diff --git a/configs/pico-imx6ul_defconfig b/configs/pico-imx6ul_defconfig
index ab9c9f1357dfce45b66fcd84fcda8e053f092714..e202159fe8d18f8ad21705ee2376fb176f425efe 100644
--- a/configs/pico-imx6ul_defconfig
+++ b/configs/pico-imx6ul_defconfig
@@ -10,6 +10,7 @@ CONFIG_CMD_MEMTEST=y
 # CONFIG_CMD_FLASH is not set
 CONFIG_CMD_MMC=y
 CONFIG_CMD_USB=y
+CONFIG_CMD_DFU=y
 CONFIG_CMD_USB_MASS_STORAGE=y
 CONFIG_CMD_GPIO=y
 CONFIG_CMD_DHCP=y
@@ -21,4 +22,11 @@ CONFIG_CMD_EXT4=y
 CONFIG_CMD_EXT4_WRITE=y
 CONFIG_CMD_FAT=y
 CONFIG_CMD_FS_GENERIC=y
+CONFIG_USB=y
+CONFIG_USB_GADGET=y
+CONFIG_CI_UDC=y
+CONFIG_USB_GADGET_DOWNLOAD=y
+CONFIG_G_DNL_MANUFACTURER="FSL"
+CONFIG_G_DNL_VENDOR_NUM=0x0525
+CONFIG_G_DNL_PRODUCT_NUM=0xa4a5
 CONFIG_OF_LIBFDT=y
diff --git a/include/configs/pico-imx6ul.h b/include/configs/pico-imx6ul.h
index 73e37e1bbd03c4198d6e247198023663c28e6b47..db78a543a88fc3c215d6ef4d8fee6b43f9398c67 100644
--- a/include/configs/pico-imx6ul.h
+++ b/include/configs/pico-imx6ul.h
@@ -28,7 +28,7 @@
 #define CONFIG_PHY_MICREL
 
 /* Size of malloc() pool */
-#define CONFIG_SYS_MALLOC_LEN		(16 * SZ_1M)
+#define CONFIG_SYS_MALLOC_LEN		(35 * SZ_1M) /* Increase due to DFU */
 
 #define CONFIG_BOARD_EARLY_INIT_F
 
@@ -63,6 +63,11 @@
 #define CONFIG_USB_GADGET_DOWNLOAD
 #define CONFIG_USB_GADGET_VBUS_DRAW	2
 
+#define CONFIG_USB_FUNCTION_DFU
+#define CONFIG_DFU_MMC
+#define CONFIG_SYS_DFU_DATA_BUF_SIZE SZ_16M
+#define DFU_DEFAULT_POLL_TIMEOUT 300
+
 #define CONFIG_G_DNL_VENDOR_NUM		0x0525
 #define CONFIG_G_DNL_PRODUCT_NUM	0xa4a5
 #define CONFIG_G_DNL_MANUFACTURER	"FSL"
@@ -86,6 +91,7 @@
 	"mmcpart=" __stringify(CONFIG_SYS_MMC_IMG_LOAD_PART) "\0" \
 	"mmcroot=" CONFIG_MMCROOT " rootwait rw\0" \
 	"mmcautodetect=yes\0" \
+	"dfu_alt_info=boot raw 0x2 0x400 mmcpart 1\0" \
 	"mmcargs=setenv bootargs console=${console},${baudrate} " \
 		"root=${mmcroot}\0" \
 	"loadimage=fatload mmc ${mmcdev}:${mmcpart} ${loadaddr} ${image}\0" \