diff --git a/arch/arm/mach-omap/Kconfig b/arch/arm/mach-omap/Kconfig
index 42e5f4af0..70ebea635 100644
--- a/arch/arm/mach-omap/Kconfig
+++ b/arch/arm/mach-omap/Kconfig
@@ -104,6 +104,13 @@ config OMAP4_USBBOOT
 	  You need the utility program omap4_usbboot to boot from USB.
 	  Please read omap4_usb_booting.txt for more information.
 
+config CMD_BOOT_ORDER
+	tristate
+	depends on ARCH_OMAP4
+	prompt "boot_order"
+	help
+	  A command to choose the next boot device on a warm reset.
+
 config BOARDINFO
 	default "Archos G9" if MACH_ARCHOSG9
 	default "Texas Instrument's SDP343x" if MACH_OMAP343xSDP
diff --git a/arch/arm/mach-omap/Makefile b/arch/arm/mach-omap/Makefile
index d9e00f77a..973068db5 100644
--- a/arch/arm/mach-omap/Makefile
+++ b/arch/arm/mach-omap/Makefile
@@ -30,4 +30,5 @@ obj-$(CONFIG_OMAP_GPMC) += gpmc.o devices-gpmc-nand.o
 obj-$(CONFIG_SHELL_NONE) += xload.o
 obj-$(CONFIG_MFD_TWL6030) += omap4_twl6030_mmc.o
 obj-$(CONFIG_OMAP4_USBBOOT) += omap4_rom_usb.o
+obj-$(CONFIG_CMD_BOOT_ORDER) += boot_order.o
 obj-y += gpio.o
diff --git a/arch/arm/mach-omap/boot_order.c b/arch/arm/mach-omap/boot_order.c
new file mode 100644
index 000000000..2f2846d11
--- /dev/null
+++ b/arch/arm/mach-omap/boot_order.c
@@ -0,0 +1,83 @@
+/*
+ * boot_order.c - configure omap warm boot
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2
+ * as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ */
+
+#include <common.h>
+#include <command.h>
+#include <complete.h>
+#include <mach/omap4-silicon.h>
+
+struct bootsrc {
+	const char *name;
+	uint32_t sar;
+};
+
+const struct bootsrc src_list[] = {
+	{"xip"     , OMAP44XX_SAR_BOOT_XIP     },
+	{"xipwait" , OMAP44XX_SAR_BOOT_XIPWAIT },
+	{"nand"    , OMAP44XX_SAR_BOOT_NAND    },
+	{"onenand" , OMAP44XX_SAR_BOOT_ONENAND },
+	{"mmc1"    , OMAP44XX_SAR_BOOT_MMC1    },
+	{"mmc2_1"  , OMAP44XX_SAR_BOOT_MMC2_1  },
+	{"mmc2_2"  , OMAP44XX_SAR_BOOT_MMC2_2  },
+	{"uart"    , OMAP44XX_SAR_BOOT_UART    },
+	{"usb_1"   , OMAP44XX_SAR_BOOT_USB_1   },
+	{"usb_ulpi", OMAP44XX_SAR_BOOT_USB_ULPI},
+	{"usb_2"   , OMAP44XX_SAR_BOOT_USB_2   },
+};
+
+static uint32_t parse_device(char *str)
+{
+	int i;
+
+	for (i = 0; i < ARRAY_SIZE(src_list); i++) {
+		if (strcmp(str, src_list[i].name) == 0)
+			return src_list[i].sar;
+	}
+	printf("Unknown device '%s'\n", str);
+	return OMAP44XX_SAR_BOOT_VOID;
+}
+
+static int cmd_boot_order(int argc, char *argv[])
+{
+	uint32_t device_list[] = {
+		OMAP44XX_SAR_BOOT_VOID,
+		OMAP44XX_SAR_BOOT_VOID,
+		OMAP44XX_SAR_BOOT_VOID,
+		OMAP44XX_SAR_BOOT_VOID,
+	};
+	int i;
+
+	if (argc < 2)
+		return COMMAND_ERROR_USAGE;
+	for (i = 0; i + 1 < argc && i < ARRAY_SIZE(device_list); i++) {
+		device_list[i] = parse_device(argv[i + 1]);
+		if (device_list[i] == OMAP44XX_SAR_BOOT_VOID)
+			return COMMAND_ERROR_USAGE;
+	}
+	omap4_set_warmboot_order(device_list);
+	return 0;
+}
+
+static const __maybe_unused char cmd_boot_order_help[] =
+"Usage: boot_order <device 1> [<device n>]\n"
+"Set warm boot order of up to four devices.\n"
+"Each device can be one of:\n"
+"xip xipwait nand onenand mmc1 mmc2_1 mmc2_2 uart usb_1 usb_ulpi usb_2\n";
+
+BAREBOX_CMD_START(boot_order)
+	.cmd		= cmd_boot_order,
+	.usage		= "boot_order <device 1> [<device n>]",
+	BAREBOX_CMD_HELP(cmd_boot_order_help)
+	BAREBOX_CMD_COMPLETE(empty_complete)
+BAREBOX_CMD_END
diff --git a/arch/arm/mach-omap/include/mach/omap4-silicon.h b/arch/arm/mach-omap/include/mach/omap4-silicon.h
index 9e82435e9..666e72155 100644
--- a/arch/arm/mach-omap/include/mach/omap4-silicon.h
+++ b/arch/arm/mach-omap/include/mach/omap4-silicon.h
@@ -160,6 +160,25 @@
 #define OMAP44XX_PRM_RSTCTRL		OMAP44XX_PRM_DEVICE_BASE
 #define OMAP44XX_PRM_RSTCTRL_RESET	0x01
 
+/*
+ * SAR (Save & Rescue) memory region
+ */
+#define OMAP44XX_SAR_RAM_BASE      0x4a326000
+#define OMAP44XX_SAR_CH_ADDRESS    (OMAP44XX_SAR_RAM_BASE + 0xA00)
+#define OMAP44XX_SAR_CH_START      (OMAP44XX_SAR_RAM_BASE + 0xA0C)
+#define OMAP44XX_SAR_BOOT_VOID     0x00
+#define OMAP44XX_SAR_BOOT_XIP      0x01
+#define OMAP44XX_SAR_BOOT_XIPWAIT  0x02
+#define OMAP44XX_SAR_BOOT_NAND     0x03
+#define OMAP44XX_SAR_BOOT_ONENAND  0x04
+#define OMAP44XX_SAR_BOOT_MMC1     0x05
+#define OMAP44XX_SAR_BOOT_MMC2_1   0x06
+#define OMAP44XX_SAR_BOOT_MMC2_2   0x07
+#define OMAP44XX_SAR_BOOT_UART     0x43
+#define OMAP44XX_SAR_BOOT_USB_1    0x45
+#define OMAP44XX_SAR_BOOT_USB_ULPI 0x46
+#define OMAP44XX_SAR_BOOT_USB_2    0x47
+
 /*
  * Non-secure SRAM Addresses
  * Non-secure RAM starts at 0x40300000 for GP devices. But we keep SRAM_BASE
@@ -212,6 +231,7 @@ void omap4_ddr_init(const struct ddr_regs *, const struct dpll_param *);
 void omap4_power_i2c_send(u32);
 unsigned int omap4_revision(void);
 noinline int omap4_scale_vcores(unsigned vsel0_pin);
+void omap4_set_warmboot_order(u32 *device_list);
 
 #endif
 
diff --git a/arch/arm/mach-omap/omap4_generic.c b/arch/arm/mach-omap/omap4_generic.c
index e1edffa35..790746be8 100644
--- a/arch/arm/mach-omap/omap4_generic.c
+++ b/arch/arm/mach-omap/omap4_generic.c
@@ -41,6 +41,26 @@ void __noreturn reset_cpu(unsigned long addr)
 	while (1);
 }
 
+void omap4_set_warmboot_order(u32 *device_list)
+{
+	const u32 CH[] = {
+		0xCF00AA01,
+		0x0000000C,
+		(device_list[0] << 16) | 0x0000,
+		(device_list[2] << 16) | device_list[1],
+		0x0000 | device_list[3],
+		0x00000000,
+		0x00000000,
+		0x00000000,
+		0x00000000
+	};
+	int i;
+
+	for (i = 0; i < ARRAY_SIZE(CH); i++)
+		writel(CH[i], OMAP44XX_SAR_CH_START + i*sizeof(CH[0]));
+	writel(OMAP44XX_SAR_CH_START, OMAP44XX_SAR_CH_ADDRESS);
+}
+
 #define WATCHDOG_WSPR	0x48
 #define WATCHDOG_WWPS	0x34