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+.. SPDX-License-Identifier: GPL-2.0-only
+.. sectionauthor:: Emanuele Ghidoli <emanuele.ghidoli@toradex.com>
+
+Aquila AM69 Module
+==================
+
+Quick Start
+-----------
+
+- Setup environment variables
+- Get binary-only TI Linux firmware
+- Build the ARM trusted firmware binary
+- Build the OPTEE binary
+- Build U-Boot for the R5
+- Build U-Boot for the A72
+- Flash to eMMC
+- Boot
+
+Setup environment
+-----------------
+
+Suggested current toolchains are ARM 11.3 (https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads):
+
+- https://developer.arm.com/-/media/Files/downloads/gnu/11.3.rel1/binrel/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-linux-gnueabihf.tar.xz
+- https://developer.arm.com/-/media/Files/downloads/gnu/11.3.rel1/binrel/arm-gnu-toolchain-11.3.rel1-x86_64-aarch64-none-linux-gnu.tar.xz
+
+.. code-block:: bash
+
+    $ 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 the TI Linux Firmware
+-------------------------
+
+.. code-block:: bash
+
+    $ echo "Downloading TI Linux Firmware..."
+    $ git clone -b ti-linux-firmware https://git.ti.com/git/processor-firmware/ti-linux-firmware.git
+
+Get and Build the ARM Trusted Firmware (Trusted Firmware A)
+-----------------------------------------------------------
+
+.. code-block:: bash
+
+    $ echo "Downloading and building TF-A..."
+    $ git clone https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git
+    $ cd trusted-firmware-a
+
+Then build ATF (TF-A):
+
+.. code-block:: bash
+
+    $ export ARCH=aarch64
+    $ export CROSS_COMPILE="$CROSS_COMPILE_64"
+    $ make PLAT=k3 TARGET_BOARD=j784s4 SPD=opteed K3_USART=0x8
+
+Get and Build OPTEE
+-------------------
+
+.. code-block:: bash
+
+    $ echo "Downloading and building OPTEE..."
+    $ git clone https://github.com/OP-TEE/optee_os.git
+    $ cd optee_os
+
+Then build OPTEE:
+
+.. code-block:: bash
+
+    $ export CROSS_COMPILE="$CROSS_COMPILE_32"
+    $ export CROSS_COMPILE64="$CROSS_COMPILE_64"
+    $ export CFG_CONSOLE_UART=0x8
+    $ make PLATFORM=k3-j784s4 CFG_ARM64_core=y
+
+Build U-Boot for R5
+-------------------
+
+.. code-block:: bash
+
+    $ export ARCH=arm
+    $ export CROSS_COMPILE="$CROSS_COMPILE_32"
+    $ export BINMAN_INDIRS=<path/to/ti-linux-firmware>
+    $ make O=/tmp/aquila-r5 aquila-am69_r5_config
+    $ make O=/tmp/aquila-r5
+
+Build U-Boot for A72
+--------------------
+
+.. code-block:: bash
+
+    $ export ARCH=arm64
+    $ export CROSS_COMPILE=$CROSS_COMPILE_64
+    $ export BL31=<path/to/atf>/build/k3/j784s4/release/bl31.bin
+    $ export TEE=<path/to/optee>/out/arm-plat-k3/core/tee-pager_v2.bin
+    $ export BINMAN_INDIRS=<path/to/ti-linux-firmware>
+    $ make O=/tmp/aquila-a72 aquila-am69_a72_config
+    $ make O=/tmp/aquila-a72
+
+Flash to eMMC
+-------------
+
+.. code-block:: console
+
+    => mmc dev 0 1
+    => fatload mmc 1 ${loadaddr} tiboot3.bin
+    => mmc write ${loadaddr} 0x0 0x800
+    => fatload mmc 1 ${loadaddr} tispl.bin
+    => mmc write ${loadaddr} 0x800 0x1000
+    => fatload mmc 1 ${loadaddr} u-boot.img
+    => mmc write ${loadaddr} 0x1800 0x2000
+
+As a convenience, instead of having to remember all those addresses and sizes,
+one may also use the update U-Boot wrappers:
+
+.. code-block:: console
+
+    => tftpboot ${loadaddr} tiboot3.bin
+    => run update_tiboot3
+
+    => tftpboot ${loadaddr} tispl.bin
+    => run update_tispl
+
+    => tftpboot ${loadaddr} u-boot.img
+    => run update_uboot
+
+Boot
+----
+
+Output:
+
+.. code-block:: console
+
+TODO: add output from real HW.