Hi Daniele,
I am afraid I cannot really help due to lack of in-depth knowledge, but I would be very interested if you make any progress: I have the T68, and I believe the hardware is reasonably similar (same SoC used).
I am sure you are already aware of the Freescale unix distribution for the IMX6s (and all their other developer support info)? Not sure if it is a good starting point, but it could serve as a good reference for info...
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