Re: [PATCH 2/2] arm64: dts: freescale: add MR-NAVQ95 basic board support

Frank Li <[email protected]>
Newsgroups org.infradead.lists.linux-arm-kernel,dev.linux.lists.imx,org.kernel.vger.linux-devicetree,org.kernel.vger.linux-kernel
Message-ID <ao2lvM8NCV3XmArL@SMW015318> 
On Tue, Aug 25, 2026 at 05:08:12AM -0700, Laurentiu Mihalcea wrote:
> From: Laurentiu Mihalcea <[email protected]>
>
> Add basic support for NXP's MR-NAVQ95 board. This board is designed for
> robotics applications (e.g. drones, rovers, humanoids, etc..) and has the
> following hardware feats (list is not exhaustive):
>
> * based on i.MX95 19x19 SoC
> * 64GB eMMC
> * up to 16GB of LPDDR5 memory
> * 1 x USB 2.0 TypeC
> * 1 x USB 3.0 TypeC
> * 1 x RJ45 port with RTL8211 PHY
>
> The support targets revision B of the board.
>
> Signed-off-by: Laurentiu Mihalcea <[email protected]>
> ---
>  arch/arm64/boot/dts/freescale/Makefile       |   1 +
>  arch/arm64/boot/dts/freescale/imx95-navq.dts | 267 +++++++++++++++++++
>  2 files changed, 268 insertions(+)
>  create mode 100644 arch/arm64/boot/dts/freescale/imx95-navq.dts
>
> diff --git a/arch/arm64/boot/dts/freescale/Makefile b/arch/arm64/boot/dts/freescale/Makefile
> index 95ae85ab4adf..4c5ef83cd857 100644
> --- a/arch/arm64/boot/dts/freescale/Makefile
> +++ b/arch/arm64/boot/dts/freescale/Makefile
> @@ -712,6 +712,7 @@ dtb-$(CONFIG_ARCH_MXC) += imx95-19x19-evk-sof.dtb
>  dtb-$(CONFIG_ARCH_MXC) += imx95-19x19-frdm-pro.dtb
>  dtb-$(CONFIG_ARCH_MXC) += imx95-aquila-clover.dtb
>  dtb-$(CONFIG_ARCH_MXC) += imx95-aquila-dev.dtb
> +dtb-$(CONFIG_ARCH_MXC) += imx95-navq.dtb
>  dtb-$(CONFIG_ARCH_MXC) += imx95-toradex-smarc-dev.dtb
>  dtb-$(CONFIG_ARCH_MXC) += imx95-tqma9596la-mba95xxca.dtb
>  dtb-$(CONFIG_ARCH_MXC) += imx95-tqma9596sa-mb-smarc-2.dtb
> diff --git a/arch/arm64/boot/dts/freescale/imx95-navq.dts b/arch/arm64/boot/dts/freescale/imx95-navq.dts
> new file mode 100644
> index 000000000000..f7ddc39f9b21
> --- /dev/null
> +++ b/arch/arm64/boot/dts/freescale/imx95-navq.dts
> @@ -0,0 +1,267 @@
> +// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
> +/*
> + * Copyright 2026 NXP
> + */
> +
> +/dts-v1/;
> +
> +#include "imx95.dtsi"
> +
> +/ {
> +	model = "NXP MR-NAVQ95";
> +	compatible = "fsl,imx95-navq", "fsl,imx95";
> +
> +	aliases {
> +		ethernet0 = &enetc_port0;
> +		mmc0 = &usdhc1;
> +		mmc1 = &usdhc2;
> +		serial0 = &lpuart1;
> +	};
> +
> +	chosen {
> +		stdout-path = &lpuart1;
> +	};
> +
> +	reg_usdhc2_vmmc: regulator-usdhc2 {
> +		compatible = "regulator-fixed";
> +		pinctrl-names = "default";
> +		pinctrl-0 = <&pinctrl_reg_usdhc2_vmmc>;
> +		regulator-name = "VDD_SD2_3V3";
> +		regulator-min-microvolt = <3300000>;
> +		regulator-max-microvolt = <3300000>;
> +		gpio = <&gpio3 7 GPIO_ACTIVE_HIGH>;
> +		enable-active-high;
> +		off-on-delay-us = <12000>;
> +	};
> +};
> +
> +&edma1 {
> +	/* owned by M7 */
> +	status = "reserved";
> +};
> +
> +&edma2 {
> +	/* channels 30-63 owned by M7 */
> +	dma-channels = <30>;
> +};
> +
> +&enetc_port0 {
> +	pinctrl-names = "default";
> +	pinctrl-0 = <&pinctrl_enetc0>;
> +	phy-handle = <&ethphy0>;
> +	phy-mode = "rgmii-id";
> +	status = "okay";
> +};
> +
> +&lpi2c3 {
> +	pinctrl-names = "default";
> +	pinctrl-0 = <&pinctrl_lpi2c3>;
> +	clock-frequency = <400000>;
> +	status = "okay";
> +
> +	i2c3_gpio_expander_21: gpio-expander@21 {
> +		compatible = "nxp,pcal6408";
> +		reg = <0x21>;
> +		gpio-controller;
> +		#gpio-cells = <2>;
> +		interrupt-controller;
> +		#interrupt-cells = <2>;
> +		interrupt-parent = <&gpio4>;
> +		interrupts = <27 IRQ_TYPE_LEVEL_LOW>;
> +		pinctrl-names = "default";
> +		pinctrl-0 = <&pinctrl_i2c3_gpio_expander_21>;
> +	};
> +};
> +
> +&lpuart1 {
> +	pinctrl-names = "default";
> +	pinctrl-0 = <&pinctrl_uart1>;
> +	status = "okay";
> +};
> +
> +&netc_blk_ctrl {
> +	status = "okay";
> +};
> +
> +&netc_emdio {
> +	pinctrl-names = "default";
> +	pinctrl-0 = <&pinctrl_emdio>;
> +	status = "okay";
> +
> +	ethphy0: ethernet-phy@1 {
> +		compatible = "ethernet-phy-id001c.c916";
> +		reg = <1>;
> +		reset-gpios = <&i2c3_gpio_expander_21 1 GPIO_ACTIVE_LOW>;
> +		reset-assert-us = <10000>;
> +		reset-deassert-us = <80000>;
> +		realtek,clkout-disable;
> +	};
> +};
> +
> +&scmi_iomuxc {
> +	pinctrl_emdio: emdiogrp {
> +		fsl,pins = <
> +			IMX95_PAD_ENET2_MDC__NETCMIX_TOP_NETC_MDC		0x57e
> +			IMX95_PAD_ENET2_MDIO__NETCMIX_TOP_NETC_MDIO		0x97e
> +		>;
> +	};
> +
> +	pinctrl_enetc0: enetc0grp {
> +		fsl,pins = <
> +			IMX95_PAD_ENET1_TD3__NETCMIX_TOP_ETH0_RGMII_TD3         0x57e
> +			IMX95_PAD_ENET1_TD2__NETCMIX_TOP_ETH0_RGMII_TD2         0x57e
> +			IMX95_PAD_ENET1_TD1__NETCMIX_TOP_ETH0_RGMII_TD1         0x57e
> +			IMX95_PAD_ENET1_TD0__NETCMIX_TOP_ETH0_RGMII_TD0         0x57e
> +			IMX95_PAD_ENET1_TX_CTL__NETCMIX_TOP_ETH0_RGMII_TX_CTL   0x57e
> +			IMX95_PAD_ENET1_TXC__NETCMIX_TOP_ETH0_RGMII_TX_CLK      0x58e
> +			IMX95_PAD_ENET1_RX_CTL__NETCMIX_TOP_ETH0_RGMII_RX_CTL   0x57e
> +			IMX95_PAD_ENET1_RXC__NETCMIX_TOP_ETH0_RGMII_RX_CLK      0x58e
> +			IMX95_PAD_ENET1_RD0__NETCMIX_TOP_ETH0_RGMII_RD0         0x57e
> +			IMX95_PAD_ENET1_RD1__NETCMIX_TOP_ETH0_RGMII_RD1         0x57e
> +			IMX95_PAD_ENET1_RD2__NETCMIX_TOP_ETH0_RGMII_RD2         0x57e
> +			IMX95_PAD_ENET1_RD3__NETCMIX_TOP_ETH0_RGMII_RD3         0x57e
> +		>;
> +	};
> +
> +	pinctrl_i2c3_gpio_expander_21: i2c3gpioexpander21grp {
> +		fsl,pins = <
> +			IMX95_PAD_ENET2_RD3__GPIO4_IO_BIT27			0x31e
> +		>;
> +	};
> +
> +	pinctrl_lpi2c3: lpi2c3grp {
> +		fsl,pins = <
> +			IMX95_PAD_GPIO_IO28__LPI2C3_SDA				0x40000b9e
> +			IMX95_PAD_GPIO_IO29__LPI2C3_SCL				0x40000b9e
> +		>;
> +	};
> +
> +	pinctrl_reg_usdhc2_vmmc: regusdhc2vmmcgrp {
> +		fsl,pins = <
> +			IMX95_PAD_SD2_RESET_B__GPIO3_IO_BIT7			0x31e
> +		>;
> +	};
> +
> +	pinctrl_uart1: uart1grp {
> +		fsl,pins = <
> +			IMX95_PAD_UART1_RXD__AONMIX_TOP_LPUART1_RX		0x31e
> +			IMX95_PAD_UART1_TXD__AONMIX_TOP_LPUART1_TX		0x31e
> +		>;
> +	};
> +
> +	pinctrl_usdhc1_100mhz: usdhc1-100mhzgrp {
> +		fsl,pins = <
> +			IMX95_PAD_SD1_CLK__USDHC1_CLK				0x158e
> +			IMX95_PAD_SD1_CMD__USDHC1_CMD				0x138e
> +			IMX95_PAD_SD1_DATA0__USDHC1_DATA0			0x138e
> +			IMX95_PAD_SD1_DATA1__USDHC1_DATA1			0x138e
> +			IMX95_PAD_SD1_DATA2__USDHC1_DATA2			0x138e
> +			IMX95_PAD_SD1_DATA3__USDHC1_DATA3			0x138e
> +			IMX95_PAD_SD1_DATA4__USDHC1_DATA4			0x138e
> +			IMX95_PAD_SD1_DATA5__USDHC1_DATA5			0x138e
> +			IMX95_PAD_SD1_DATA6__USDHC1_DATA6			0x138e
> +			IMX95_PAD_SD1_DATA7__USDHC1_DATA7			0x138e
> +			IMX95_PAD_SD1_STROBE__USDHC1_STROBE			0x158e
> +		>;
> +	};
> +
> +	pinctrl_usdhc1_200mhz: usdhc1-200mhzgrp {
> +		fsl,pins = <
> +			IMX95_PAD_SD1_CLK__USDHC1_CLK				0x15fe
> +			IMX95_PAD_SD1_CMD__USDHC1_CMD				0x13fe
> +			IMX95_PAD_SD1_DATA0__USDHC1_DATA0			0x13fe
> +			IMX95_PAD_SD1_DATA1__USDHC1_DATA1			0x13fe
> +			IMX95_PAD_SD1_DATA2__USDHC1_DATA2			0x13fe
> +			IMX95_PAD_SD1_DATA3__USDHC1_DATA3			0x13fe
> +			IMX95_PAD_SD1_DATA4__USDHC1_DATA4			0x13fe
> +			IMX95_PAD_SD1_DATA5__USDHC1_DATA5			0x13fe
> +			IMX95_PAD_SD1_DATA6__USDHC1_DATA6			0x13fe
> +			IMX95_PAD_SD1_DATA7__USDHC1_DATA7			0x13fe
> +			IMX95_PAD_SD1_STROBE__USDHC1_STROBE			0x15fe
> +		>;
> +	};
> +
> +	pinctrl_usdhc1: usdhc1grp {
> +		fsl,pins = <
> +			IMX95_PAD_SD1_CLK__USDHC1_CLK				0x158e
> +			IMX95_PAD_SD1_CMD__USDHC1_CMD				0x138e
> +			IMX95_PAD_SD1_DATA0__USDHC1_DATA0			0x138e
> +			IMX95_PAD_SD1_DATA1__USDHC1_DATA1			0x138e
> +			IMX95_PAD_SD1_DATA2__USDHC1_DATA2			0x138e
> +			IMX95_PAD_SD1_DATA3__USDHC1_DATA3			0x138e
> +			IMX95_PAD_SD1_DATA4__USDHC1_DATA4			0x138e
> +			IMX95_PAD_SD1_DATA5__USDHC1_DATA5			0x138e
> +			IMX95_PAD_SD1_DATA6__USDHC1_DATA6			0x138e
> +			IMX95_PAD_SD1_DATA7__USDHC1_DATA7			0x138e
> +			IMX95_PAD_SD1_STROBE__USDHC1_STROBE			0x158e
> +		>;
> +	};
> +
> +	pinctrl_usdhc2_100mhz: usdhc2-100mhzgrp {
> +		fsl,pins = <
> +			IMX95_PAD_SD2_CLK__USDHC2_CLK				0x158e
> +			IMX95_PAD_SD2_CMD__USDHC2_CMD				0x138e
> +			IMX95_PAD_SD2_DATA0__USDHC2_DATA0			0x138e
> +			IMX95_PAD_SD2_DATA1__USDHC2_DATA1			0x138e
> +			IMX95_PAD_SD2_DATA2__USDHC2_DATA2			0x138e
> +			IMX95_PAD_SD2_DATA3__USDHC2_DATA3			0x138e
> +			IMX95_PAD_SD2_VSELECT__USDHC2_VSELECT			0x51e
> +		>;
> +	};
> +
> +	pinctrl_usdhc2_200mhz: usdhc2-200mhzgrp {
> +		fsl,pins = <
> +			IMX95_PAD_SD2_CLK__USDHC2_CLK				0x158e
> +			IMX95_PAD_SD2_CMD__USDHC2_CMD				0x138e
> +			IMX95_PAD_SD2_DATA0__USDHC2_DATA0			0x138e
> +			IMX95_PAD_SD2_DATA1__USDHC2_DATA1			0x138e
> +			IMX95_PAD_SD2_DATA2__USDHC2_DATA2			0x138e
> +			IMX95_PAD_SD2_DATA3__USDHC2_DATA3			0x138e
> +			IMX95_PAD_SD2_VSELECT__USDHC2_VSELECT			0x51e
> +		>;
> +	};

if the value is the same  100mzh, 200mzh and default

Needn't duplicate it.

Just
     pinctrl-0 = <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;
     pinctrl-1 = <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;
     pinctrl-2 = <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;
     pinctrl-3 = <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;

Frank
> +
> +	pinctrl_usdhc2_gpio: usdhc2gpiogrp {
> +		fsl,pins = <
> +			IMX95_PAD_SD2_CD_B__GPIO3_IO_BIT0			0x31e
> +		>;
> +	};
> +
> +	pinctrl_usdhc2: usdhc2grp {
> +		fsl,pins = <
> +			IMX95_PAD_SD2_CLK__USDHC2_CLK				0x158e
> +			IMX95_PAD_SD2_CMD__USDHC2_CMD				0x138e
> +			IMX95_PAD_SD2_DATA0__USDHC2_DATA0			0x138e
> +			IMX95_PAD_SD2_DATA1__USDHC2_DATA1			0x138e
> +			IMX95_PAD_SD2_DATA2__USDHC2_DATA2			0x138e
> +			IMX95_PAD_SD2_DATA3__USDHC2_DATA3			0x138e
> +			IMX95_PAD_SD2_VSELECT__USDHC2_VSELECT			0x51e
> +		>;
> +	};
> +
> +};
> +
> +&usdhc1 {
> +	pinctrl-names = "default", "state_100mhz", "state_200mhz", "sleep";
> +	pinctrl-0 = <&pinctrl_usdhc1>;
> +	pinctrl-1 = <&pinctrl_usdhc1_100mhz>;
> +	pinctrl-2 = <&pinctrl_usdhc1_200mhz>;
> +	pinctrl-3 = <&pinctrl_usdhc1>;
> +	bus-width = <8>;
> +	non-removable;
> +	no-sdio;
> +	no-sd;
> +	status = "okay";
> +};
> +
> +&usdhc2 {
> +	pinctrl-names = "default", "state_100mhz", "state_200mhz", "sleep";
> +	pinctrl-0 = <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;
> +	pinctrl-1 = <&pinctrl_usdhc2_100mhz>, <&pinctrl_usdhc2_gpio>;
> +	pinctrl-2 = <&pinctrl_usdhc2_200mhz>, <&pinctrl_usdhc2_gpio>;
> +	pinctrl-3 = <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;
> +	cd-gpios = <&gpio3 0 GPIO_ACTIVE_LOW>;
> +	vmmc-supply = <&reg_usdhc2_vmmc>;
> +	bus-width = <4>;
> +	status = "okay";
> +};
> --
> 2.53.0
>
>
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