board: toradex: add initial support for aquila imx95

Add initial U-Boot support for Aquila iMX95 SoM.

Link: https://www.toradex.com/computer-on-modules/aquila-arm-family/nxp-imx95
Link: https://www.toradex.com/products/carrier-board/aquila-development-board-kit
Signed-off-by: Franz Schnyder <[email protected]>
Reviewed-by: Francesco Dolcini <[email protected]>

2 files changed, 176 insertions, 0 deletions

diff --git a/doc/board/toradex/aquila-imx95.rst b/doc/board/toradex/aquila-imx95.rst
new file mode 100644
index 00000000000..edd40252657
--- /dev/null
+++ b/doc/board/toradex/aquila-imx95.rst
@@ -0,0 +1,175 @@
+.. SPDX-License-Identifier: GPL-2.0-or-later
+
+Toradex Aquila iMX95 Module
+===========================
+
+- SoM: https://www.toradex.com/computer-on-modules/aquila-arm-family/nxp-imx95
+- Carrier board: https://www.toradex.com/products/carrier-board/aquila-development-board-kit
+
+Quick Start
+-----------
+
+- Setup environment
+- Get ahab-container.img
+- Get DDR PHY Firmware Images
+- Get and Build OEI Images
+- Get and Build System Manager Image
+- Get and Build the ARM Trusted Firmware
+- Build the Bootloader Image
+- Boot
+
+Setup environment
+-----------------
+
+Suggested current toolchains are ARM 14.3 (https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads):
+
+- https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-x86_64-arm-none-linux-gnueabihf.tar.xz
+- https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-x86_64-aarch64-none-linux-gnu.tar.xz
+
+.. code-block:: console
+
+    $ export TOOLS=<path/to/directory/with/toolchains>
+    $ export CROSS_COMPILE_32=<path/to/arm/toolchain/bin/>arm-none-linux-gnueabihf-
+    $ export CROSS_COMPILE_64=<path/to/arm64/toolchain/bin/>aarch64-none-linux-gnu-
+
+Get ahab-container.img
+----------------------
+
+Note: `$srctree` is the U-Boot source directory
+
+.. code-block:: console
+
+    $ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/firmware-ele-imx-2.0.2-89161a8.bin
+    $ sh firmware-ele-imx-2.0.2-89161a8.bin --auto-accept
+    $ cp firmware-ele-imx-2.0.2-89161a8/mx95b0-ahab-container.img $(srctree)
+
+Get DDR PHY Firmware Images
+---------------------------
+
+Note: `$srctree` is the U-Boot source directory
+
+.. code-block:: console
+
+    $ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/firmware-imx-8.28-994fa14.bin
+    $ sh firmware-imx-8.28-994fa14.bin --auto-accept
+    $ cp firmware-imx-8.28-994fa14/firmware/ddr/synopsys/lpddr5*v202409.bin $(srctree)
+
+Get and Build OEI Images
+------------------------
+
+Note: `$srctree` is the U-Boot source directory
+Get OEI from: https://git.toradex.com/cgit/imx-oei-toradex.git/
+branch: main
+
+.. code-block:: console
+
+    $ git clone -b main https://git.toradex.com/cgit/imx-oei-toradex.git/
+    $ cd imx-oei-toradex
+
+    $ make board=toradex-aquila-imx95 oei=ddr DEBUG=1 r=B0 all
+    $ cp build/toradex-aquila-imx95/ddr/oei-m33-ddr.bin $(srctree)
+
+    $ make board=toradex-aquila-imx95 oei=tcm DEBUG=1 r=B0 all
+    $ cp build/toradex-aquila-imx95/tcm/oei-m33-tcm.bin $(srctree)
+
+The Makefile will set `DDR_CONFIG` automatically based on the selected silicon
+revision.
+
+Get and Build the System Manager Image
+--------------------------------------
+
+Note: `$srctree` is the U-Boot source directory
+Get System Manager from: https://git.toradex.com/cgit/imx-sm-toradex.git/
+branch: main
+
+.. code-block:: console
+
+    $ git clone -b main https://git.toradex.com/cgit/imx-sm-toradex.git/
+    $ cd imx-sm-toradex
+    $ make config=aquila-imx95 all
+    $ cp build/aquila-imx95/m33_image.bin $(srctree)
+
+Get and Build the ARM Trusted Firmware
+--------------------------------------
+
+Note: `$srctree` is the U-Boot source directory
+Get ATF from: https://github.com/nxp-imx/imx-atf/
+branch: lf_v2.12
+
+.. code-block:: console
+
+    $ export CROSS_COMPILE=$CROSS_COMPILE_64
+    $ unset LDFLAGS
+    $ unset AS
+    $ git clone -b lf_v2.12 https://github.com/nxp-imx/imx-atf.git
+    $ cd imx-atf
+    $ make PLAT=imx95 bl31
+    $ cp build/imx95/release/bl31.bin $(srctree)
+
+Build the Bootloader Image
+--------------------------
+
+.. code-block:: console
+
+    $ export CROSS_COMPILE=$CROSS_COMPILE_64
+    $ make aquila-imx95_defconfig
+    $ make
+
+Flash to eMMC
+-------------
+
+.. code-block:: console
+
+    > tftpboot ${loadaddr} flash.bin
+    > setexpr blkcnt ${filesize} + 0x1ff && setexpr blkcnt ${blkcnt} / 0x200
+    > mmc dev 0 1 && mmc write ${loadaddr} 0x0 ${blkcnt}
+
+As a convenience, instead of the last two commands, one may also use the update
+U-Boot wrapper:
+
+.. code-block:: console
+
+    > run update_uboot
+
+Boot
+----
+
+Boot sequence is:
+
+* SPL ---> ATF (TF-A) ---> U-Boot proper
+
+Output:
+
+.. code-block:: console
+
+    U-Boot SPL 2026.07-rc3-00300-ge16706b72e14 (Jun 11 2026 - 13:07:49 +0200)
+    SYS Boot reason: por, origin: -1, errid: -1
+    WDT:   Started watchdog@42490000 with servicing every 1000ms (40s timeout)
+    Trying to boot from MMC1
+    Load image from MMC/SD 0xd2800
+    NOTICE:  BL31: v2.10.0  (release):lf-6.6.52-2.2.1-dirty
+    NOTICE:  BL31: Built : 06:40:36, Jul  7 2025
+
+
+    U-Boot 2026.07-rc3-00300-ge16706b72e14 (Jun 11 2026 - 13:07:49 +0200)
+
+    CPU:   NXP i.MX95 Rev2.0 A55 at 1800 MHz - invalid sensor data
+    DRAM:  7.8 GiB
+    Core:  321 devices, 30 uclasses, devicetree: separate
+    WDT:   Started watchdog@42490000 with servicing every 1000ms (40s timeout)
+    MMC:   FSL_SDHC: 0, FSL_SDHC: 1
+    Loading Environment from MMC... Reading from MMC(0)... OK
+    In:    serial@44380000
+    Out:   serial@44380000
+    Err:   serial@44380000
+    Model: Toradex 0098 Aquila iMX95 Hexa 8GB WB IT V1.0A
+    Serial#: 12594391
+
+    BuildInfo:
+      - ELE firmware version 2.0.2-c110ba4b
+
+    Net:   WARNING: no MAC address assigned for MAC0
+    imx_get_mac_from_fuse: fuse read err: 0
+    eth0: enetc-0 [PRIME]
+    Hit any key to stop autoboot: 0
+    Aquila iMX95 #
diff --git a/doc/board/toradex/index.rst b/doc/board/toradex/index.rst
index 2a45bde6991..c5955ea1ad8 100644
--- a/doc/board/toradex/index.rst
+++ b/doc/board/toradex/index.rst
@@ -8,6 +8,7 @@ Toradex
 
    apalis-imx8
    aquila-am69
+   aquila-imx95
    colibri_imx7
    colibri-imx8x
    smarc-imx8mp