I've been developing with iMX over 5 years and I'll heartily recommend that part over any other Linux-class SoC on the market right now. Freescale's support is

I've been developing with iMX over 5 years and I'll heartily recommend that part over any other Linux-class SoC on the market right now. Freescale's support is probably the best available out there in this class of chips. Documentation is mature and plentiful (excepting the GPU of course but that's being worked around), and there is plenty of code sitting on their Github servers including Yocto recipes that are pretty close to mainline.