diff --git a/arch/arm64/boot/dts/qcom/Makefile b/arch/arm64/boot/dts/qcom/Makefile
index 77babebe4904..4c0f9e4a2e5b 100644
--- a/arch/arm64/boot/dts/qcom/Makefile
+++ b/arch/arm64/boot/dts/qcom/Makefile
@@ -90,6 +90,7 @@ dtb-$(CONFIG_ARCH_QCOM)	+= qcm6490-fairphone-fp5.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qcm6490-idp.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qcs404-evb-1000.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qcs404-evb-4000.dtb
+dtb-$(CONFIG_ARCH_QCOM)	+= qcs6490-rb3gen2.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qdu1000-idp.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qrb2210-rb1.dtb
 dtb-$(CONFIG_ARCH_QCOM)	+= qrb4210-rb2.dtb
diff --git a/arch/arm64/boot/dts/qcom/qcs6490-rb3gen2.dts b/arch/arm64/boot/dts/qcom/qcs6490-rb3gen2.dts
new file mode 100644
index 000000000000..f023dcf768f1
--- /dev/null
+++ b/arch/arm64/boot/dts/qcom/qcs6490-rb3gen2.dts
@@ -0,0 +1,410 @@
+// SPDX-License-Identifier: BSD-3-Clause
+/*
+ * Copyright (c) 2023 Qualcomm Innovation Center, Inc. All rights reserved.
+ */
+
+/dts-v1/;
+
+/* PM7250B is configured to use SID8/9 */
+#define PM7250B_SID 8
+#define PM7250B_SID1 9
+
+#include <dt-bindings/regulator/qcom,rpmh-regulator.h>
+#include "sc7280.dtsi"
+#include "pm7250b.dtsi"
+#include "pm7325.dtsi"
+#include "pm8350c.dtsi"
+#include "pmk8350.dtsi"
+
+/delete-node/ &ipa_fw_mem;
+/delete-node/ &remoteproc_mpss;
+/delete-node/ &rmtfs_mem;
+/delete-node/ &video_mem;
+/delete-node/ &wlan_ce_mem;
+/delete-node/ &xbl_mem;
+
+/ {
+	model = "Qualcomm Technologies, Inc. Robotics RB3gen2";
+	compatible = "qcom,qcs6490-rb3gen2", "qcom,qcm6490";
+	chassis-type = "embedded";
+
+	aliases {
+		serial0 = &uart5;
+	};
+
+	chosen {
+		stdout-path = "serial0:115200n8";
+	};
+
+	reserved-memory {
+		xbl_mem: xbl@80700000 {
+			reg = <0x0 0x80700000 0x0 0x100000>;
+			no-map;
+		};
+
+		cdsp_secure_heap_mem: cdsp-secure-heap@81800000 {
+			reg = <0x0 0x81800000 0x0 0x1e00000>;
+			no-map;
+		};
+
+		camera_mem: camera@84300000 {
+			reg = <0x0 0x84300000 0x0 0x500000>;
+			no-map;
+		};
+
+		wpss_mem: wpss@84800000 {
+			reg = <0x0 0x84800000 0x0 0x1900000>;
+			no-map;
+		};
+
+		adsp_mem: adsp@86100000 {
+			reg = <0x0 0x86100000 0x0 0x2800000>;
+			no-map;
+		};
+
+		cdsp_mem: cdsp@88900000 {
+			reg = <0x0 0x88900000 0x0 0x1e00000>;
+			no-map;
+		};
+
+		video_mem: video@8a700000 {
+			reg = <0x0 0x8a700000 0x0 0x700000>;
+			no-map;
+		};
+
+		cvp_mem: cvp@8ae00000 {
+			reg = <0x0 0x8ae00000 0x0 0x500000>;
+			no-map;
+		};
+
+		ipa_fw_mem: ipa-fw@8b300000 {
+			reg = <0x0 0x8b300000 0x0 0x10000>;
+			no-map;
+		};
+
+		ipa_gsi_mem: ipa-gsi@8b310000 {
+			reg = <0x0 0x8b310000 0x0 0xa000>;
+			no-map;
+		};
+
+		gpu_microcode_mem: gpu-microcode@8b31a000 {
+			reg = <0x0 0x8b31a000 0x0 0x2000>;
+			no-map;
+		};
+
+		tz_stat_mem: tz-stat@c0000000 {
+			reg = <0x0 0xc0000000 0x0 0x100000>;
+			no-map;
+		};
+
+		tags_mem: tags@c0100000 {
+			reg = <0x0 0xc0100000 0x0 0x1200000>;
+			no-map;
+		};
+
+		qtee_mem: qtee@c1300000 {
+			reg = <0x0 0xc1300000 0x0 0x500000>;
+			no-map;
+		};
+
+		trusted_apps_mem: trusted_apps@c1800000 {
+			reg = <0x0 0xc1800000 0x0 0x1c00000>;
+			no-map;
+		};
+
+		debug_vm_mem: debug-vm@d0600000 {
+			reg = <0x0 0xd0600000 0x0 0x100000>;
+			no-map;
+		};
+	};
+};
+
+&apps_rsc {
+	regulators-0 {
+		compatible = "qcom,pm7325-rpmh-regulators";
+		qcom,pmic-id = "b";
+
+		vreg_s1b_1p872: smps1 {
+			regulator-min-microvolt = <1840000>;
+			regulator-max-microvolt = <2040000>;
+		};
+
+		vreg_s2b_0p876: smps2 {
+			regulator-min-microvolt = <570070>;
+			regulator-max-microvolt = <1050000>;
+		};
+
+		vreg_s7b_0p972: smps7 {
+			regulator-min-microvolt = <535000>;
+			regulator-max-microvolt = <1120000>;
+		};
+
+		vreg_s8b_1p272: smps8 {
+			regulator-min-microvolt = <1200000>;
+			regulator-max-microvolt = <1500000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_RET>;
+		};
+
+		vreg_l1b_0p912: ldo1 {
+			regulator-min-microvolt = <825000>;
+			regulator-max-microvolt = <925000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l2b_3p072: ldo2 {
+			regulator-min-microvolt = <2700000>;
+			regulator-max-microvolt = <3544000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l3b_0p504: ldo3 {
+			regulator-min-microvolt = <312000>;
+			regulator-max-microvolt = <910000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l4b_0p752: ldo4 {
+			regulator-min-microvolt = <752000>;
+			regulator-max-microvolt = <820000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		reg_l5b_0p752: ldo5 {
+			regulator-min-microvolt = <552000>;
+			regulator-max-microvolt = <832000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l6b_1p2: ldo6 {
+			regulator-min-microvolt = <1140000>;
+			regulator-max-microvolt = <1260000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l7b_2p952: ldo7 {
+			regulator-allow-set-load;
+			regulator-allowed-modes = <RPMH_REGULATOR_MODE_LPM RPMH_REGULATOR_MODE_HPM>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l8b_0p904: ldo8 {
+			regulator-min-microvolt = <870000>;
+			regulator-max-microvolt = <970000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l9b_1p2: ldo9 {
+			regulator-allow-set-load;
+			regulator-allowed-modes = <RPMH_REGULATOR_MODE_LPM RPMH_REGULATOR_MODE_HPM>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l11b_1p504: ldo11 {
+			regulator-min-microvolt = <1504000>;
+			regulator-max-microvolt = <2000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l12b_0p751: ldo12 {
+			regulator-min-microvolt = <751000>;
+			regulator-max-microvolt = <824000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l13b_0p53: ldo13 {
+			regulator-min-microvolt = <530000>;
+			regulator-max-microvolt = <824000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l14b_1p08: ldo14 {
+			regulator-min-microvolt = <1080000>;
+			regulator-max-microvolt = <1304000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l15b_0p765: ldo15 {
+			regulator-min-microvolt = <765000>;
+			regulator-max-microvolt = <1020000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l16b_1p1: ldo16 {
+			regulator-min-microvolt = <1100000>;
+			regulator-max-microvolt = <1300000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l17b_1p7: ldo17 {
+			regulator-min-microvolt = <1700000>;
+			regulator-max-microvolt = <1900000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l18b_1p8: ldo18 {
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <2000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l19b_1p8: ldo19 {
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <2000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+	};
+
+	regulators-1 {
+		compatible = "qcom,pm8350c-rpmh-regulators";
+		qcom,pmic-id = "c";
+
+		vreg_s1c_2p19: smps1 {
+			regulator-min-microvolt = <2190000>;
+			regulator-max-microvolt = <2210000>;
+		};
+
+		vreg_s2c_0p752: smps2 {
+			regulator-min-microvolt = <750000>;
+			regulator-max-microvolt = <800000>;
+		};
+
+		vreg_s5c_0p752: smps5 {
+			regulator-min-microvolt = <465000>;
+			regulator-max-microvolt = <1050000>;
+		};
+
+		vreg_s7c_0p752: smps7 {
+			regulator-min-microvolt = <465000>;
+			regulator-max-microvolt = <800000>;
+		};
+
+		vreg_s9c_1p084: smps9 {
+			regulator-min-microvolt = <1010000>;
+			regulator-max-microvolt = <1170000>;
+		};
+
+		vreg_l1c_1p8: ldo1 {
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1980000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l2c_1p62: ldo2 {
+			regulator-min-microvolt = <1620000>;
+			regulator-max-microvolt = <1980000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l3c_2p8: ldo3 {
+			regulator-min-microvolt = <2800000>;
+			regulator-max-microvolt = <3540000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l4c_1p62: ldo4 {
+			regulator-min-microvolt = <1620000>;
+			regulator-max-microvolt = <3300000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l5c_1p62: ldo5 {
+			regulator-min-microvolt = <1620000>;
+			regulator-max-microvolt = <3300000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l6c_2p96: ldo6 {
+			regulator-min-microvolt = <1650000>;
+			regulator-max-microvolt = <3544000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l7c_3p0: ldo7 {
+			regulator-min-microvolt = <3000000>;
+			regulator-max-microvolt = <3544000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l8c_1p62: ldo8 {
+			regulator-min-microvolt = <1620000>;
+			regulator-max-microvolt = <2000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l9c_2p96: ldo9 {
+			regulator-min-microvolt = <2700000>;
+			regulator-max-microvolt = <35440000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l10c_0p88: ldo10 {
+			regulator-min-microvolt = <720000>;
+			regulator-max-microvolt = <1050000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l11c_2p8: ldo11 {
+			regulator-min-microvolt = <2800000>;
+			regulator-max-microvolt = <3544000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l12c_1p65: ldo12 {
+			regulator-min-microvolt = <1650000>;
+			regulator-max-microvolt = <2000000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_l13c_2p7: ldo13 {
+			regulator-min-microvolt = <2700000>;
+			regulator-max-microvolt = <3544000>;
+			regulator-initial-mode = <RPMH_REGULATOR_MODE_HPM>;
+		};
+
+		vreg_bob_3p296: bob {
+			regulator-min-microvolt = <3008000>;
+			regulator-max-microvolt = <3960000>;
+		};
+	};
+};
+
+&qupv3_id_0 {
+	status = "okay";
+};
+
+&tlmm {
+	gpio-reserved-ranges = <32 2>, /* ADSP */
+			       <48 4>; /* NFC */
+};
+
+&uart5 {
+	compatible = "qcom,geni-debug-uart";
+	status = "okay";
+};
+
+&usb_1 {
+	status = "okay";
+};
+
+&usb_1_dwc3 {
+	dr_mode = "peripheral";
+};
+
+&usb_1_hsphy {
+	vdda-pll-supply = <&vreg_l10c_0p88>;
+	vdda33-supply = <&vreg_l2b_3p072>;
+	vdda18-supply = <&vreg_l1c_1p8>;
+
+	status = "okay";
+};
+
+&usb_1_qmpphy {
+	vdda-phy-supply = <&vreg_l6b_1p2>;
+	vdda-pll-supply = <&vreg_l1b_0p912>;
+
+	status = "okay";
+};
+
+&wifi {
+	memory-region = <&wlan_fw_mem>;
+};
