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For a custom board should the PetaLinux project always be created from scratch? This gitlab will compare the pros and cons of using a BSP project verses a Template project for custom board development.

iMX Config Tools for DDR, Pins, and more

BCU (Board remote Control Utilities)

UUU (Universal Update Utility)

ZCU104 DPU Example Designs for the Vivado Flow.

iMX BSPs (Board Support Packages)

Security features of the NXP i.MX processors