+
+- Flash the SPL binary into the SD card:
+
+.. code-block:: bash
+
+   $ sudo dd if=SPL of=/dev/sdX bs=1K seek=1 conv=notrunc && sync
+
+- Flash the u-boot-dtb.img binary into the SD card:
+
+.. code-block:: bash
+
+   $ sudo dd if=u-boot-dtb.img of=/dev/sdX bs=1K seek=69 conv=notrunc && sync
+
+Booting via Falcon mode
+-----------------------
+
+Write in mx6sabreauto_defconfig the following define below:
+
+CONFIG_SPL_OS_BOOT=y
+
+In order to build it:
+
+.. code-block:: bash
+
+   $ make mx6sabreauto_defconfig
+   $ make
+
+This will generate the SPL image called SPL and the u-boot-dtb.img.
+
+- Flash the SPL image into the SD card:
+
+.. code-block:: bash
+
+   $ sudo dd if=SPL of=/dev/sdb bs=1K seek=1 conv=notrunc && sync
+
+- Flash the u-boot-dtb.img image into the SD card:
+
+.. code-block:: bash
+
+   $ sudo dd if=u-boot-dtb.img of=/dev/sdb bs=1K seek=69 conv=notrunc && sync
+
+Create a FAT16 boot partition to store uImage and the dtb file, then copy the files there:
+
+.. code-block:: bash
+
+   $ sudo cp uImage /media/boot
+   $ sudo cp imx6dl-sabreauto.dtb /media/boot
+
+Create a partition for root file system and extract it there:
+
+.. code-block:: bash
+
+   $ sudo tar xvf rootfs.tar.gz -C /media/root
+
+The SD card must have enough space for raw "args" and "kernel".
+To configure Falcon mode for the first time, on U-Boot do the following commands:
+
+- Load dtb file from boot partition::
+
+   # load mmc 0:1 ${fdt_addr} imx6dl-sabreauto.dtb
+
+- Load kernel image from boot partition::
+
+   # load mmc 0:1 ${loadaddr} uImage
+
+- Write kernel at 2MB offset::
+
+   # mmc write ${loadaddr} 0x1000 0x4000
+
+- Setup kernel bootargs::
+
+   # setenv bootargs "console=ttymxc3,115200 root=/dev/mmcblk0p1 rootfstype=ext4 rootwait quiet rw"
+
+- Prepare args::
+
+   # spl export fdt ${loadaddr} - ${fdt_addr}
+
+- Write args 1MB data (0x800 sectors) to 1MB offset (0x800 sectors)::
+
+   # mmc write 18000000 0x800 0x800
+
+- Restart the board and then SPL binary will launch the kernel directly.