Torizon on iMX6D module won't boot on hardware that works with iMX7D (CE8, Debian) and iMX6D (CE8)

I have the Colibri iMX6D and Colibri iMX7D-512 booting in CE8 on our custom PCB.

I also have the Colibri iMX7D-1G booting on our PCB running a kernel image we compiled from:

Repository: linux-toradex.git - Linux kernel for Apalis and Colibri modules
Branch: toradex_5.4-2.3.x-imx

However, with Torizon installed on the iMX6D on the same PCB, I cannot get anything to execute on power-up. The UART-A console simply displays:

þ-Boot SPL 2020.07-5.5.0+git.421a6ba683f9 (Jan 01 1970 - 00:00:00 +0000)

and stops. Nothing further. Can you provide a hint as to why the iMX7D-512 (CE8), iMX7D-1G (Linux Debian kernel), and iMX6D (CE8) would boot on our PCB, but the iMX6D (Torizon) refuses? Without any console messages to provide a hint, I am at a loss.

The iMX6D module with Torizon boots fine on an Aster carrier board.

U-Boot 2020.07-5.5.0+git.421a6ba683f9 (Jan 01 1970 - 00:00:00 +0000)

CPU:   Freescale i.MX6DL rev1.4 at 792MHz
CPU:   Industrial temperature grade (-40C to 105C) at 31C
Reset cause: POR
DRAM:  512 MiB
PMIC:  wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=0
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=1
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=2
i2c_init_transfer: give up i2c_regs=0x21a4000
failed to get device for PMIC at address 0x8
MMC:   FSL_SDHC: 1, FSL_SDHC: 0
Loading Environment from MMC... OK
In:    serial
Out:   serial
Err:   serial
Model: Toradex Colibri iMX6 DualLite 512MB IT V1.1A, Serial# 10784400
Net:   eth0: ethernet@2188000
Hit any key to stop autoboot:  0
Unknown command 'set-io' - try 'help'
MMC: no card present
switch to partitions #0, OK
mmc0(part 0) is current device
Scanning mmc 0:1...
Found U-Boot script /boot.scr
1182 bytes read in 12 ms (95.7 KiB/s)
## Executing script at 17000000
5374 bytes read in 22 ms (238.3 KiB/s)
62518 bytes read in 30 ms (2 MiB/s)
112 bytes read in 23 ms (3.9 KiB/s)
Applying Overlay: colibri-imx6_parallel-rgb_overlay.dtbo
766 bytes read in 32 ms (22.5 KiB/s)
Applying Overlay: colibri-imx6_stmpe-ts_overlay.dtbo
402 bytes read in 30 ms (12.7 KiB/s)
Applying Overlay: display-vga_overlay.dtbo
807 bytes read in 32 ms (24.4 KiB/s)
8376832 bytes read in 238 ms (33.6 MiB/s)
8051416 bytes read in 232 ms (33.1 MiB/s)
## Flattened Device Tree blob at 12100000
   Booting using the fdt blob at 0x12100000
   Loading Ramdisk to 1f852000, end 1ffffad8 ... OK
   Loading Device Tree to 1f81f000, end 1f851fff ... OK

Starting kernel ...

I notice that we have “SPL” for Secondary Program Loader" when trying to boot on our PCB. What does that imply about the failing boot process?

Thx

Hi @mmccullotn,

I’ve booted TorizonCore 5.5 (I believe it’s same version you used judging by the logs) on a Colibri iMX6 with an Aster carrier board and have found some differences between the boot sequences.

Your boot sequence has some extra error/warning lines not present on my side:

i2c_init_transfer: failed for chip 0x8 retry=0
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=1
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=2
i2c_init_transfer: give up i2c_regs=0x21a4000
failed to get device for PMIC at address 0x8
[...]
Unknown command 'set-io' - try 'help'

In particular, on your side the line about PMIC reads:

PMIC:  wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020

Whereas mine reads:

PMIC:  device id: 0x10, revision id: 0x21, programmed

Perhaps these messages could be related to your issue. We’ll investigate this further.

In order to narrow down the cause of the problem, could you tell me the TorizonCore version that you’re using for the Colibri iMX6DL? Is it Vanilla TorizonCore or a custom image?

Best regards,
Lucas Akira

The Torizon version is unchanged from your 5.5.0+build.11 distribution. The ‘set-io’ error was a command error that I’ve corrected for pin 45 gpio, but it makes no difference on my PCB. That’s the only change I’ve made to the boot process. My PCB boot never even makes it to that point.

Here is the full boot on the Aster:

Industrial temperature grade DDR3 timings, 64bit bus width.
Trying to boot from MMC1


U-Boot 2020.07-5.5.0+git.421a6ba683f9 (Jan 01 1970 - 00:00:00 +0000)

CPU:   Freescale i.MX6DL rev1.4 at 792MHz
CPU:   Industrial temperature grade (-40C to 105C) at 39C
Reset cause: POR
DRAM:  512 MiB
PMIC:  wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=0
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=1
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=2
i2c_init_transfer: give up i2c_regs=0x21a4000
failed to get device for PMIC at address 0x8
MMC:   FSL_SDHC: 1, FSL_SDHC: 0
Loading Environment from MMC... OK
In:    serial
Out:   serial
Err:   serial
Model: Toradex Colibri iMX6 DualLite 512MB IT V1.1A, Serial# 10784400
Net:   eth0: ethernet@2188000
Hit any key to stop autoboot:  0
gpio: pin 45 (gpio 45) value is 0
MMC: no card present
switch to partitions #0, OK
mmc0(part 0) is current device
Scanning mmc 0:1...
Found U-Boot script /boot.scr
1182 bytes read in 13 ms (87.9 KiB/s)
## Executing script at 17000000
5374 bytes read in 22 ms (238.3 KiB/s)
62518 bytes read in 30 ms (2 MiB/s)
112 bytes read in 23 ms (3.9 KiB/s)
Applying Overlay: colibri-imx6_parallel-rgb_overlay.dtbo
766 bytes read in 32 ms (22.5 KiB/s)
Applying Overlay: colibri-imx6_stmpe-ts_overlay.dtbo
402 bytes read in 30 ms (12.7 KiB/s)
Applying Overlay: display-vga_overlay.dtbo
807 bytes read in 32 ms (24.4 KiB/s)
8376832 bytes read in 239 ms (33.4 MiB/s)
8051416 bytes read in 232 ms (33.1 MiB/s)
## Flattened Device Tree blob at 12100000
   Booting using the fdt blob at 0x12100000
   Loading Ramdisk to 1f852000, end 1ffffad8 ... OK
   Loading Device Tree to 1f81f000, end 1f851fff ... OK

Starting kernel ...

[    0.053594] debugfs: Directory 'dummy-iomuxc-gpr@20e0000' with parent 'regmap' already present!
[    0.089649] stmpe-i2c 0-0041: failed to read regs 0x0: -11
[    1.352170] pfuze100-regulator 0-0008: unrecognized pfuze chip ID!
Starting version 244.5+

TorizonCore Upstream 5.5.0+build.11 colibri-imx6-10784400 ttymxc0

colibri-imx6-10784400 login:

I can try a Torizon update. How can I upgrade without wiping the present module configuration?

Thx

Went ahead and wiped the module with the recovery process to Easy Installer and installed latest 5.6.0-build.13.

Boot messages didn’t change on Aster and I still have no boot on our PCB:

ÿ-Boot SPL 2020.07-5.6.0+git.266eb389dd1d (Jan 01 1970 - 00:00:00 +0000)

What would be blocking the Torizon Core from booting where CE8 and straight Debian kernel boot on the same hardware?

Thx

Hi @mmccullotn,

Thank you for reporting the TorizonCore tests.

I’ve sent your issue to our internal team and we’re currently investigating what could be the cause of your problem. It is puzzling that there’s only one line of output, stopping very early in the boot process.

At this moment we don’t have a concrete answer to what could be blocking the boot sequence.

Just to be sure it’s not a TorizonCore specific problem, could you try running one of our BSP Reference Images (either a minimal or multimedia image) on the Colibri iMX6 with your custom PCB and see if it boots?

About the kernel image that you compiled, does it have any custom setting or specific change?

Given that we don’t have many clues to work with, for now we can continue to narrow down the cause of this error.

Best regards,
Lucas Akira

Installed minimal BSP Reference Image 5.6.0+build.18. No boot on my PCB:

ÿ-Boot SPL 2020.07-5.6.0+git.266eb389dd1d (Feb 14 2022 - 17:14:43 +0000)

Our Debian image for the iMX7D-1G is just the kernel cloned from your Toradex repository as noted above.

The Aster boot:

Industrial temperature grade DDR3 timings, 64bit bus width.
Trying to boot from MMC1


U-Boot 2020.07-5.6.0+git.266eb389dd1d (Feb 14 2022 - 17:14:43 +0000)

CPU:   Freescale i.MX6DL rev1.4 at 792MHz
CPU:   Industrial temperature grade (-40C to 105C) at 32C
Reset cause: POR
DRAM:  512 MiB
PMIC:  wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=0
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=1
wait_for_sr_state: Arbitration lost sr=93 cr=80 state=2020
i2c_init_transfer: failed for chip 0x8 retry=2
i2c_init_transfer: give up i2c_regs=0x21a4000
failed to get device for PMIC at address 0x8
MMC:   FSL_SDHC: 1, FSL_SDHC: 0
Loading Environment from MMC... OK
In:    serial
Out:   serial
Err:   serial
Model: Toradex Colibri iMX6 DualLite 512MB IT V1.1A, Serial# 10784400
Net:   eth0: ethernet@2188000
Hit any key to stop autoboot:  0
MMC: no card present
switch to partitions #0, OK
mmc0(part 0) is current device
Scanning mmc 0:1...
Found U-Boot script /boot.scr
5752 bytes read in 14 ms (400.4 KiB/s)
## Executing script at 17000000
Loading DeviceTree: imx6dl-colibri-eval-v3.dtb
72921 bytes read in 15 ms (4.6 MiB/s)
82 bytes read in 10 ms (7.8 KiB/s)
Applying Overlay: colibri-imx6_lcd-vga_overlay.dtbo
788 bytes read in 14 ms (54.7 KiB/s)
Applying Overlay: colibri-imx6_stmpe-ts_overlay.dtbo
402 bytes read in 13 ms (29.3 KiB/s)
6792304 bytes read in 253 ms (25.6 MiB/s)
Bootargs: enable_wait_mode=off galcore.contiguousSize=50331648 root=PARTUUID=034445c6-02 ro rootwait fec_mac=00:14:2d:a4:8e:90 consoleblank=0 no_console_suspend=1 console=tty1 console=ttymxc0,115200n8 fbmem=8M
## Flattened Device Tree blob at 12100000
   Booting using the fdt blob at 0x12100000
   Loading Device Tree to 1ffcb000, end 1fffffff ... OK

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0
[    0.000000] Linux version 5.4.161-5.6.0+git.0f0011824921 (oe-user@oe-host) (gcc version 9.3.0 (GCC)) #1 SMP Fri Mar 25 14:27:29 UTC 2022
[    0.000000] CPU: ARMv7 Processor [412fc09a] revision 10 (ARMv7), cr=10c5387d
[    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
[    0.000000] OF: fdt: Machine model: Toradex Colibri iMX6DL/S on Colibri Evaluation Board V3
[    0.000000] Memory policy: Data cache writealloc
[    0.000000] Reserved memory: created CMA memory pool at 0x20000000, size 256 MiB
[    0.000000] OF: reserved mem: initialized node linux,cma, compatible id shared-dma-pool
[    0.000000] percpu: Embedded 15 pages/cpu s32012 r8192 d21236 u61440
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 130048
[    0.000000] Kernel command line: enable_wait_mode=off galcore.contiguousSize=50331648 root=PARTUUID=034445c6-02 ro rootwait fec_mac=00:14:2d:a4:8e:90 consoleblank=0 no_console_suspend=1 console=tty1 console=ttymxc0,115200n8 fbmem=8M
[    0.000000] Dentry cache hash table entries: 65536 (order: 6, 262144 bytes, linear)
[    0.000000] Inode-cache hash table entries: 32768 (order: 5, 131072 bytes, linear)
[    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[    0.000000] Memory: 241564K/524288K available (9216K kernel code, 458K rwdata, 3144K rodata, 1024K init, 416K bss, 20580K reserved, 262144K cma-reserved, 0K highmem)
[    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=2, Nodes=1
[    0.000000] rcu: Hierarchical RCU implementation.
[    0.000000] rcu:     RCU event tracing is enabled.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=4 to nr_cpu_ids=2.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 10 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=2
[    0.000000] NR_IRQS: 16, nr_irqs: 16, preallocated irqs: 16
[    0.000000] L2C-310 erratum 769419 enabled
[    0.000000] L2C-310 enabling early BRESP for Cortex-A9
[    0.000000] L2C-310 full line of zeros enabled for Cortex-A9
[    0.000000] L2C-310 ID prefetch enabled, offset 16 lines
[    0.000000] L2C-310 dynamic clock gating enabled, standby mode enabled
[    0.000000] L2C-310 cache controller enabled, 16 ways, 512 kB
[    0.000000] L2C-310: CACHE_ID 0x410000c8, AUX_CTRL 0x76450001
[    0.000000] Switching to timer-based delay loop, resolution 333ns
[    0.000008] sched_clock: 32 bits at 3000kHz, resolution 333ns, wraps every 715827882841ns
[    0.000031] clocksource: mxc_timer1: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 637086815595 ns
[    0.001375] Console: colour dummy device 80x30
[    0.001739] printk: console [tty1] enabled
[    0.001770] Calibrating delay loop (skipped), value calculated using timer frequency.. 6.00 BogoMIPS (lpj=30000)
[    0.001802] pid_max: default: 32768 minimum: 301
[    0.001932] Mount-cache hash table entries: 1024 (order: 0, 4096 bytes, linear)
[    0.001961] Mountpoint-cache hash table entries: 1024 (order: 0, 4096 bytes, linear)
[    0.002650] CPU: Testing write buffer coherency: ok
[    0.002698] CPU0: Spectre v2: using BPIALL workaround
[    0.002952] CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
[    0.003492] Setting up static identity map for 0x10100000 - 0x10100060
[    0.003649] rcu: Hierarchical SRCU implementation.
[    0.006137] smp: Bringing up secondary CPUs ...
[    0.006826] CPU1: thread -1, cpu 1, socket 0, mpidr 80000001
[    0.006835] CPU1: Spectre v2: using BPIALL workaround
[    0.006973] smp: Brought up 1 node, 2 CPUs
[    0.006996] SMP: Total of 2 processors activated (12.00 BogoMIPS).
[    0.007012] CPU: All CPU(s) started in SVC mode.
[    0.007378] devtmpfs: initialized
[    0.017837] random: get_random_u32 called from bucket_table_alloc+0x58/0x14c with crng_init=0
[    0.018294] VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 4
[    0.018561] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
[    0.018599] futex hash table entries: 512 (order: 3, 32768 bytes, linear)
[    0.031763] pinctrl core: initialized pinctrl subsystem
[    0.032705] NET: Registered protocol family 16
[    0.039398] DMA: preallocated 256 KiB pool for atomic coherent allocations
[    0.040319] cpuidle: using governor menu
[    0.040596] CPU identified as i.MX6DL, silicon rev 1.4
[    0.047577] vdd1p1: supplied by regulator-dummy
[    0.048100] vdd3p0: supplied by regulator-dummy
[    0.048555] vdd2p5: supplied by regulator-dummy
[    0.049030] vddarm: supplied by regulator-dummy
[    0.049687] vddpu: supplied by regulator-dummy
[    0.050036] vddsoc: supplied by regulator-dummy
[    0.050601] mxs_phy 20c9000.usbphy: 20c9000.usbphy supply phy-3p0 not found, using dummy regulator
[    0.051046] mxs_phy 20ca000.usbphy: 20ca000.usbphy supply phy-3p0 not found, using dummy regulator
[    0.060572] hw-breakpoint: found 5 (+1 reserved) breakpoint and 1 watchpoint registers.
[    0.060603] hw-breakpoint: maximum watchpoint size is 4 bytes.
[    0.061559] imx6dl-pinctrl 20e0000.iomuxc: initialized IMX pinctrl driver
[    0.086128] SCSI subsystem initialized
[    0.086378] usbcore: registered new interface driver usbfs
[    0.086440] usbcore: registered new interface driver hub
[    0.086493] usbcore: registered new device driver usb
[    0.086641] usb_phy_generic usbphynop1: usbphynop1 supply vcc not found, using dummy regulator
[    0.086866] usb_phy_generic usbphynop2: usbphynop2 supply vcc not found, using dummy regulator
[    0.089765] i2c i2c-0: SCL is stuck low, exit recovery
[    0.109706] i2c i2c-0: SCL is stuck low, exit recovery
[    0.129696] i2c i2c-0: SCL is stuck low, exit recovery
[    0.149696] i2c i2c-0: SCL is stuck low, exit recovery
[    0.159685] stmpe-i2c 0-0041: failed to read regs 0x0: -11
[    0.159732] stmpe-i2c: probe of 0-0041 failed with error -11
[    0.159770] i2c i2c-0: IMX I2C adapter registered
[    0.160547] i2c i2c-1: IMX I2C adapter registered
[    0.160766] videodev: Linux video capture interface: v2.00
[    0.160833] pps_core: LinuxPPS API ver. 1 registered
[    0.160851] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    0.160897] PTP clock support registered
[    0.189732] imx-ipuv3 2400000.ipu: IPU DMFC NORMAL mode: 1(0~1), 5B(4,5), 5F(6,7)
[    0.191025] mxc_vdoa 21e4000.vdoa: i.MX Video Data Order Adapter(VDOA) driver probed
[    0.191620] MIPI CSI2 driver module loaded
[    0.191684] Advanced Linux Sound Architecture Driver Initialized.
[    0.193442] clocksource: Switched to clocksource mxc_timer1
[    0.193615] VFS: Disk quotas dquot_6.6.0
[    0.193698] VFS: Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[    0.202024] thermal_sys: Registered thermal governor 'step_wise'
[    0.202382] NET: Registered protocol family 2
[    0.202550] IP idents hash table entries: 8192 (order: 4, 65536 bytes, linear)
[    0.203168] tcp_listen_portaddr_hash hash table entries: 512 (order: 0, 6144 bytes, linear)
[    0.203216] TCP established hash table entries: 4096 (order: 2, 16384 bytes, linear)
[    0.203273] TCP bind hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.203350] TCP: Hash tables configured (established 4096 bind 4096)
[    0.203514] UDP hash table entries: 256 (order: 1, 8192 bytes, linear)
[    0.203555] UDP-Lite hash table entries: 256 (order: 1, 8192 bytes, linear)
[    0.203740] NET: Registered protocol family 1
[    0.204237] RPC: Registered named UNIX socket transport module.
[    0.204260] RPC: Registered udp transport module.
[    0.204274] RPC: Registered tcp transport module.
[    0.204287] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    0.204865] hw perfevents: no interrupt-affinity property for /pmu, guessing.
[    0.205038] hw perfevents: enabled with armv7_cortex_a9 PMU driver, 7 counters available
[    0.206486] Bus freq driver module loaded
[    0.207428] Initialise system trusted keyrings
[    0.207632] workingset: timestamp_bits=30 max_order=17 bucket_order=0
[    0.212727] NFS: Registering the id_resolver key type
[    0.212770] Key type id_resolver registered
[    0.212786] Key type id_legacy registered
[    0.212810] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[    0.212827] nfs4flexfilelayout_init: NFSv4 Flexfile Layout Driver Registering...
[    0.213577] Key type cifs.idmap registered
[    0.213609] ntfs: driver 2.1.32 [Flags: R/W].
[    0.214018] fuse: init (API version 7.31)
[    0.250582] Key type asymmetric registered
[    0.250611] Asymmetric key parser 'x509' registered
[    0.250638] io scheduler mq-deadline registered
[    0.250654] io scheduler kyber registered
[    0.252777] imx-weim 21b8000.weim: Driver registered.
[    0.254931] pwm-backlight backlight: backlight supply power not found, using dummy regulator
[    0.257820] fbcvt: 640x480@60: CVT Name - .307M3
[    0.257856] mxc_sdc_fb fb@0: registered mxc display driver lcd
[    0.260558] mxc_sdc_fb fb@0: 640x480 h_sync,r,l: 64,16,80  v_sync,l,u: 4,3,13 pixclock=23750000 Hz
[    0.317733] mxc_sdc_fb fb@0: 640x480 h_sync,r,l: 64,16,80  v_sync,l,u: 4,3,13 pixclock=23750000 Hz
[    0.347055] Console: switching to colour frame buffer device 80x30
[    0.387814] mxc_sdc_fb fb@1: NO mxc display driver found!
[    0.392212] i2c i2c-0: SCL is stuck low, exit recovery
[    0.394349] i2c i2c-0: SCL is stuck low, exit recovery
[    0.396410] i2c i2c-0: SCL is stuck low, exit recovery
[    0.398423] i2c i2c-0: SCL is stuck low, exit recovery
[    0.400188] pfuze100-regulator 0-0008: unrecognized pfuze chip ID!
[    0.401852] pfuze100-regulator: probe of 0-0008 failed with error -11
[    0.404599] 2020000.serial: ttymxc0 at MMIO 0x2020000 (irq = 23, base_baud = 5000000) is a IMX
[    1.277889] printk: console [ttymxc0] enabled
[    1.284907] 21e8000.serial: ttymxc1 at MMIO 0x21e8000 (irq = 69, base_baud = 5000000) is a IMX
[    1.297534] 21ec000.serial: ttymxc2 at MMIO 0x21ec000 (irq = 70, base_baud = 5000000) is a IMX
[    1.322218] brd: module loaded
[    1.334841] loop: module loaded
[    1.341643] libphy: Fixed MDIO Bus: probed
[    1.349155] pps pps0: new PPS source ptp0
[    1.355984] libphy: fec_enet_mii_bus: probed
[    1.363027] fec 2188000.ethernet eth0: registered PHC device 0
[    1.370950] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    1.379203] ehci-mxc: Freescale On-Chip EHCI Host driver
[    1.386314] usbcore: registered new interface driver usb-storage
[    1.395839] imx_usb 2184000.usb: 2184000.usb supply vbus not found, using dummy regulator
[    1.407488] imx_usb 2184200.usb: No over current polarity defined
[    1.419110] ci_hdrc ci_hdrc.0: EHCI Host Controller
[    1.425782] ci_hdrc ci_hdrc.0: new USB bus registered, assigned bus number 1
[    1.463467] ci_hdrc ci_hdrc.0: USB 2.0 started, EHCI 1.00
[    1.470899] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.04
[    1.482813] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[    1.493739] usb usb1: Product: EHCI Host Controller
[    1.500479] usb usb1: Manufacturer: Linux 5.4.161-5.6.0+git.0f0011824921 ehci_hcd
[    1.511638] usb usb1: SerialNumber: ci_hdrc.0
[    1.518417] hub 1-0:1.0: USB hub found
[    1.523994] hub 1-0:1.0: 1 port detected
[    1.532951] snvs_rtc 20cc000.snvs:snvs-rtc-lp: registered as rtc1
[    1.541103] i2c /dev entries driver
[    1.547047] IR NEC protocol handler initialized
[    1.553420] IR RC5(x/sz) protocol handler initialized
[    1.560416] IR RC6 protocol handler initialized
[    1.566830] IR JVC protocol handler initialized
[    1.573112] IR Sony protocol handler initialized
[    1.579481] IR SANYO protocol handler initialized
[    1.585908] IR Sharp protocol handler initialized
[    1.592245] IR MCE Keyboard/mouse protocol handler initialized
[    1.599710] IR XMP protocol handler initialized
[    1.606238] mxc_v4l2_output v4l2_out: V4L2 device registered as video16
[    1.614668] mxc_v4l2_output v4l2_out: V4L2 device registered as video17
[    1.624614] imx2-wdt 20bc000.wdog: timeout 60 sec (nowayout=0)
[    1.632677] sdhci: Secure Digital Host Controller Interface driver
[    1.640472] sdhci: Copyright(c) Pierre Ossman
[    1.646350] sdhci-pltfm: SDHCI platform and OF driver helper
[    1.655517] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    1.694528] mmc0: SDHCI controller on 2198000.usdhc [2198000.usdhc] using ADMA
[    1.707155] caam 2100000.caam: Entropy delay = 3200
[    1.726073] caam 2100000.caam: Instantiated RNG4 SH0
[    1.738551] caam 2100000.caam: Instantiated RNG4 SH1
[    1.745087] caam 2100000.caam: device ID = 0x0a16010000000100 (Era 4)
[    1.752991] caam 2100000.caam: job rings = 2, qi = 0
[    1.767083] caam algorithms registered in /proc/crypto
[    1.774797] caam 2100000.caam: registering rng-caam
[    1.781445] Device caam-keygen registered
[    1.787844] hidraw: raw HID events driver (C) Jiri Kosina
[    1.794879] usbcore: registered new interface driver usbhid
[    1.801914] usbhid: USB HID core driver
[    1.805899] mmc0: new DDR MMC card at address 0001
[    1.814245] mmcblk0: mmc0:0001 Q2J54A 3.59 GiB
[    1.814606] mxc_vpu 2040000.vpu_fsl: VPU initialized
[    1.820565] mmcblk0boot0: mmc0:0001 Q2J54A partition 1 16.0 MiB
[    1.828891] fsl-ssi-dai 2028000.ssi: No cache defaults, reading back from HW
[    1.834384] usb 1-1: new full-speed USB device number 2 using ci_hdrc
[    1.844450] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[    1.851329] mmcblk0boot1: mmc0:0001 Q2J54A partition 2 16.0 MiB
[    1.860785] NET: Registered protocol family 10
[    1.872715] random: fast init done
[    1.872751] mmcblk0rpmb: mmc0:0001 Q2J54A partition 3 512 KiB, chardev (246:0)
[    1.878661] Segment Routing with IPv6
[    1.890321] random: crng init done
[    1.893719] NET: Registered protocol family 17
[    1.904406] Bridge firewalling registered
[    1.904969]  mmcblk0: p1 p2
[    1.910042] 8021q: 802.1Q VLAN Support v1.8
[    1.920415] Key type dns_resolver registered
[    1.928358] Registering SWP/SWPB emulation handler
[    1.934994] registered taskstats version 1
[    1.940636] Loading compiled-in X.509 certificates
[    1.961292] imx_epdc_fb 20f4000.epdc: can't get/select pinctrl
[    1.987363] imx_usb 2184000.usb: 2184000.usb supply vbus not found, using dummy regulator
[    2.002457] ci_hdrc ci_hdrc.1: EHCI Host Controller
[    2.009047] ci_hdrc ci_hdrc.1: new USB bus registered, assigned bus number 2
[    2.053529] ci_hdrc ci_hdrc.1: USB 2.0 started, EHCI 1.00
[    2.062597] usb usb2: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.04
[    2.074143] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[    2.084660] usb usb2: Product: EHCI Host Controller
[    2.091209] usb usb2: Manufacturer: Linux 5.4.161-5.6.0+git.0f0011824921 ehci_hcd
[    2.094907] usb 1-1: New USB device found, idVendor=045e, idProduct=0745, bcdDevice= 6.56
[    2.102064] usb usb2: SerialNumber: ci_hdrc.1
[    2.113711] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[    2.128834] usb 1-1: Product: Microsoft® 2.4GHz Transceiver v8.0
[    2.136815] usb 1-1: Manufacturer: Microsoft
[    2.143348] hub 2-0:1.0: USB hub found
[    2.149085] hub 2-0:1.0: 1 port detected
[    2.156048] input: Microsoft Microsoft® 2.4GHz Transceiver v8.0 as /devices/soc0/soc/2100000.aips-bus/2184200.usb/ci_hdrc.0/usb1/1-1/1-1:1.0/0003:045E:0745.0001/input/input0
[    2.156563] imx_thermal tempmon: Industrial CPU temperature grade - max:105C critical:105C passive:95C
[    2.192849] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    2.200782] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[    2.211667] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    2.219591] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[    2.229689] input: gpio-keys as /devices/soc0/gpio-keys/input/input1
[    2.244076] hid-generic 0003:045E:0745.0001: input,hidraw0: USB HID v1.11 Keyboard [Microsoft Microsoft® 2.4GHz Transceiver v8.0] on usb-ci_hdrc.0-1/input0
[    2.262588] hctosys: unable to open rtc device (rtc0)
[    2.270389] ALSA device list:
[    2.277681] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    2.284914]   No soundcards found.
[    2.285679] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[    2.305207] input: Microsoft Microsoft® 2.4GHz Transceiver v8.0 Mouse as /devices/soc0/soc/2100000.aips-bus/2184200.usb/ci_hdrc.0/usb1/1-1/1-1:1.1/0003:045E:0745.0002/input/input2
[    2.327611] input: Microsoft Microsoft® 2.4GHz Transceiver v8.0 Consumer Control as /devices/soc0/soc/2100000.aips-bus/2184200.usb/ci_hdrc.0/usb1/1-1/1-1:1.1/0003:045E:0745.0002/input/input3
[    2.414086] hid-generic 0003:045E:0745.0002: input,hidraw1: USB HID v1.11 Mouse [Microsoft Microsoft® 2.4GHz Transceiver v8.0] on usb-ci_hdrc.0-1/input1
[    2.441029] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    2.449219] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[    2.461094] input: Microsoft Microsoft® 2.4GHz Transceiver v8.0 Consumer Control as /devices/soc0/soc/2100000.aips-bus/2184200.usb/ci_hdrc.0/usb1/1-1/1-1:1.2/0003:045E:0745.0003/input/input4
[    2.553856] input: Microsoft Microsoft® 2.4GHz Transceiver v8.0 System Control as /devices/soc0/soc/2100000.aips-bus/2184200.usb/ci_hdrc.0/usb1/1-1/1-1:1.2/0003:045E:0745.0003/input/input6
[    2.577852] hid-generic 0003:045E:0745.0003: input,hiddev96,hidraw2: USB HID v1.11 Device [Microsoft Microsoft® 2.4GHz Transceiver v8.0] on usb-ci_hdrc.0-1/input2
[    2.601474] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    2.609922] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[    2.623265] EXT4-fs (mmcblk0p2): INFO: recovery required on readonly filesystem
[    2.635193] EXT4-fs (mmcblk0p2): write access will be enabled during recovery
[    2.827265] EXT4-fs (mmcblk0p2): recovery complete
[    2.835028] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[    2.847761] VFS: Mounted root (ext4 filesystem) readonly on device 179:2.
[    2.857692] devtmpfs: mounted
[    2.864128] Freeing unused kernel memory: 1024K
[    2.871164] Run /sbin/init as init process
[    3.028258] systemd[1]: System time before build time, advancing clock.
[    3.055586] systemd[1]: systemd 244.5+ running in system mode. (+PAM -AUDIT -SELINUX +IMA -APPARMOR -SMACK +SYSVINIT +UTMP -LIBCRYPTSETUP -GCRYPT -GNUTLS +ACL +XZ -LZ4 -SECCOMP +BLKID -ELFUTILS +KMOD -IDN2 -IDN -PCRE2 default-hierarchy=hybrid)
[    3.086512] systemd[1]: Detected architecture arm.

Welcome to TDX Wayland with XWayland 5.6.0+build.18 (dunfell)!

[    3.144515] systemd[1]: Set hostname to <colibri-imx6-10784400>.
[    3.722570] systemd[1]: Created slice system-getty.slice.
[  OK  ] Created slice system-getty.slice.
[    3.765391] systemd[1]: Created slice system-serial\x2dgetty.slice.
[  OK  ] Created slice system-serial\x2dgetty.slice.
[    3.805050] systemd[1]: Created slice User and Session Slice.
[  OK  ] Created slice User and Session Slice.
[    3.843986] systemd[1]: Started Dispatch Password Requests to Console Directory Watch.
[  OK  ] Started Dispatch Password …ts to Console Directory Watch.
[    3.884360] systemd[1]: Started Forward Password Requests to Wall Directory Watch.
[  OK  ] Started Forward Password R…uests to Wall Directory Watch.
[    3.934298] systemd[1]: Reached target Host and Network Name Lookups.
[  OK  ] Reached target Host and Network Name Lookups.
[    3.973685] systemd[1]: Reached target Paths.
[  OK  ] Reached target Paths.
[    4.013964] systemd[1]: Reached target Remote File Systems.
[  OK  ] Reached target Remote File Systems.
[    4.053930] systemd[1]: Reached target Slices.
[  OK  ] Reached target Slices.
[    4.093964] systemd[1]: Reached target Swap.
[  OK  ] Reached target Swap.
[    4.169317] systemd[1]: Listening on RPCbind Server Activation Socket.
[  OK  ] Listening on RPCbind Server Activation Socket.
[    4.214082] systemd[1]: Reached target RPC Port Mapper.
[  OK  ] Reached target RPC Port Mapper.
[    4.261495] systemd[1]: Listening on Syslog Socket.
[  OK  ] Listening on Syslog Socket.
[    4.304629] systemd[1]: Listening on initctl Compatibility Named Pipe.
[  OK  ] Listening on initctl Compatibility Named Pipe.
[    4.370730] systemd[1]: Condition check resulted in Journal Audit Socket being skipped.
[    4.382923] systemd[1]: Listening on Journal Socket (/dev/log).
[  OK  ] Listening on Journal Socket (/dev/log).
[    4.425160] systemd[1]: Listening on Journal Socket.
[  OK  ] Listening on Journal Socket.
[    4.465488] systemd[1]: Listening on Network Service Netlink Socket.
[  OK  ] Listening on Network Service Netlink Socket.
[    4.504377] systemd[1]: Listening on udev Control Socket.
[  OK  ] Listening on udev Control Socket.
[    4.544706] systemd[1]: Listening on udev Kernel Socket.
[  OK  ] Listening on udev Kernel Socket.
[    4.584886] systemd[1]: Condition check resulted in Huge Pages File System being skipped.
[    4.605333] systemd[1]: Mounting POSIX Message Queue File System...
         Mounting POSIX Message Queue File System...
[    4.650348] systemd[1]: Mounting Kernel Debug File System...
         Mounting Kernel Debug File System...
[    4.706081] systemd[1]: Mounting Temporary Directory (/tmp)...
         Mounting Temporary Directory (/tmp)...
[    4.750660] systemd[1]: Starting Export GPIOs to user space...
         Starting Export GPIOs to user space...
[    4.799999] systemd[1]: Starting Create list of static device nodes for the current kernel...
         Starting Create list of st…odes for the current kernel...
[    4.850669] systemd[1]: Starting RPC Bind...
         Starting RPC Bind...
[    4.886844] systemd[1]: Starting File System Check on Root Device...
         Starting File System Check on Root Device...
[    4.929444] systemd[1]: Starting Journal Service...
         Starting Journal Service...
[    4.949891] systemd[1]: Starting Load Kernel Modules...
         Starting Load Kernel Modules...
[    4.979000] systemd[1]: Starting udev Coldplug all Devices...
         Starting udev Coldplug all Devices...
[    5.001554] systemd[1]: Started RPC Bind.
[  OK  ] Started RPC Bind[    5.009134] systemd[1]: Mounted POSIX Message Queue File System.
.
[  OK  ] Mounted POSIX Messag[    5.023807] systemd[1]: Mounted Kernel Debug File System.
e Queue File System.
[    5.035252] systemd[1]: Mounted Temporary Directory (/tmp).
[  OK  ] Mounted     5.045337] systemd[1]: Started Export GPIOs to user space.
;39mKernel Debug File System.[    5.055349] systemd[1]: Started Create list of static device nodes for the current kernel.

[  OK  ] Mounted Temporary Directory (/tmp[    5.073147] systemd[1]: Started Load Kernel Modules.
).
[  OK  ] Started Export GPIOs to user space.
[  OK      5.087964] systemd[1]: Mounting FUSE Control File System...
m] Started Create list of sta… nodes for the current kernel.
[  OK  ] Started Load Kernel [    5.105735] systemd[1]: Mounting Kernel Configuration File System...
Modules.
         Mounting FUSE Control File System...
         Mounting Kernel Configuration File System...
[    5.176764] systemd[1]: Starting Apply Kernel Variables...
         Starting Apply Kernel Variables...
[    5.228486] systemd[1]: Started File System Check on Root Device.
[  OK  ] Started File System Check on Root Device.
[    5.264421] systemd[1]: Started Journal Service.
[  OK  ] Started Journal Service.
[  OK  ] Mounted FUSE Control File System.
[  OK  ] Mounted Kernel Configuration File System.
[  OK  ] Started Apply Kernel Variables.
         Starting Remount Root and Kernel File Systems...
[    5.475337] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
[  OK  ] Started Remount Root and Kernel File Systems.
         Starting Flush Journal to Persistent Storage...
[    5.557671] systemd-journald[164]: Received client request to flush runtime journal.
         Starting Create Static Device Nodes in /dev...
[  OK  ] Started udev Coldplug all Devices.
[  OK  ] Started Flush Journal to Persistent Storage.
[  OK  ] Started Create Static Device Nodes in /dev.
[  OK  ] Reached target Local File Systems (Pre).
         Mounting /var/volatile...
         Starting udev Kernel Device Manager...
[  OK  ] Mounted /var/volatile.
         Starting Load/Save Random Seed...
[  OK  ] Reached target Local File Systems.
         Starting Create Volatile Files and Directories...
[  OK  ] Started udev Kernel Device Manager.
[  OK  ] Started Load/Save Random Seed.
[  OK  ] Started Create Volatile Files and Directories.
         Starting Network Time Synchronization...
         Starting Update UTMP about System Boot/Shutdown...
[  OK  ] Started Update UTMP about System Boot/Shutdown.
[  OK  ] Created slice system-systemd\x2dbacklight.slice.
         Starting Load/Save Screen …ness of backlight:backlight...
[  OK  ] Started Load/Save Screen B…htness of backlight:backlight.
[    6.417695] caam-snvs 20cc000.caam-snvs: violation handlers armed - non-secure state
[    6.472234] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    6.504509] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[  OK  ] Reached target Hardware activated USB gadget.
[    6.556753] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[    6.587983] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[    6.633848] imx-sdma 20ec000.sdma: loaded firmware 3.5
[    6.654278] spi_imx 2014000.spi: probed
[    6.661769] sdhci-esdhc-imx 2190000.usdhc: Got CD GPIO
[  OK  ] Started Network Time Synchronization.
[  OK  ] Reached target System Initialization.
[    6.734590] imx-sgtl5000 sound: ASoC: failed to init link HiFi: -517
[  OK  ] Started Daily Cleanup of Temporary Directories.
[  OK  ] Reached target System Time Set.
[  OK  ] Reached target System Time Synchronized.
[  OK  ] Reached target Timers.
[  OK  ] Listening on Avahi mDNS/DNS-SD Stack Activation Socket.
[  OK  ] Listening on D-Bus System Message Bus Socket.
[  OK  ] Listening on dropbear.socket.
[  OK  ] Reached target Sockets.
[  OK  ] Reached target Basic System.
[  OK  ] Started Kernel Logging Service.
[  OK  ] Started System Logging Service.
[  OK  ] Started D-Bus System Message Bus.
         Starting IPv6 Packet Filtering Framework...
         Starting IPv4 Packet Filtering Framework...
         Starting Telephony service...
         Starting Login Service...
[  OK  ] Started Timestamping service.
[  OK  ] Started IPv6 Packet Filtering Framework.
[  OK  ] Started IPv4 Packet Filtering Framework.
[    7.960035] Bluetooth: Core ver 2.22
[    8.040278] NET: Registered protocol family 31
[    8.046702] Bluetooth: HCI device and connection manager initialized
[    8.059332] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
[    8.118793] Bluetooth: HCI socket layer initialized
[    8.162968] Bluetooth: L2CAP socket layer initialized
[    8.202129] Bluetooth: SCO socket layer initialized
[  OK  ] Started Telephony service.
[    8.567299] CAN device driver interface
[  OK  ] Started Login Service.
[  OK  ] Reached target Network (Pre).
[  OK  ] Listening on Load/Save RF …itch Status /dev/rfkill Watch.
         Starting Connection service...
         Starting Network Service...
[  OK  ] Started Connection service.
[  OK  ] Started Network Service.
[  OK  ] Reached target Network.
         Starting Avahi mDNS/DNS-SD Stack...
         Starting Permit User Sessions...
[    9.215924] Micrel KSZ8041 2188000.ethernet-1:00: attached PHY driver [Micrel KSZ8041] (mii_bus:phy_addr=2188000.ethernet-1:00, irq=POLL)
[  OK  ] Started Permit User Sessions.
[  OK  ] Started Avahi mDNS/DNS-SD Stack.
[  OK  ] Started Getty on tty1.
[  OK  ] Started Serial Getty on ttymxc0.
[  OK  ] Reached target Login Prompts.
[  OK  ] Reached target Multi-User System.
         Starting Hostname Service...
         Starting Update UTMP about System Runlevel Changes...
         Starting WPA supplicant...
[    9.603652] mcp251x spi3.0: MCP251x didn't enter in conf mode after reset
[    9.612461] mcp251x spi3.0: Probe failed, err=16
[    9.633568] mcp251x: probe of spi3.0 failed with error -16
[  OK  ] Started Update UTMP about System Runlevel Changes.
[  OK  ] Started WPA supplicant.
[  OK  ] Started Hostname Service.

TDX Wayland with XWayland 5.6.0+build.18 (dunfell) colibri-imx6-10784400 ttymxc0
Colibri-iMX6_Reference-Minimal-Image

colibri-imx6-10784400 login: [   11.273928] fec 2188000.ethernet eth0: Link is Up - 100Mbps/Full - flow control rx/tx
[   11.282082] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready

Also, our PCB has two pairs of pins that connect together on the SODIMM due to our hardware engineer routing different pins for timer capture for the iMX7D and iMX6D. These are:

SODIMM pins 186 and 192.
SODIMM pins 23 and 49.

We checked the default boot state for these pins and it appears they should be fine connected together. However, I did request that our hardware engineer change the next prototype to use a zero ohm resistor matrix to choose a single capture input pin based on the module type installed.

Could you please doublecheck if you have a latest version of iMX6 SPL?