As imx6 redundant boot from secondary bootloader may be useful for someone , i am sharing below procedure which worked for me .
Create primary boot image
dd if=u-boot.bin of=/dev/sdc bs=1K seek=1 skip=1
Create secondary boot image, in this example, start from 400KB i.e seek in blocks.
dd if=u-boot-sec.bin of=/dev/sdc bs=512 seek=800
Take header file shared in below link.
i.MX53 Redundant Boot -blog archive
To create secondary image table, run below command
dd if=header of=/dev/sdc bs=512 seek=1count=1
Destory primary u-boot by setting the entry of ivt to 0, so rom can jump to secondary image.
dd if=/dev/zero of=/dev/sdc bs=1 seek=1028 count=4
for imx6 check value at 0x20d8044 it should show 0x40000000 , which indicates imx6 has booted from secondary bootloader.