diff --git a/arch/arm/dts/imx7d-pico-pi-u-boot.dtsi b/arch/arm/dts/imx7d-pico-pi-u-boot.dtsi
index 3a6294daff..3dd01e36a4 100644
--- a/arch/arm/dts/imx7d-pico-pi-u-boot.dtsi
+++ b/arch/arm/dts/imx7d-pico-pi-u-boot.dtsi
@@ -3,6 +3,7 @@
 /{
 	aliases {
 		mmc0 = &usdhc3;
+		mmc1 = &usdhc1;
 		usb0 = &usbotg1;
 		display0 = &lcdif;
 	};
diff --git a/board/technexion/pico-imx7d/Makefile b/board/technexion/pico-imx7d/Makefile
index 4ae3d606b5..61b55fcc55 100644
--- a/board/technexion/pico-imx7d/Makefile
+++ b/board/technexion/pico-imx7d/Makefile
@@ -1,4 +1,4 @@
 # SPDX-License-Identifier: GPL-2.0+
 # (C) Copyright 2017 NXP Semiconductors
 
-obj-y  := pico-imx7d.o spl.o
+obj-y  := pico-imx7d.o spl.o ../../freescale/common/mmc.o
diff --git a/board/technexion/pico-imx7d/pico-imx7d.c b/board/technexion/pico-imx7d/pico-imx7d.c
index 5def6eda43..b12941ccf8 100644
--- a/board/technexion/pico-imx7d/pico-imx7d.c
+++ b/board/technexion/pico-imx7d/pico-imx7d.c
@@ -13,6 +13,7 @@
 #include <asm/global_data.h>
 #include <asm/gpio.h>
 #include <asm/mach-imx/iomux-v3.h>
+#include <asm/mach-imx/boot_mode.h>
 #include <asm/io.h>
 #include <common.h>
 #include <miiphy.h>
@@ -25,6 +26,11 @@ DECLARE_GLOBAL_DATA_PTR;
 #define UART_PAD_CTRL  (PAD_CTL_DSE_3P3V_49OHM | \
 	PAD_CTL_PUS_PU100KOHM | PAD_CTL_HYS)
 
+#define PICO_MMC0 0
+#define PICO_MMC0_BLK 2
+#define PICO_MMC1 1
+#define PICO_MMC1_BLK 0
+
 int dram_init(void)
 {
 	gd->ram_size = imx_ddr_size();
@@ -150,6 +156,12 @@ int board_late_init(void)
 
 	set_wdog_reset(wdog);
 
+#if CONFIG_IS_ENABLED(FSL_ESDHC_IMX)
+#if CONFIG_IS_ENABLED(ENV_IS_IN_MMC) || CONFIG_IS_ENABLED(ENV_IS_NOWHERE)
+	board_late_mmc_env_init();
+#endif /* CONFIG_ENV_IS_IN_MMC or CONFIG_ENV_IS_NOWHERE */
+#endif
+
 	/*
 	 * Do not assert internal WDOG_RESET_B_DEB(controlled by bit 4),
 	 * since we use PMIC_PWRON to reset the board.
@@ -184,3 +196,53 @@ int board_ehci_hcd_init(int port)
 	}
 	return 0;
 }
+
+#if CONFIG_IS_ENABLED(FSL_ESDHC_IMX)
+#if CONFIG_IS_ENABLED(ENV_IS_IN_MMC) || CONFIG_IS_ENABLED(ENV_IS_NOWHERE)
+int board_mmc_get_env_dev(int devno)
+{
+	int dev_env = 0;
+
+	switch (get_boot_device()) {
+	case SD3_BOOT:
+	case MMC3_BOOT:
+		env_set("bootdev", "MMC3");
+		dev_env = PICO_MMC0;
+		break;
+	case SD1_BOOT:
+		env_set("bootdev", "SD1");
+		dev_env = PICO_MMC1;
+		break;
+	default:
+		printf("Wrong boot device!");
+	}
+
+	return dev_env;
+}
+
+int mmc_map_to_kernel_blk(int dev_no)
+{
+	int blk_no = 0;
+
+	switch (dev_no) {
+	case PICO_MMC0:
+		blk_no = PICO_MMC0_BLK;
+		break;
+	case PICO_MMC1:
+		blk_no = PICO_MMC1_BLK;
+		break;
+	default:
+		printf("Invalid MMC device!");
+	}
+
+	return blk_no;
+}
+#endif
+
+#if CONFIG_IS_ENABLED(ENV_IS_NOWHERE)
+int mmc_get_env_dev(void)
+{
+	return board_mmc_get_env_dev(0);
+}
+#endif
+#endif /* CONFIG_FSL_ESDHC_IMX */
diff --git a/board/technexion/pico-imx7d/spl.c b/board/technexion/pico-imx7d/spl.c
index c6b21aaa42..0192eafbaa 100644
--- a/board/technexion/pico-imx7d/spl.c
+++ b/board/technexion/pico-imx7d/spl.c
@@ -15,6 +15,7 @@
 #include <asm/arch/sys_proto.h>
 #include <asm/arch-mx7/mx7-ddr.h>
 #include <asm/mach-imx/iomux-v3.h>
+#include <asm/mach-imx/boot_mode.h>
 #include <asm/gpio.h>
 #include <asm/sections.h>
 #include <fsl_esdhc_imx.h>
@@ -159,7 +160,20 @@ void reset_cpu(void)
 #define USDHC_PAD_CTRL (PAD_CTL_DSE_3P3V_32OHM | PAD_CTL_SRE_SLOW | \
 	PAD_CTL_HYS | PAD_CTL_PUE | PAD_CTL_PUS_PU47KOHM)
 
-static iomux_v3_cfg_t const usdhc3_pads[] = {
+#define USDHC1_CD_GPIO	IMX_GPIO_NR(5, 0)
+/* EMMC/SD */
+static const iomux_v3_cfg_t usdhc1_pads[] = {
+	MX7D_PAD_SD1_CLK__SD1_CLK | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+	MX7D_PAD_SD1_CMD__SD1_CMD | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+	MX7D_PAD_SD1_DATA0__SD1_DATA0 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+	MX7D_PAD_SD1_DATA1__SD1_DATA1 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+	MX7D_PAD_SD1_DATA2__SD1_DATA2 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+	MX7D_PAD_SD1_DATA3__SD1_DATA3 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+	MX7D_PAD_SD1_CD_B__GPIO5_IO0  | MUX_PAD_CTRL(USDHC_PAD_CTRL),
+};
+
+#define USDHC3_CD_GPIO IMX_GPIO_NR(1, 14)
+static const iomux_v3_cfg_t usdhc3_emmc_pads[] = {
 	MX7D_PAD_SD3_CLK__SD3_CLK | MUX_PAD_CTRL(USDHC_PAD_CTRL),
 	MX7D_PAD_SD3_CMD__SD3_CMD | MUX_PAD_CTRL(USDHC_PAD_CTRL),
 	MX7D_PAD_SD3_DATA0__SD3_DATA0 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
@@ -173,20 +187,83 @@ static iomux_v3_cfg_t const usdhc3_pads[] = {
 	MX7D_PAD_GPIO1_IO14__GPIO1_IO14 | MUX_PAD_CTRL(USDHC_PAD_CTRL),
 };
 
-static struct fsl_esdhc_cfg usdhc_cfg[1] = {
+static struct fsl_esdhc_cfg usdhc_cfg[2] = {
 	{USDHC3_BASE_ADDR},
+	{USDHC1_BASE_ADDR},
 };
 
 int board_mmc_getcd(struct mmc *mmc)
 {
-	/* Assume uSDHC3 emmc is always present */
-	return 1;
+	struct fsl_esdhc_cfg *cfg = (struct fsl_esdhc_cfg *)mmc->priv;
+	int ret = 0;
+
+	switch (cfg->esdhc_base) {
+	case USDHC1_BASE_ADDR:
+		ret = !gpio_get_value(USDHC1_CD_GPIO);
+		break;
+	case USDHC3_BASE_ADDR:
+		ret = !gpio_get_value(USDHC3_CD_GPIO);
+		break;
+	}
+
+	return ret;
 }
 
 int board_mmc_init(struct bd_info *bis)
 {
-	imx_iomux_v3_setup_multiple_pads(usdhc3_pads, ARRAY_SIZE(usdhc3_pads));
-	usdhc_cfg[0].sdhc_clk = mxc_get_clock(MXC_ESDHC3_CLK);
-	return fsl_esdhc_initialize(bis, &usdhc_cfg[0]);
+	int ret;
+	u32 index;
+
+	/*
+	 * Following map is done:
+	 * (USDHC)	(Physical Port)
+	 * usdhc3	SOM MicroSD/MMC
+	 * usdhc1	Carrier board MicroSD
+	 * Always set boot USDHC as mmc0
+	 */
+
+	imx_iomux_v3_setup_multiple_pads(usdhc3_emmc_pads,
+					 ARRAY_SIZE(usdhc3_emmc_pads));
+	gpio_direction_input(USDHC3_CD_GPIO);
+
+	imx_iomux_v3_setup_multiple_pads(usdhc1_pads,
+					 ARRAY_SIZE(usdhc1_pads));
+	gpio_direction_input(USDHC1_CD_GPIO);
+
+	switch (get_boot_device()) {
+	case SD1_BOOT:
+		usdhc_cfg[0].esdhc_base = USDHC1_BASE_ADDR;
+		usdhc_cfg[0].sdhc_clk = mxc_get_clock(MXC_ESDHC_CLK);
+		usdhc_cfg[0].max_bus_width = 4;
+		usdhc_cfg[1].esdhc_base = USDHC3_BASE_ADDR;
+		usdhc_cfg[1].sdhc_clk = mxc_get_clock(MXC_ESDHC3_CLK);
+		usdhc_cfg[1].max_bus_width = 4;
+		break;
+	case MMC3_BOOT:
+		usdhc_cfg[0].esdhc_base = USDHC3_BASE_ADDR;
+		usdhc_cfg[0].sdhc_clk = mxc_get_clock(MXC_ESDHC3_CLK);
+		usdhc_cfg[0].max_bus_width = 8;
+		usdhc_cfg[1].esdhc_base = USDHC1_BASE_ADDR;
+		usdhc_cfg[1].sdhc_clk = mxc_get_clock(MXC_ESDHC_CLK);
+		usdhc_cfg[1].max_bus_width = 4;
+		break;
+	case SD3_BOOT:
+	default:
+		usdhc_cfg[0].esdhc_base = USDHC3_BASE_ADDR;
+		usdhc_cfg[0].sdhc_clk = mxc_get_clock(MXC_ESDHC3_CLK);
+		usdhc_cfg[0].max_bus_width = 4;
+		usdhc_cfg[1].esdhc_base = USDHC1_BASE_ADDR;
+		usdhc_cfg[1].sdhc_clk = mxc_get_clock(MXC_ESDHC_CLK);
+		usdhc_cfg[1].max_bus_width = 4;
+		break;
+	}
+
+	for (index = 0; index < CFG_SYS_FSL_USDHC_NUM; ++index) {
+		ret = fsl_esdhc_initialize(bis, &usdhc_cfg[index]);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
 }
 #endif
diff --git a/include/configs/pico-imx7d.h b/include/configs/pico-imx7d.h
index 096e5bbe66..e7a8cb20df 100644
--- a/include/configs/pico-imx7d.h
+++ b/include/configs/pico-imx7d.h
@@ -13,7 +13,7 @@
 #define CFG_MXC_UART_BASE		UART5_IPS_BASE_ADDR
 
 /* MMC Config */
-#define CFG_SYS_FSL_ESDHC_ADDR	0
+#define CFG_SYS_FSL_ESDHC_ADDR	USDHC3_BASE_ADDR
 
 #define CFG_DFU_ENV_SETTINGS \
 	"dfu_alt_info=" \
@@ -79,9 +79,11 @@
 		"name=rootfs,size=0,uuid=${uuid_gpt_rootfs}\0" \
 	"fastboot_partition_alias_system=rootfs\0" \
 	"setup_emmc=mmc dev 0; gpt write mmc 0 $partitions; reset;\0" \
+	"mmcautodetect=yes\0" \
 	PICO_BOOT_ENV
 
 #define BOOT_TARGET_DEVICES(func) \
+	func(MMC, mmc, 1) \
 	func(MMC, mmc, 0) \
 	func(USB, usb, 0) \
 	func(PXE, pxe, na) \