4 files changed, 111 insertions, 0 deletions
diff --git a/doc/board/index.rst b/doc/board/index.rst
index 62357c99388..f0a11f84ccc 100644
--- a/doc/board/index.rst
+++ b/doc/board/index.rst
@@ -53,6 +53,7 @@ Board-specific doc
    ste/index
    tbs/index
    thead/index
+   theobroma-systems/index
    ti/index
    toradex/index
    variscite/index
diff --git a/doc/board/rockchip/rockchip.rst b/doc/board/rockchip/rockchip.rst
index e23ca4231cc..1d5451183be 100644
--- a/doc/board/rockchip/rockchip.rst
+++ b/doc/board/rockchip/rockchip.rst
@@ -120,6 +120,7 @@ List of mainline supported Rockchip boards:
      - Turing Machines RK1 (turing-rk1-rk3588)
      - Radxa ROCK 5A (rock5a-rk3588s)
      - Radxa ROCK 5B (rock5b-rk3588)
+     - Theobroma Systems RK3588-SBC Jaguar (jaguar-rk3588)
      - Xunlong Orange Pi 5 (orangepi-5-rk3588s)
      - Xunlong Orange Pi 5 Plus (orangepi-5-plus-rk3588)
 
diff --git a/doc/board/theobroma-systems/index.rst b/doc/board/theobroma-systems/index.rst
new file mode 100644
index 00000000000..945f7a2f976
--- /dev/null
+++ b/doc/board/theobroma-systems/index.rst
@@ -0,0 +1,9 @@
+.. SPDX-License-Identifier: GPL-2.0+
+
+Theobroma Systems
+=================
+
+.. toctree::
+   :maxdepth: 2
+
+   jaguar_rk3588
diff --git a/doc/board/theobroma-systems/jaguar_rk3588.rst b/doc/board/theobroma-systems/jaguar_rk3588.rst
new file mode 100644
index 00000000000..db15f945d3b
--- /dev/null
+++ b/doc/board/theobroma-systems/jaguar_rk3588.rst
@@ -0,0 +1,100 @@
+.. SPDX-License-Identifier: GPL-2.0+
+
+SBC-RK3588-AMR Jaguar
+=====================
+
+The SBC-RK3588-AMR is a Single Board Computer designed by
+Theobroma Systems for autonomous mobile robots.
+
+It provides the following features:
+
+ * up to 32GB LDDR4
+ * up to 128GB on-module eMMC (with 8-bit 1.8V interface)
+ * SD card
+ * Gigabit Ethernet
+ * 1x USB-A 2.0 host
+ * PCIe M.2 2230 Key M (Gen 2 1-lane) for WiFi+BT
+ * PCIe M.2 2280 Key M (Gen 3 4-lane) for NVMe
+ * CAN
+ * RS485 UART
+ * 2x USB Type-C 3.1 host/device
+ * HDMI output
+ * 2x camera connectors (MIPI-CSI 2-lane I2C/SPI for IMUs GPIOs)
+ * EEPROM
+ * Secure Element
+ * ATtiny companion controller implementing:
+
+   - low-power RTC functionality (ISL1208 emulation)
+   - fan controller (AMC6821 emulation)
+
+ * 80-pin Mezzanine connector
+
+Here is the step-by-step to boot to U-Boot on SBC-RK3588-AMR Jaguar from Theobroma
+Systems.
+
+Get the TF-A and DDR init (TPL) binaries
+----------------------------------------
+
+.. prompt:: bash
+
+   git clone https://github.com/rockchip-linux/rkbin
+   cd rkbin
+   export RKBIN=$(pwd)
+   export BL31=$RKBIN/bin/rk35/rk3588_bl31_v1.38.elf
+   export ROCKCHIP_TPL=$RKBIN/bin/rk35/rk3588_ddr_lp4_2112MHz_lp5_2736MHz_v1.11.bin
+   sed -i 's/^uart baudrate=.*$/uart baudrate=115200/' tools/ddrbin_param.txt
+   ./tools/ddrbin_tool tools/ddrbin_param.txt "$ROCKCHIP_TPL"
+   ./tools/boot_merger RKBOOT/RK3588MINIALL.ini
+   export RKDB=$RKBIN/rk3588_spl_loader_v1.11.112.bin
+
+This will setup all required external dependencies for compiling U-Boot. This will
+be updated in the future once upstream Trusted-Firmware-A supports RK3588 or U-Boot
+gains support for open-source DRAM initialization in TPL.
+
+Build U-Boot
+------------
+
+.. prompt:: bash
+
+   cd ../u-boot
+   make CROSS_COMPILE=aarch64-linux-gnu- jaguar-rk3588_defconfig all
+
+This will build ``u-boot-rockchip.bin`` which can be written to an MMC device
+(eMMC or SD card).
+
+Flash the image
+---------------
+
+Copy ``u-boot-rockchip.bin`` to offset 32k for SD/eMMC.
+
+SD-Card
+~~~~~~~
+
+.. prompt:: bash
+
+   dd if=u-boot-rockchip.bin of=/dev/sdX seek=64
+
+.. note::
+
+   Replace ``/dev/sdX`` to match your SD card kernel device.
+
+eMMC
+~~~~
+
+``rkdeveloptool`` allows to flash the on-board eMMC via the USB OTG interface
+with help of the Rockchip loader binary.
+
+To enter the USB flashing mode, remove any SD card, insert a USB-C cable in the
+``DOWNLOAD`` USB Type-C connector (P11) and then power cycle or reset the board
+while pressing the ``BIOS`` (SW2) button. A new USB device should have appeared
+on your PC (check with ``lsusb -d 2207:350b``).
+
+To flash U-Boot on the eMMC with ``rkdeveloptool``:
+
+.. prompt:: bash
+
+   git clone https://github.com/rockchip-linux/rkdeveloptool
+   cd rkdeveloptool
+   autoreconf -i && CPPFLAGS=-Wno-format-truncation ./configure && make
+   ./rkdeveloptool db "$RKDB"
+   ./rkdeveloptool wl 64 ../u-boot-rockchip.bin