This imx_usb_loader?
https://github.com/aditya3098/imx_usb_loader
On ubuntu, do:
sudo apt-get install build-essentials libusb-1.0.0 libusb-1.0.0-dev zenity whiptail
git clone
https://github.com/aditya3098/imx_usb_loader.git
cd imx_usb_loader
################### If you prefer GUI #################
./imx_gui
######################### Else if you like Tui############
./imx_tui