Please refer to Chapter 16 [CMOS Sensor Interface (CSI)] of the i.MX6 SL Reference Manual.
In particular - sections 16.1 (Overview) and 16.4 (Principles of Operation).
http://cache.freescale.com/files/32bit/doc/ref_manual/IMX6SLRM.pdf
As for hardware specs, please the i.MX6 SL Datasheet, section 4.10.2
[CMOS Sensor Interface (CSI) Timing Parameters]
http://cache.freescale.com/files/32bit/doc/data_sheet/IMX6SLCEC.pdf
Have a great day,
Yuri
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