diff --git a/board/engicam/icorem6_rqs/icorem6_rqs.c b/board/engicam/icorem6_rqs/icorem6_rqs.c
index 175bda5860..cc7f897f63 100644
--- a/board/engicam/icorem6_rqs/icorem6_rqs.c
+++ b/board/engicam/icorem6_rqs/icorem6_rqs.c
@@ -45,6 +45,24 @@ int board_init(void)
 	return 0;
 }
 
+int board_late_init(void)
+{
+	switch ((imx6_src_get_boot_mode() & IMX6_BMODE_MASK) >>
+			IMX6_BMODE_SHIFT) {
+	case IMX6_BMODE_SD:
+	case IMX6_BMODE_ESD:
+	case IMX6_BMODE_MMC:
+	case IMX6_BMODE_EMMC:
+		setenv("modeboot", "mmcboot");
+		break;
+	default:
+		setenv("modeboot", "");
+		break;
+	}
+
+	return 0;
+}
+
 int dram_init(void)
 {
 	gd->ram_size = imx_ddr_size();
diff --git a/configs/imx6dl_icore_rqs_mmc_defconfig b/configs/imx6dl_icore_rqs_mmc_defconfig
index 64fa2ec7cd..f521292bbf 100644
--- a/configs/imx6dl_icore_rqs_mmc_defconfig
+++ b/configs/imx6dl_icore_rqs_mmc_defconfig
@@ -38,3 +38,4 @@ CONFIG_FEC_MXC=y
 CONFIG_PINCTRL=y
 CONFIG_PINCTRL_IMX6=y
 CONFIG_MXC_UART=y
+CONFIG_BOARD_LATE_INIT=y
diff --git a/configs/imx6q_icore_rqs_mmc_defconfig b/configs/imx6q_icore_rqs_mmc_defconfig
index 6bbdfa8981..6bd3387b8e 100644
--- a/configs/imx6q_icore_rqs_mmc_defconfig
+++ b/configs/imx6q_icore_rqs_mmc_defconfig
@@ -38,3 +38,4 @@ CONFIG_FEC_MXC=y
 CONFIG_PINCTRL=y
 CONFIG_PINCTRL_IMX6=y
 CONFIG_MXC_UART=y
+CONFIG_BOARD_LATE_INIT=y
diff --git a/include/configs/imx6qdl_icore_rqs.h b/include/configs/imx6qdl_icore_rqs.h
index cd94c5fa9c..c62c1d421e 100644
--- a/include/configs/imx6qdl_icore_rqs.h
+++ b/include/configs/imx6qdl_icore_rqs.h
@@ -56,8 +56,7 @@
 	"fitboot=echo Booting FIT image from mmc ...; " \
 		"run mmcargs; " \
 		"bootm ${loadaddr}\0" \
-	"mmcboot=echo Booting from mmc ...; " \
-		"run mmcargs; " \
+	"_mmcboot=run mmcargs; " \
 		"if test ${boot_fdt} = yes || test ${boot_fdt} = try; then " \
 			"if run loadfdt; then " \
 				"bootm ${loadaddr} - ${fdt_addr}; " \
@@ -70,23 +69,24 @@
 			"fi; " \
 		"else " \
 			"bootm; " \
-		"fi\0"
-
-#define CONFIG_BOOTCOMMAND \
-	"mmc dev ${mmcdev};" \
-	"if mmc rescan; then " \
-		"if run loadbootscript; then " \
-			"run bootscript; " \
-		"else " \
-			"if run loadfit; then " \
-				"run fitboot; " \
+		"fi\0" \
+	"mmcboot=echo Booting from mmc ...; " \
+		"mmc dev ${mmcdev};" \
+		"if mmc rescan; then " \
+			"if run loadbootscript; then " \
+				"run bootscript; " \
 			"else " \
-				"if run loadimage; then " \
-					"run mmcboot; " \
+				"if run loadfit; then " \
+					"run fitboot; " \
+				"else " \
+					"if run loadimage; then " \
+						"run _mmcboot; " \
+					"fi; " \
 				"fi; " \
 			"fi; " \
-		"fi; " \
-	"fi"
+		"fi\0"
+
+#define CONFIG_BOOTCOMMAND		"run $modeboot"
 
 /* Miscellaneous configurable options */
 #define CONFIG_SYS_MEMTEST_START	0x80000000