board: toradex: {aquila, smarc, verdin}-imx95: add support for downstream usbtoradex_imx_lf_v2026.04

Add support for the downstream U-Boot USB stack. Upstream U-Boot does
not support USB for the i.MX95 yet or only partially. Implement USB
support in a similar way as it is done for the reference boards from
NXP.

For Aquila the drivers are already enabled in the configuration. Aquila
does not use the CI-UDC driver which belongs to another USB controller
and is exposed on Verdin and SMARC as OTG port.

Upstream-Status: Pending
Signed-off-by: Stefan Eichenberger <stefan.eichenberger@toradex.com>

5 files changed, 38 insertions, 13 deletions

diff --git a/arch/arm/dts/imx95-aquila-dev-u-boot.dtsi b/arch/arm/dts/imx95-aquila-dev-u-boot.dtsi
index 92ec0d3efa3..a65a79693a9 100644
--- a/arch/arm/dts/imx95-aquila-dev-u-boot.dtsi
+++ b/arch/arm/dts/imx95-aquila-dev-u-boot.dtsi
@@ -26,12 +26,16 @@
 };
 
 &usb3 {
+	clocks = <&scmi_clk IMX95_CLK_HSIO>,
+			 <&scmi_clk IMX95_CLK_24M>,
+			 <&scmi_clk IMX95_CLK_32K>;
+	clock-names = "hsio", "ref", "suspend";
+
 	bootph-pre-ram;
 };
 
 &usb3_dwc3 {
 	bootph-pre-ram;
-	compatible = "fsl,imx95a-dwc3", "fsl,imx8mq-dwc3", "snps,dwc3";
 };
 
 &usdhc1 {
diff --git a/arch/arm/dts/imx95-toradex-smarc-dev-u-boot.dtsi b/arch/arm/dts/imx95-toradex-smarc-dev-u-boot.dtsi
index e4eda61e5c4..21a4b0ed99b 100644
--- a/arch/arm/dts/imx95-toradex-smarc-dev-u-boot.dtsi
+++ b/arch/arm/dts/imx95-toradex-smarc-dev-u-boot.dtsi
@@ -7,6 +7,13 @@
 	sysinfo {
 		compatible = "toradex,sysinfo";
 	};
+
+	usbg2 {
+		compatible = "fsl,imx27-usb-gadget";
+		dr_mode = "peripheral";
+		chipidea,usb = <&usb2>;
+		bootph-pre-ram;
+	};
 };
 
 &gpio1 {
@@ -89,11 +96,10 @@
 };
 
 &usb3 {
-	status = "disabled";
-};
-
-&usb3_dwc3 {
-	status = "disabled";
+	clocks = <&scmi_clk IMX95_CLK_HSIO>,
+			 <&scmi_clk IMX95_CLK_24M>,
+			 <&scmi_clk IMX95_CLK_32K>;
+	clock-names = "hsio", "ref", "suspend";
 };
 
 &usdhc1 {
diff --git a/arch/arm/dts/imx95-verdin-wifi-dev-u-boot.dtsi b/arch/arm/dts/imx95-verdin-wifi-dev-u-boot.dtsi
index 8ab70cf7399..a630475dd51 100644
--- a/arch/arm/dts/imx95-verdin-wifi-dev-u-boot.dtsi
+++ b/arch/arm/dts/imx95-verdin-wifi-dev-u-boot.dtsi
@@ -7,6 +7,13 @@
 	sysinfo {
 		compatible = "toradex,sysinfo";
 	};
+
+	usbg2 {
+		compatible = "fsl,imx27-usb-gadget";
+		dr_mode = "peripheral";
+		chipidea,usb = <&usb2>;
+		bootph-pre-ram;
+	};
 };
 
 &{/binman/m33-oei-ddrfw/imx-lpddr/imx-lpddr-imem} {
@@ -91,11 +98,10 @@
 };
 
 &usb3 {
-	status = "disabled";
-};
-
-&usb3_dwc3 {
-	status = "disabled";
+	clocks = <&scmi_clk IMX95_CLK_HSIO>,
+			 <&scmi_clk IMX95_CLK_24M>,
+			 <&scmi_clk IMX95_CLK_32K>;
+	clock-names = "hsio", "ref", "suspend";
 };
 
 &usb_recov_ctrl {
diff --git a/configs/toradex-smarc-imx95_defconfig b/configs/toradex-smarc-imx95_defconfig
index dc2376c7ad8..cb773d3ea52 100644
--- a/configs/toradex-smarc-imx95_defconfig
+++ b/configs/toradex-smarc-imx95_defconfig
@@ -172,18 +172,23 @@ CONFIG_FSL_LPUART=y
 CONFIG_DM_THERMAL=y
 CONFIG_SCMI_THERMAL=y
 CONFIG_USB=y
+CONFIG_SPL_DM_USB_GADGET=y
 CONFIG_USB_XHCI_HCD=y
 CONFIG_USB_XHCI_DWC3=y
 CONFIG_USB_DWC3=y
 CONFIG_USB_EHCI_HCD=y
+CONFIG_USB_DWC3_GENERIC=y
+CONFIG_SPL_USB_DWC3_GENERIC=y
 CONFIG_USB_HOST_ETHER=y
 CONFIG_USB_GADGET=y
+CONFIG_SPL_USB_GADGET=y
 CONFIG_USB_GADGET_MANUFACTURER="Toradex"
 CONFIG_USB_GADGET_VENDOR_NUM=0x1b67
 CONFIG_USB_GADGET_PRODUCT_NUM=0x4000
 CONFIG_USB_GADGET_OS_DESCRIPTORS=y
 CONFIG_CI_UDC=y
 CONFIG_SDP_LOADADDR=0x90400000
+CONFIG_SPL_USB_SDP_SUPPORT=y
 CONFIG_ULP_WATCHDOG=y
 CONFIG_WDT=y
 # CONFIG_SPL_SHA1 is not set
diff --git a/configs/verdin-imx95_defconfig b/configs/verdin-imx95_defconfig
index eb0ecf8129c..4f95c237206 100644
--- a/configs/verdin-imx95_defconfig
+++ b/configs/verdin-imx95_defconfig
@@ -173,19 +173,23 @@ CONFIG_FSL_LPUART=y
 CONFIG_DM_THERMAL=y
 CONFIG_SCMI_THERMAL=y
 CONFIG_USB=y
-CONFIG_DM_USB_GADGET=y
+CONFIG_SPL_DM_USB_GADGET=y
 CONFIG_USB_XHCI_HCD=y
 CONFIG_USB_XHCI_DWC3=y
 CONFIG_USB_EHCI_HCD=y
 CONFIG_USB_DWC3=y
-# CONFIG_USB_DWC3_GADGET is not set
+CONFIG_USB_DWC3_GENERIC=y
+CONFIG_SPL_USB_DWC3_GENERIC=y
 CONFIG_USB_HOST_ETHER=y
 CONFIG_USB_GADGET=y
+CONFIG_SPL_USB_GADGET=y
 CONFIG_USB_GADGET_MANUFACTURER="Toradex"
 CONFIG_USB_GADGET_VENDOR_NUM=0x1b67
 CONFIG_USB_GADGET_PRODUCT_NUM=0x4000
 CONFIG_USB_GADGET_OS_DESCRIPTORS=y
+CONFIG_CI_UDC=y
 CONFIG_SDP_LOADADDR=0x90400000
+CONFIG_SPL_USB_SDP_SUPPORT=y
 CONFIG_ULP_WATCHDOG=y
 CONFIG_WDT=y
 # CONFIG_SPL_SHA1 is not set