[PATCH 0/3] Add Lotus Carrier Board with Aquila iMX95

[PATCH 0/3] Add Lotus Carrier Board with Aquila iMX95

[Leonardo Costa]

This patch series adds support for the Lotus Carrier Board with the
Toradex Aquila iMX95 SoM. Lotus is a carrier board for the Aquila family
featuring a small form factor (Nano-ITX 120mm x 120mm) and built for
volume production.

The board features:

- 1x 1Gbit/s Ethernet
- 1x 10Gbit/s SFP+ cage
- 2x RS-485 (Isolated and Non-Isolated)
- 4x CAN (3x Non-Isolated, 1x Isolated)
- 3x isolated digital I/O
- 1x CSI
- 1x DSI
- 1x TPM 2.0 chip
- 1x microSD slot
- 1x USB-C DRP
- 1x USB 3 hub
- DisplayPort through a Mini DP connector
- A mini PCIe slot with USB / SIM card connector for a modem

Additionally, this series adds pinctrl groups to the Aquila iMX95 SoM
dtsi, muxing the I2S_1 and PWM_4_DP pins to their GPIO functions. On
Lotus, these pins carry the SFP+ low-speed control and status signals
and the isolated digital I/O readback signals.

Link: https://www.toradex.com/products/carrier-board/lotus
Signed-off-by: Leonardo Costa <leonardo.costa@toradex.com>
---
Leonardo Costa (3):
      dt-bindings: arm: fsl: Add Aquila iMX95 with Lotus board
      arm64: dts: freescale: imx95-aquila: Add GPIO pingroups for the Lotus Carrier Board
      arm64: dts: freescale: imx95-aquila: Add Lotus Carrier Board

 Documentation/devicetree/bindings/arm/fsl.yaml     |   1 +
 arch/arm64/boot/dts/freescale/Makefile             |   1 +
 .../boot/dts/freescale/imx95-aquila-lotus.dts      | 365 +++++++++++++++++++++
 arch/arm64/boot/dts/freescale/imx95-aquila.dtsi    |  61 +++-
 4 files changed, 422 insertions(+), 6 deletions(-)
---
base-commit: d6bcfc94eb4da6e089c5473970cd96727292fd97
change-id: 20261104-b4-v1-aquila-lotus-dtbs-00c2e45a1a66

Best regards,
-- 
Leonardo Costa <leonardo.costa@toradex.com>

[PATCH 1/3] dt-bindings: arm: fsl: Add Aquila iMX95 with Lotus board

[Leonardo Costa]

From: Leonardo Costa <leonardo.costa@toradex.com>

Add the Lotus Carrier Board mated with the Toradex Aquila iMX95.

Link: https://www.toradex.com/products/carrier-board/lotus
Signed-off-by: Leonardo Costa <leonardo.costa@toradex.com>
---
 Documentation/devicetree/bindings/arm/fsl.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Documentation/devicetree/bindings/arm/fsl.yaml b/Documentation/devicetree/bindings/arm/fsl.yaml
index c8290a83205b6..392e019e7ffc8 100644
--- a/Documentation/devicetree/bindings/arm/fsl.yaml
+++ b/Documentation/devicetree/bindings/arm/fsl.yaml
@@ -1607,6 +1607,7 @@ properties:
           - enum:
               - toradex,aquila-imx95-clover # Aquila iMX95 Module on Clover Board
               - toradex,aquila-imx95-dev    # Aquila iMX95 Module on Aquila Development Board
+              - toradex,aquila-imx95-lotus  # Aquila iMX95 Module on Lotus Board
           - const: toradex,aquila-imx95     # Aquila iMX95 Module
           - const: fsl,imx95
 

-- 
2.43.0

[PATCH 2/3] arm64: dts: freescale: imx95-aquila: Add GPIO pingroups for the Lotus Carrier Board

[Leonardo Costa]

From: Leonardo Costa <leonardo.costa@toradex.com>

The PWM_4_DP and I2S_1_* signal pins, except for I2S_1_BCLK, are used as
GPIOs for SFP+ low-speed signals on boards which contain an SFP+ Cage.

Add pingroups muxing those pins to their GPIO functions and update the
gpio-line-names properties with the newly added GPIO pins. Additionally
extend the modified gpio-line-names arrays to their full size.

Also add the I2S_1_BCLK pin (AQUILA_B20) to gpio-line-names, as it is
used as an Isolated Digital IO readback on the Lotus Carrier Board.

Signed-off-by: Leonardo Costa <leonardo.costa@toradex.com>
---
 arch/arm64/boot/dts/freescale/imx95-aquila.dtsi | 61 ++++++++++++++++++++++---
 1 file changed, 55 insertions(+), 6 deletions(-)

diff --git a/arch/arm64/boot/dts/freescale/imx95-aquila.dtsi b/arch/arm64/boot/dts/freescale/imx95-aquila.dtsi
index dbb0b44583a55..369d5aa469ce7 100644
--- a/arch/arm64/boot/dts/freescale/imx95-aquila.dtsi
+++ b/arch/arm64/boot/dts/freescale/imx95-aquila.dtsi
@@ -277,7 +277,29 @@ &gpio2 {
 			  "",
 			  "AQUILA_B42",
 			  "",
-			  "AQUILA_B43";
+			  "AQUILA_B43",
+			  "", /* 10 */
+			  "",
+			  "",
+			  "",
+			  "",
+			  "",
+			  "",
+			  "",
+			  "",
+			  "",
+			  "", /* 20 */
+			  "",
+			  "",
+			  "",
+			  "",
+			  "",
+			  "AQUILA_B58",
+			  "",
+			  "",
+			  "",
+			  "", /* 30 */
+			  "";
 };
 
 &gpio3 {
@@ -323,18 +345,20 @@ &gpio4 {
 			  "",
 			  "",
 			  "",
-			  "",
+			  "AQUILA_B23",
 			  "AQUILA_C22",
 			  "AQUILA_C21",
 			  "AQUILA_C20",
-			  "", /* 20 */
-			  "",
-			  "",
+			  "AQUILA_B21", /* 20 */
+			  "AQUILA_B20",
+			  "AQUILA_B22",
 			  "AQUILA_C23",
 			  "AQUILA_D23",
 			  "AQUILA_D24",
+			  "AQUILA_B24",
+			  "AQUILA_D25",
 			  "",
-			  "AQUILA_D25";
+			  "";
 };
 
 &gpio5 {
@@ -1041,10 +1065,30 @@ pinctrl_sai2: sai2grp {
 			   <IMX95_PAD_ENET2_RX_CTL__NETCMIX_TOP_SAI2_TX_DATA_BIT0	0x11e>; /* Aquila B22 */
 	};
 
+	/* Aquila I2S_1_MCLK as GPIO */
+	pinctrl_i2s_1_mclk_gpio: sai2mclkgpiogrp {
+		fsl,pins = <IMX95_PAD_ENET2_RD2__GPIO4_IO_BIT26	0x31e>; /* Aquila B24 */
+	};
+
 	pinctrl_sai2_mclk: sai2mclkgrp {
 		fsl,pins = <IMX95_PAD_ENET2_RD2__NETCMIX_TOP_SAI2_MCLK	0x31e>; /* Aquila B24 */
 	};
 
+	/* Aquila I2S_1_D_IN as GPIO */
+	pinctrl_i2s_1_d_in_gpio: sai2rxdata0gpiogrp {
+		fsl,pins = <IMX95_PAD_ENET2_TD3__GPIO4_IO_BIT16	0x31e>; /* Aquila B23 */
+	};
+
+	/* Aquila I2S_1_D_OUT as GPIO */
+	pinctrl_i2s_1_d_out_gpio: sai2txdata0gpiogrp {
+		fsl,pins = <IMX95_PAD_ENET2_RX_CTL__GPIO4_IO_BIT22	0x31e>; /* Aquila B22 */
+	};
+
+	/* Aquila I2S_1_SYNC as GPIO */
+	pinctrl_i2s_1_sync_gpio: sai2txsyncgpiogrp {
+		fsl,pins = <IMX95_PAD_ENET2_TX_CTL__GPIO4_IO_BIT20	0x31e>; /* Aquila B21 */
+	};
+
 	/* Aquila SD_1_CD# as GPIO */
 	pinctrl_sd1_cd_gpio: sd1cdgpiogrp {
 		fsl,pins = <IMX95_PAD_SD2_CD_B__GPIO3_IO_BIT0	0x1100>; /* Aquila A1 */
@@ -1070,6 +1114,11 @@ pinctrl_pwm3_dsi: tpm5ch0grp {
 		fsl,pins = <IMX95_PAD_GPIO_IO06__TPM5_CH0	0x11e>; /* Aquila B46 */
 	};
 
+	/* Aquila PWM_4_DP as GPIO */
+	pinctrl_pwm4_dp_gpio: tpm5ch3gpiogrp {
+		fsl,pins = <IMX95_PAD_GPIO_IO26__GPIO2_IO_BIT26	0x31e>; /* Aquila B58 */
+	};
+
 	/* Aquila PWM_4_DP */
 	pinctrl_pwm4_dp: tpm5ch3grp {
 		fsl,pins = <IMX95_PAD_GPIO_IO26__TPM5_CH3	0x11e>; /* Aquila B58 */

-- 
2.43.0

[PATCH 3/3] arm64: dts: freescale: imx95-aquila: Add Lotus Carrier Board

[Leonardo Costa]

From: Leonardo Costa <leonardo.costa@toradex.com>

Add support for the Aquila iMX95 SoM mated with the Lotus Carrier Board.
Lotus is a carrier board for the Aquila family featuring a small form
factor (Nano-ITX 120mm x 120mm) and built for volume production.

I2S_1_BCLK, GPIO_07 and GPIO_08 are used as digital input readbacks for
the Isolated Digital IOs on the Lotus Carrier Board. Add pingroups
muxing these pins as GPIOs in the Lotus device tree, with no pull-ups or
pull-downs, since the Isolated Digital IO circuit includes external
pull-downs for the readback pins.

Link: https://www.toradex.com/computer-on-modules/aquila-arm-family/nxp-imx95
Link: https://www.toradex.com/products/carrier-board/lotus
Signed-off-by: Leonardo Costa <leonardo.costa@toradex.com>
---
 arch/arm64/boot/dts/freescale/Makefile             |   1 +
 .../boot/dts/freescale/imx95-aquila-lotus.dts      | 365 +++++++++++++++++++++
 2 files changed, 366 insertions(+)

diff --git a/arch/arm64/boot/dts/freescale/Makefile b/arch/arm64/boot/dts/freescale/Makefile
index a80cccf34eb56..60ab650f04279 100644
--- a/arch/arm64/boot/dts/freescale/Makefile
+++ b/arch/arm64/boot/dts/freescale/Makefile
@@ -965,6 +965,7 @@ 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-$(CONFIG_ARCH_MXC) += imx95-aquila-lotus.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx95-navq.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx95-toradex-osm-dev.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx95-toradex-smarc-dev.dtb
diff --git a/arch/arm64/boot/dts/freescale/imx95-aquila-lotus.dts b/arch/arm64/boot/dts/freescale/imx95-aquila-lotus.dts
new file mode 100644
index 0000000000000..4ae600636106b
--- /dev/null
+++ b/arch/arm64/boot/dts/freescale/imx95-aquila-lotus.dts
@@ -0,0 +1,365 @@
+// SPDX-License-Identifier: GPL-2.0-only OR MIT
+/*
+ * Copyright (c) Toradex
+ *
+ * https://www.toradex.com/computer-on-modules/aquila-arm-family/nxp-imx95
+ * https://www.toradex.com/products/carrier-board/lotus
+ */
+
+/dts-v1/;
+
+#include <dt-bindings/pwm/pwm.h>
+#include <dt-bindings/usb/pd.h>
+#include "imx95-aquila.dtsi"
+
+/ {
+	model = "Aquila iMX95 on Aquila Lotus Board";
+	compatible = "toradex,aquila-imx95-lotus",
+		     "toradex,aquila-imx95",
+		     "fsl,imx95";
+
+	aliases {
+		eeprom1 = &carrier_eeprom;
+	};
+
+	dp0-connector {
+		compatible = "dp-connector";
+		dp-pwr-supply = <&reg_dp_3p3v>;
+		type = "mini";
+
+		port {
+			dp_1_connector_in: endpoint {
+				remote-endpoint = <&dsi2dp_out>;
+			};
+		};
+	};
+
+	reg_dp_3p3v: regulator-dp-3p3v {
+		compatible = "regulator-fixed";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_21_dp>;
+		/* Aquila GPIO_21_DP */
+		gpios = <&gpio3 21 GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+		regulator-always-on;
+		regulator-boot-on;
+		regulator-max-microvolt = <3300000>;
+		regulator-min-microvolt = <3300000>;
+		regulator-name = "DP_3V3";
+		startup-delay-us = <10000>;
+	};
+
+	sfp: sfp {
+		compatible = "sff,sfp";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_19_dsi_1>, <&pinctrl_i2s_1_sync_gpio>,
+			    <&pinctrl_i2s_1_d_in_gpio>, <&pinctrl_pwm4_dp_gpio>,
+			    <&pinctrl_i2s_1_mclk_gpio>, <&pinctrl_i2s_1_d_out_gpio>;
+		i2c-bus = <&lpi2c2>;
+		los-gpios = <&gpio5 13 GPIO_ACTIVE_HIGH>;
+		maximum-power-milliwatt = <4000>;
+		mod-def0-gpios = <&gpio4 20 GPIO_ACTIVE_LOW>;
+		rate-select0-gpios = <&gpio4 16 GPIO_ACTIVE_HIGH>;
+		rate-select1-gpios = <&gpio2 26 GPIO_ACTIVE_HIGH>;
+		tx-disable-gpios = <&gpio4 26 GPIO_ACTIVE_HIGH>;
+		tx-fault-gpios = <&gpio4 22 GPIO_ACTIVE_HIGH>;
+	};
+};
+
+/* Aquila ADC_[1-4] */
+&adc1 {
+	status = "okay";
+};
+
+&dsi2dp_out {
+	remote-endpoint = <&dp_1_connector_in>;
+};
+
+/* Aquila ETH_1 */
+&enetc_port0 {
+	status = "okay";
+};
+
+/* Aquila ETH_2_XGMII */
+&enetc_port2 {
+	managed = "in-band-status";
+	phy-mode = "10gbase-r";
+	sfp = <&sfp>;
+
+	status = "okay";
+};
+
+/* Aquila CAN_1 */
+&flexcan1 {
+	status = "okay";
+};
+
+/* Aquila CAN_2 */
+&flexcan2 {
+	status = "okay";
+};
+
+/* Aquila CAN_3 */
+&flexcan3 {
+	status = "okay";
+};
+
+/* Aquila CAN_4 */
+&flexcan4 {
+	status = "okay";
+};
+
+/* Aquila QSPI_1 */
+&flexspi1 {
+	pinctrl-0 = <&pinctrl_flexspi1_4bit>,
+		    <&pinctrl_qspi_cs1>;
+
+	status = "okay";
+
+	flash@0 {
+		compatible = "jedec,spi-nor";
+		reg = <0x0>;
+		spi-max-frequency = <66000000>;
+		spi-rx-bus-width = <4>;
+		spi-tx-bus-width = <4>;
+	};
+};
+
+&gpio1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_gpio_8_dig_in_rb>;
+};
+
+&gpio4 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_gpio_1>,
+		    <&pinctrl_gpio_2>,
+		    <&pinctrl_gpio_3>,
+		    <&pinctrl_gpio_4>,
+		    <&pinctrl_gpio_7_dig_in_rb>,
+		    <&pinctrl_i2s_1_bclk_dig_in_rb>;
+};
+
+/* Aquila I2C_2 */
+&i3c2 {
+	status = "okay";
+};
+
+/* Aquila I2C_1 */
+&lpi2c2 {
+	status = "okay";
+
+	fan_controller: fan@18 {
+		compatible = "ti,amc6821";
+		reg = <0x18>;
+		#pwm-cells = <2>;
+
+		fan {
+			cooling-levels = <255>;
+			pwms = <&fan_controller 40000 PWM_POLARITY_INVERTED>;
+		};
+	};
+
+	gpio@20 {
+		compatible = "ti,tca6408";
+		reg = <0x20>;
+		#gpio-cells = <2>;
+		gpio-controller;
+		gpio-line-names =
+			"DO1_EN",
+			"DO2_EN",
+			"DO3_EN",
+			"",
+			"DI1_EN",
+			"DI2_EN",
+			"DI3_EN",
+			"";
+	};
+
+	temperature-sensor@4f {
+		compatible = "ti,tmp1075";
+		reg = <0x4f>;
+	};
+
+	/* USB-C OTG (TCPC USB PD PHY) */
+	tcpc@52 {
+		compatible = "nxp,ptn5110", "tcpci";
+		reg = <0x52>;
+		interrupt-parent = <&som_gpio_expander_1>;
+		interrupts = <5 IRQ_TYPE_EDGE_FALLING>;
+
+		connector {
+			compatible = "usb-c-connector";
+			data-role = "dual";
+			op-sink-microwatt = <0>;
+			power-role = "dual";
+			self-powered;
+			sink-pdos = <PDO_FIXED(5000, 0, PDO_FIXED_USB_COMM)>;
+			source-pdos = <PDO_FIXED(5000, 3000, PDO_FIXED_USB_COMM)>;
+			try-power-role = "sink";
+
+			ports {
+				#address-cells = <1>;
+				#size-cells = <0>;
+
+				port@0 {
+					reg = <0>;
+
+					typec_con_hs: endpoint {
+						remote-endpoint = <&usb1_con_hs>;
+					};
+				};
+
+				port@1 {
+					reg = <1>;
+
+					typec_con_ss: endpoint {
+						remote-endpoint = <&usb1_con_ss>;
+					};
+				};
+			};
+		};
+	};
+
+	carrier_eeprom: eeprom@57 {
+		compatible = "st,24c02", "atmel,24c02";
+		reg = <0x57>;
+		pagesize = <16>;
+	};
+};
+
+/* Aquila I2C_4_CSI1 */
+&lpi2c4 {
+	status = "okay";
+};
+
+/* Aquila I2C_6 */
+&lpi2c5 {
+	status = "okay";
+};
+
+/* Aquila I2C_3_DSI1/I2C_5_CSI2 */
+&lpi2c8 {
+	status = "okay";
+};
+
+/* Aquila SPI_1 */
+&lpspi6 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_lpspi6>, <&pinctrl_gpio_5>;
+	/* Aquila SPI_1_CS (Aquila D09), Aquila GPIO_05 (Aquila C21) */
+	cs-gpios = <&gpio2 0 GPIO_ACTIVE_LOW>, <&gpio4 18 GPIO_ACTIVE_LOW>;
+
+	status = "okay";
+
+	tpm@1 {
+		compatible = "infineon,slb9670", "tcg,tpm_tis-spi";
+		reg = <1>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_6>;
+		/* Aquila GPIO_06 (Aquila C22) */
+		interrupt-parent = <&gpio4>;
+		interrupts = <17 IRQ_TYPE_LEVEL_LOW>;
+		spi-max-frequency = <12000000>;
+	};
+};
+
+/* Aquila UART_3, used as the Linux Console */
+&lpuart1 {
+	status = "okay";
+};
+
+/* Aquila UART_4 */
+&lpuart2 {
+	status = "okay";
+};
+
+/* Aquila UART_1 as Non-Isolated RS-485 */
+&lpuart3 {
+	linux,rs485-enabled-at-boot-time;
+
+	status = "okay";
+};
+
+/* Aquila UART_2 as Isolated RS-485 */
+&lpuart7 {
+	linux,rs485-enabled-at-boot-time;
+
+	status = "okay";
+};
+
+/* Aquila PCIE_1 */
+&pcie0 {
+	status = "okay";
+};
+
+/* Aquila PWM_1 */
+&tpm3 {
+	status = "okay";
+};
+
+/* Aquila PWM_3_DSI. Don't claim PWM_4_DP, as it's used as SFP+ RS1 */
+&tpm5 {
+	pinctrl-0 = <&pinctrl_pwm3_dsi>;
+
+	status = "okay";
+};
+
+/* Aquila PWM_2 */
+&tpm6 {
+	status = "okay";
+};
+
+/* Aquila USB_2 */
+&usb2 {
+	status = "okay";
+};
+
+/* Aquila USB_1 */
+&usb3 {
+	status = "okay";
+};
+
+&usb3_dwc3 {
+	status = "okay";
+
+	port {
+		usb1_con_hs: endpoint {
+			remote-endpoint = <&typec_con_hs>;
+		};
+	};
+};
+
+&usb3_phy {
+	orientation-switch;
+
+	status = "okay";
+
+	port {
+		usb1_con_ss: endpoint {
+			remote-endpoint = <&typec_con_ss>;
+		};
+	};
+};
+
+/* Aquila SD_1 */
+&usdhc2 {
+	status = "okay";
+};
+
+&scmi_iomuxc {
+	/* Aquila GPIO_07 without internal pull-up or pull-down */
+	pinctrl_gpio_7_dig_in_rb: gpio7diginrbgrp {
+		fsl,pins = <IMX95_PAD_ENET2_RXC__GPIO4_IO_BIT23	0x11e>; /* Aquila C23 */
+	};
+
+	/* Aquila GPIO_08 without internal pull-up or pull-down */
+	pinctrl_gpio_8_dig_in_rb: gpio8diginrbgrp {
+		fsl,pins = <IMX95_PAD_PDM_BIT_STREAM1__AONMIX_TOP_GPIO1_IO_BIT10	0x11e>; /* Aquila C24 */
+	};
+
+	/* Aquila I2S_1_BCLK without internal pull-up or pull-down */
+	pinctrl_i2s_1_bclk_dig_in_rb: sai2txbclkdiginrbgrp {
+		fsl,pins = <IMX95_PAD_ENET2_TXC__GPIO4_IO_BIT21	0x11e>; /* Aquila B20 */
+	};
+};

-- 
2.43.0

Re: [PATCH 1/3] dt-bindings: arm: fsl: Add Aquila iMX95 with Lotus board

[Krzysztof Kozlowski]

On Thu, Nov 12, 2026 at 11:37:33AM -0300, Leonardo Costa wrote:
> From: Leonardo Costa <leonardo.costa@toradex.com>
> 
> Add the Lotus Carrier Board mated with the Toradex Aquila iMX95.
> 
> Link: https://www.toradex.com/products/carrier-board/lotus
> Signed-off-by: Leonardo Costa <leonardo.costa@toradex.com>
> ---
>  Documentation/devicetree/bindings/arm/fsl.yaml | 1 +
>  1 file changed, 1 insertion(+)

Acked-by: Krzysztof Kozlowski <krzysztof.kozlowski@oss.qualcomm.com>

Best regards,
Krzysztof