diff --git a/arch/arm64/boot/dts/qcom/Makefile b/arch/arm64/boot/dts/qcom/Makefile
index d8f1466e6758..05d21ba311f9 100644
--- a/arch/arm64/boot/dts/qcom/Makefile
+++ b/arch/arm64/boot/dts/qcom/Makefile
@@ -35,3 +35,4 @@ dtb-$(CONFIG_ARCH_QCOM)	+= sm8150-mtp.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= sm8250-mtp.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qcs404-evb-1000.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qcs404-evb-4000.dtb
+dtb-$(CONFIG_ARCH_QCOM)	+= qrb5165-rb5.dtb
diff --git a/arch/arm64/boot/dts/qcom/qrb5165-rb5.dts b/arch/arm64/boot/dts/qcom/qrb5165-rb5.dts
new file mode 100644
index 000000000000..f201e064b3e7
--- /dev/null
+++ b/arch/arm64/boot/dts/qcom/qrb5165-rb5.dts
@@ -0,0 +1,432 @@
+// SPDX-License-Identifier: BSD-3-Clause
+/*
+ * Copyright (c) 2020, Linaro Ltd.
+ */
+
+/dts-v1/;
+
+#include <dt-bindings/gpio/gpio.h>
+#include <dt-bindings/regulator/qcom,rpmh-regulator.h>
+#include "sm8250.dtsi"
+#include "pm8150.dtsi"
+#include "pm8150b.dtsi"
+#include "pm8150l.dtsi"
+
+/ {
+	model = "Qualcomm Technologies, Inc. Robotics RB5";
+	compatible = "qcom,qrb5165-rb5", "qcom,sm8250";
+
+	aliases {
+		serial0 = &uart12;
+	};
+
+	chosen {
+		stdout-path = "serial0:115200n8";
+	};
+
+	dc12v: dc12v-regulator {
+		compatible = "regulator-fixed";
+		regulator-name = "DC12V";
+		regulator-min-microvolt = <12000000>;
+		regulator-max-microvolt = <12000000>;
+		regulator-always-on;
+	};
+
+	vbat: vbat-regulator {
+		compatible = "regulator-fixed";
+		regulator-name = "VBAT";
+		vin-supply = <&vreg_l11c_3p3>;
+		regulator-min-microvolt = <4200000>;
+		regulator-max-microvolt = <4200000>;
+		regulator-always-on;
+	};
+
+	vbat_som: vbat-som-regulator {
+		compatible = "regulator-fixed";
+		regulator-name = "VBAT_SOM";
+		vin-supply = <&dc12v>;
+		regulator-min-microvolt = <4200000>;
+		regulator-max-microvolt = <4200000>;
+		regulator-always-on;
+	};
+
+	vdc_3v3: vdc-3v3-regulator {
+		compatible = "regulator-fixed";
+		regulator-name = "VDC_3V3";
+		vin-supply = <&dc12v>;
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-always-on;
+	};
+
+	vdc_5v: vdc-5v-regulator {
+		compatible = "regulator-fixed";
+		regulator-name = "VDC_5V";
+
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		regulator-always-on;
+		vin-supply = <&vreg_l11c_3p3>;
+	};
+
+	vph_pwr: vph-pwr-regulator {
+		compatible = "regulator-fixed";
+		regulator-name = "vph_pwr";
+		regulator-min-microvolt = <3700000>;
+		regulator-max-microvolt = <3700000>;
+		regulator-always-on;
+	};
+
+	vreg_s4a_1p8: vreg-s4a-1p8 {
+		compatible = "regulator-fixed";
+		regulator-name = "vreg_s4a_1p8";
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <1800000>;
+		regulator-always-on;
+	};
+};
+
+&apps_rsc {
+	pm8009-rpmh-regulators {
+		compatible = "qcom,pm8009-rpmh-regulators";
+		qcom,pmic-id = "f";
+
+		vdd-s1-supply = <&vph_pwr>;
+		vdd-s2-supply = <&vph_pwr>;
+		vdd-l2-supply = <&vreg_s8c_1p3>;
+		vdd-l5-l6-supply = <&vreg_bob>;
+		vdd-l7-supply = <&vreg_s4a_1p8>;
+
+		vreg_l1f_1p1: ldo1 {
+			regulator-name = "vreg_l1f_1p1";
+			regulator-min-microvolt = <1104000>;
+			regulator-max-microvolt = <1104000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l2f_1p2: ldo2 {
+			regulator-name = "vreg_l2f_1p2";
+			regulator-min-microvolt = <1200000>;
+			regulator-max-microvolt = <1200000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l6f_2p8: ldo6 {
+			regulator-name = "vreg_l6f_2p8";
+			regulator-min-microvolt = <2800000>;
+			regulator-max-microvolt = <2800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l7f_1p8: ldo7 {
+			regulator-name = "vreg_l7f_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+	};
+
+	pm8150-rpmh-regulators {
+		compatible = "qcom,pm8150-rpmh-regulators";
+		qcom,pmic-id = "a";
+
+		vdd-s1-supply = <&vph_pwr>;
+		vdd-s2-supply = <&vph_pwr>;
+		vdd-s3-supply = <&vph_pwr>;
+		vdd-s4-supply = <&vph_pwr>;
+		vdd-s5-supply = <&vph_pwr>;
+		vdd-s6-supply = <&vph_pwr>;
+		vdd-s7-supply = <&vph_pwr>;
+		vdd-s8-supply = <&vph_pwr>;
+		vdd-s9-supply = <&vph_pwr>;
+		vdd-s10-supply = <&vph_pwr>;
+		vdd-l2-l10-supply = <&vreg_bob>;
+		vdd-l3-l4-l5-l18-supply = <&vreg_s6a_0p95>;
+		vdd-l6-l9-supply = <&vreg_s8c_1p3>;
+		vdd-l7-l12-l14-l15-supply = <&vreg_s5a_1p9>;
+		vdd-l13-l16-l17-supply = <&vreg_bob>;
+
+		vreg_l2a_3p1: ldo2 {
+			regulator-name = "vreg_l2a_3p1";
+			regulator-min-microvolt = <3072000>;
+			regulator-max-microvolt = <3072000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l3a_0p9: ldo3 {
+			regulator-name = "vreg_l3a_0p9";
+			regulator-min-microvolt = <928000>;
+			regulator-max-microvolt = <932000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l5a_0p88: ldo5 {
+			regulator-name = "vreg_l5a_0p88";
+			regulator-min-microvolt = <880000>;
+			regulator-max-microvolt = <880000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l6a_1p2: ldo6 {
+			regulator-name = "vreg_l6a_1p2";
+			regulator-min-microvolt = <1200000>;
+			regulator-max-microvolt = <1200000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l7a_1p7: ldo7 {
+			regulator-name = "vreg_l7a_1p7";
+			regulator-min-microvolt = <1704000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l9a_1p2: ldo9 {
+			regulator-name = "vreg_l9a_1p2";
+			regulator-min-microvolt = <1200000>;
+			regulator-max-microvolt = <1200000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l10a_1p8: ldo10 {
+			regulator-name = "vreg_l10a_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l12a_1p8: ldo12 {
+			regulator-name = "vreg_l12a_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l13a_ts_3p0: ldo13 {
+			regulator-name = "vreg_l13a_ts_3p0";
+			regulator-min-microvolt = <3008000>;
+			regulator-max-microvolt = <3008000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l14a_1p8: ldo14 {
+			regulator-name = "vreg_l14a_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1880000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l15a_1p8: ldo15 {
+			regulator-name = "vreg_l15a_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l16a_2p7: ldo16 {
+			regulator-name = "vreg_l16a_2p7";
+			regulator-min-microvolt = <2704000>;
+			regulator-max-microvolt = <2960000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l17a_3p0: ldo17 {
+			regulator-name = "vreg_l17a_3p0";
+			regulator-min-microvolt = <2856000>;
+			regulator-max-microvolt = <3008000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l18a_0p92: ldo18 {
+			regulator-name = "vreg_l18a_0p92";
+			regulator-min-microvolt = <800000>;
+			regulator-max-microvolt = <912000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_s5a_1p9: smps5 {
+			regulator-name = "vreg_s5a_1p9";
+			regulator-min-microvolt = <1904000>;
+			regulator-max-microvolt = <2000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_s6a_0p95: smps6 {
+			regulator-name = "vreg_s6a_0p95";
+			regulator-min-microvolt = <920000>;
+			regulator-max-microvolt = <1128000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+	};
+
+	pm8150l-rpmh-regulators {
+		compatible = "qcom,pm8150l-rpmh-regulators";
+		qcom,pmic-id = "c";
+
+		vdd-s1-supply = <&vph_pwr>;
+		vdd-s2-supply = <&vph_pwr>;
+		vdd-s3-supply = <&vph_pwr>;
+		vdd-s4-supply = <&vph_pwr>;
+		vdd-s5-supply = <&vph_pwr>;
+		vdd-s6-supply = <&vph_pwr>;
+		vdd-s7-supply = <&vph_pwr>;
+		vdd-s8-supply = <&vph_pwr>;
+		vdd-l1-l8-supply = <&vreg_s4a_1p8>;
+		vdd-l2-l3-supply = <&vreg_s8c_1p3>;
+		vdd-l4-l5-l6-supply = <&vreg_bob>;
+		vdd-l7-l11-supply = <&vreg_bob>;
+		vdd-l9-l10-supply = <&vreg_bob>;
+		vdd-bob-supply = <&vph_pwr>;
+
+		vreg_bob: bob {
+			regulator-name = "vreg_bob";
+			regulator-min-microvolt = <3008000>;
+			regulator-max-microvolt = <4000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_AUTO>;
+		};
+
+		vreg_l1c_1p8: ldo1 {
+			regulator-name = "vreg_l1c_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l2c_1p2: ldo2 {
+			regulator-name = "vreg_l2c_1p2";
+			regulator-min-microvolt = <1200000>;
+			regulator-max-microvolt = <1200000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l3c_0p8: ldo3 {
+			regulator-name = "vreg_l3c_0p8";
+			regulator-min-microvolt = <800000>;
+			regulator-max-microvolt = <800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l4c_1p7: ldo4 {
+			regulator-name = "vreg_l4c_1p7";
+			regulator-min-microvolt = <1704000>;
+			regulator-max-microvolt = <2928000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l5c_1p8: ldo5 {
+			regulator-name = "vreg_l5c_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <2928000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l6c_2p96: ldo6 {
+			regulator-name = "vreg_l6c_2p96";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <2960000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l7c_cam_vcm0_2p85: ldo7 {
+			regulator-name = "vreg_l7c_cam_vcm0_2p85";
+			regulator-min-microvolt = <2856000>;
+			regulator-max-microvolt = <3104000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l8c_1p8: ldo8 {
+			regulator-name = "vreg_l8c_1p8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l9c_2p96: ldo9 {
+			regulator-name = "vreg_l9c_2p96";
+			regulator-min-microvolt = <2704000>;
+			regulator-max-microvolt = <2960000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l10c_3p0: ldo10 {
+			regulator-name = "vreg_l10c_3p0";
+			regulator-min-microvolt = <3000000>;
+			regulator-max-microvolt = <3000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l11c_3p3: ldo11 {
+			regulator-name = "vreg_l11c_3p3";
+			regulator-min-microvolt = <3296000>;
+			regulator-max-microvolt = <3296000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+			regulator-always-on;
+		};
+
+		vreg_s8c_1p3: smps8 {
+			regulator-name = "vreg_s8c_1p3";
+			regulator-min-microvolt = <1352000>;
+			regulator-max-microvolt = <1352000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+	};
+};
+
+/* LS-I2C0 */
+&i2c4 {
+	status = "okay";
+};
+
+&i2c5 {
+	status = "okay";
+};
+
+/* LS-I2C1 */
+&i2c15 {
+	status = "okay";
+};
+
+&qupv3_id_0 {
+	status = "okay";
+};
+
+&qupv3_id_1 {
+	status = "okay";
+};
+
+&qupv3_id_2 {
+	status = "okay";
+};
+
+/* CAN */
+&spi0 {
+	status = "okay";
+};
+
+&tlmm {
+	gpio-reserved-ranges = <40 4>;
+};
+
+&uart12 {
+	status = "okay";
+};
+
+&ufs_mem_hc {
+	status = "okay";
+
+	vcc-supply = <&vreg_l17a_3p0>;
+	vcc-max-microamp = <800000>;
+	vccq-supply = <&vreg_l6a_1p2>;
+	vccq-max-microamp = <800000>;
+	vccq2-supply = <&vreg_s4a_1p8>;
+	vccq2-max-microamp = <800000>;
+};
+
+&ufs_mem_phy {
+	status = "okay";
+
+	vdda-phy-supply = <&vreg_l5a_0p88>;
+	vdda-max-microamp = <89900>;
+	vdda-pll-supply = <&vreg_l9a_1p2>;
+	vdda-pll-max-microamp = <18800>;
+};
