Toradex Aquila iMX95 Module

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):

$ 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

$ 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

$ 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

$ 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

$ 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

$ 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

$ export CROSS_COMPILE=$CROSS_COMPILE_64
$ make aquila-imx95_defconfig
$ make

Flash to eMMC

> 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:

> run update_uboot

Boot

Boot sequence is:

SPL —> ATF (TF-A) —> U-Boot proper

Output:

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 #