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Please make sure that you do not (over)write the content of the on-board SPI flash or eMMC card!!! You may brick your board!!!

For booting via USB-OTG, build and install the imx_usb_loader https://github.com/boundarydevices/imx_usb_loader/

• install the test image including kernel (uImage) and device tree blob (.dtb) on a microSD card, insert the microSD card into the board
• set the board in USB-OTG boot mode
• connect the board to build host via USB-OTG for download.
• also connect the board to build host via ("serial") console, aka "debug port" and setup a terminal program like on your host like minicom -D /dev/ttyUSB0
• power-up/reset the board and download u-boot.imx to the board using imx_usb_loader
• use u-boot shell to load and boot Linux from microSD card:

fatload mmc 0:1 0x10800000 /uImage
fatload mmc 0:1 0x12000000 /imx6q-marsboard.dtb
bootm 0x10800000 - 0x12000000

• a root login prompt will appear after successfull boot.

The microSD card is mmc dev 0 for u-boot (boot partition mmc 0:1) and /dev/mmcblk0 for Linux (root fs: /dev/mmcblk0p2). The on-board eMMC seems to work with the latest mainline u-boot but not the linux kernel (error -110)

• flash u-boot.imx (e.g. put it on microSD card root-fs partition 2) to on-board SPI flash: Note: this will overwrite the factory default u-boot which you might want to save first

ext2load mmc 0:2 10800000 /u-boot.imx
sf probe
sf erase 0 +0x80000
sf write 0x10800000 0x400 0x80000

• edit and save the u-boot environment

setenv bootcmd "mmc rescan; fatload mmc 0:1 0x10800000 /uImage; fatload mmc 0:1 0x12000000 /imx6q-marsboard.dtb; bootm 0x10800000 - 0x12000000"
setenv bootargs "console=ttymxc1,115200 init=/sbin/init rw root=/dev/mmcblk0p2 rootwait video=mxcfb0:dev=hdmi,1920x1080M@60,if=RGB24 fbmem=32M"
saveenv
reset