diff --git a/recipes-bsp/u-boot/u-boot-script-toradex/boot.cmd.in b/recipes-bsp/u-boot/u-boot-script-toradex/boot.cmd.in
index 5c514ba..24f15ee 100644
--- a/recipes-bsp/u-boot/u-boot-script-toradex/boot.cmd.in
+++ b/recipes-bsp/u-boot/u-boot-script-toradex/boot.cmd.in
@@ -1,30 +1,79 @@
-if test ${devtype} = "ubi"
-then
+# SPDX-License-Identifier: GPL-2.0+ OR MIT
+#
+# Copyright 2020 Toradex
+#
+# Toradex boot script.
+#
+# Allows to change boot and rootfs devices independently.
+# Supports:
+# - boot device type: boot_devtype := {mmc, usb, tftp, dhcp}
+# - boot device num (for mmc, usb types): boot_devnum := {0 .. MAX_DEV_NUM}
+# - boot partition (for mmc, usb types): boot_part := {1 .. MAX_PART_NUM}
+# - root device type: boot_devtype := {mmc, usb}
+# - root device num (for mmc, usb types): boot_devnum := {0 .. MAX_DEV_NUM}
+# - root partition (for mmc, usb types): boot_part := {1 .. MAX_PART_NUM}
+#
+# Defaults:
+#    root_devtype = boot_devtype = devtype
+#    root_devnum = boot_devnum = devnum
+#    boot_part = distro_bootpart
+#    root_part = 2
+#
+# TODO:
+#  - support NFS in root_devtype
+
+if test ${devtype} = "ubi"; then
     echo "This script is not meant to distro boot from raw NAND flash."
     exit
 fi
 
-if test ${distro_bootpart} != 1
-then
-    echo "Boot partition needs to be the first partition"
-    exit
-fi
-
-if test -n ${setup}
-then
+if test -n ${setup}; then
     run setup
 else
-    env set setupargs 'console=tty1 consoleblank=0'
+    env set setupargs 'console=${console},${baudrate} console=tty1 consoleblank=0'
 fi
-test -n ${m4boot} || env set m4boot ';'
-test -n ${fdtfile} || env set fdtfile $fdt_file
-test -n ${kernel_image} || env set kernel_image ${boot_file}
 
-env set uuid_set 'part uuid ${devtype} ${devnum}:2 uuid'
-env set emmcargs_set 'env set emmcargs root=PARTUUID=${uuid} rw rootfstype=ext4 rootwait'
-env set bootcmd_args 'env set bootargs ${defargs} ${emmcargs} ${setupargs} ${vidargs} ${tdxargs}'
-env set bootcmd_kernel 'load ${devtype} ${devnum}:${distro_bootpart} ${kernel_addr_r} ${kernel_image}'
-env set bootcmd_dtb 'load ${devtype} ${devnum}:${distro_bootpart} ${fdt_addr_r} ${fdtfile}'
-env set bootcmd_run '@@KERNEL_BOOTCMD@@ ${kernel_addr_r} - ${fdt_addr_r}'
-env set bootcmd 'run m4boot; run bootcmd_dtb && run uuid_set && run emmcargs_set && run bootcmd_args && run bootcmd_kernel && run bootcmd_run'
-run bootcmd
+test -n ${m4boot} || env set m4boot ';'
+test -n ${fdtfile} || env set fdtfile ${fdt_file}
+test -n ${boot_part} || env set boot_part ${distro_bootpart}
+test -n ${root_part} || env set root_part 2
+test -n ${boot_devnum} || env set boot_devnum ${devnum}
+test -n ${root_devnum} || env set root_devnum ${devnum}
+test -n ${kernel_image} || env set kernel_image @@KERNEL_IMAGETYPE@@
+test -n ${boot_devtype} || env set boot_devtype ${devtype}
+test -n ${root_devtype} || env set root_devtype ${devtype}
+test -n ${overlays_file} || env set overlays_file "overlays.txt"
+
+test ${boot_devtype} = "mmc" && env set load_cmd 'load ${boot_devtype} ${boot_devnum}:${boot_part}'
+test ${boot_devtype} = "usb" && env set load_cmd 'load ${boot_devtype} ${boot_devnum}:${boot_part}'
+test ${boot_devtype} = "tftp" && env set load_cmd 'tftp'
+test ${boot_devtype} = "dhcp" && env set load_cmd 'dhcp'
+
+if test ${kernel_image} = "Image.gz"
+then
+    env set kernel_addr_load ${loadaddr}
+    env set bootcmd_unzip 'unzip ${kernel_addr_load} ${kernel_addr_r}'
+else
+    env set kernel_addr_load ${kernel_addr_r}
+    env set bootcmd_unzip ';'
+fi
+
+# Set dynamic commands
+env set set_bootcmd_kernel 'env set bootcmd_kernel "${load_cmd} \\${kernel_addr_load} \\${kernel_image}"'
+env set set_bootcmd_dtb 'env set bootcmd_dtb "${load_cmd} \\${fdt_addr_r} \\${fdtfile}"'
+env set set_load_overlays_file 'env set load_overlays_file "${load_cmd} \\${loadaddr} \\${overlays_file}; env import -t \\${loadaddr} \\${filesize}"'
+env set set_apply_overlays 'env set apply_overlays "for overlay_file in \\${fdt_overlays}; do echo Applying Overlay: \\${overlay_file} && ${load_cmd} \\${loadaddr} \\${overlay_file} && fdt apply \\${loadaddr}; env set overlay_file; done; true"'
+
+# Set static commands
+env set uuid_set 'part uuid ${root_devtype} ${root_devnum}:${root_part} uuid'
+env set emmcargs_set 'run uuid_set && env set rootfsargs root=PARTUUID=${uuid} ro rootwait'
+env set bootcmd_args 'run emmcargs_set && env set bootargs ${defargs} ${rootfsargs} ${setupargs} ${vidargs} ${tdxargs}'
+env set fdt_resize 'fdt addr ${fdt_addr_r} && fdt resize 0x20000'
+env set bootcmd_overlays 'run load_overlays_file && run fdt_resize && run apply_overlays'
+env set bootcmd_boot '@@KERNEL_BOOTCMD@@ ${kernel_addr_r} - ${fdt_addr_r}'
+env set bootcmd_prepare 'run set_bootcmd_kernel; run set_bootcmd_dtb; run set_load_overlays_file; run set_apply_overlays'
+env set bootcmd_run 'run m4boot; run bootcmd_dtb && run bootcmd_overlays && run bootcmd_args && run bootcmd_kernel && run bootcmd_unzip && run bootcmd_boot'
+
+run bootcmd_prepare
+run bootcmd_run
+
diff --git a/recipes-bsp/u-boot/u-boot-script-toradex_2020.07.bb b/recipes-bsp/u-boot/u-boot-script-toradex_2020.07.bb
index 6e93d34..e25a16d 100644
--- a/recipes-bsp/u-boot/u-boot-script-toradex_2020.07.bb
+++ b/recipes-bsp/u-boot/u-boot-script-toradex_2020.07.bb
@@ -5,7 +5,7 @@ LIC_FILES_CHKSUM = "file://${COREBASE}/meta/COPYING.MIT;md5=3da9cfbcb788c80a0384
 INHIBIT_DEFAULT_DEPS = "1"
 DEPENDS = "u-boot-mkimage-native"
 
-SRC_URI = "\
+SRC_URI = " \
     file://boot.cmd.in \
 "
 
@@ -19,6 +19,7 @@ do_compile[noexec] = "1"
 
 do_mkimage() {
     sed -e 's/@@KERNEL_BOOTCMD@@/${KERNEL_BOOTCMD}/' \
+        -e 's/@@KERNEL_IMAGETYPE@@/${KERNEL_IMAGETYPE}/' \
         "${WORKDIR}/boot.cmd.in" > ${B}/boot.cmd
     mkimage -T script -C none -n "Distro boot script" -d ${B}/boot.cmd ${B}/boot.scr
 }