boards: beagle: Add PocketBeagle 2 M4 support

Add initial support for the PocketBeagle 2 MCU domain Cortex-M4F core.
This only adds support for A0 revision (i.e. the version with AM6232).

PocketBeagle 2: https://www.beagleboard.org/boards/pocketbeagle-2

Signed-off-by: Ayush Singh <ayush@beagleboard.org>

boards/beagle/pocketbeagle_2/Kconfig.pocketbeagle_2

@@ -0,0 +1,8 @@
+# BeagleBoard.org PocketBeagle 2
+#
+# Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+#
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_POCKETBEAGLE_2
+	select SOC_AM6232_M4 if BOARD_POCKETBEAGLE_2_AM6232_M4

boards/beagle/pocketbeagle_2/board.cmake

@@ -0,0 +1,10 @@
+# BeagleBoard.org PocketBeagle 2
+#
+# Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+#
+# SPDX-License-Identifier: Apache-2.0
+
+if(CONFIG_SOC_AM6232_M4)
+  board_runner_args(openocd "--no-init" "--no-halt" "--no-targets" "--gdb-client-port=3339")
+  include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+endif()

boards/beagle/pocketbeagle_2/board.yml

@@ -0,0 +1,12 @@
+board:
+  name: pocketbeagle_2
+  full_name: PocketBeagle 2
+  vendor: beagle
+  socs:
+    - name: am6232
+  revision:
+    format: custom
+    exact: true
+    default: "A0"
+    revisions:
+      - name: "A0"

boards/beagle/pocketbeagle_2/doc/index.rst

@@ -0,0 +1,121 @@
+.. zephyr:board:: pocketbeagle_2
+
+Overview
+********
+
+PocketBeagle 2 is a computational platform powered by TI AM62x SoC (there are two
+revisions, AM6232 and AM6254).
+
+The board configuration provides support for the ARM Cortex-M4F MCU core.
+
+See the `PocketBeagle 2 Product Page`_ for details.
+
+Hardware
+********
+PocketBeagle 2 features the TI AM62x SoC based around an Arm Cortex-A53 multicore
+cluster with an Arm Cortex-M4F microcontroller, Imagination Technologies AXE-1-16
+graphics processor (from revision A1) and TI programmable real-time unit subsystem
+microcontroller cluster coprocessors.
+
+Zephyr is ported to run on the M4F core and the following listed hardware
+specifications are used:
+
+- Low-power ARM Cortex-M4F
+- Memory
+
+   - 256KB of SRAM
+   - 512MB of DDR4
+
+Currently supported PocketBeagle 2 revisions:
+
+- A0: Comes wth SOC AM6232
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+Devices
+========
+System Clock
+------------
+
+This board configuration uses a system clock frequency of 400 MHz.
+
+DDR RAM
+-------
+
+The board has 512MB of DDR RAM available. This board configuration
+allocates Zephyr 4kB of RAM (only for resource table: 0x9CC00000 to 0x9CC00400).
+
+Serial Port
+-----------
+
+This board configuration uses a single serial communication channel with the
+MCU domain UART (MCU_UART0, i.e. P2.05 as RX and P2.07 as TX).
+
+SD Card
+*******
+
+Download BeagleBoard.org's official `BeagleBoard Imaging Utility`_ to create bootable
+SD-card with the Linux distro image. This will boot Linux on the A53 application
+cores. These cores will then load the Zephyr binary on the M4 core using remoteproc.
+
+Flashing
+********
+
+The board supports remoteproc using the OpenAMP resource table.
+
+The testing requires the binary to be copied to the SD card to allow the A53 cores to load it while booting using remoteproc.
+
+To test the M4F core, we build the :zephyr:code-sample:`hello_world` sample with the following command.
+
+.. zephyr-app-commands::
+   :board: pocketbeagle_2/am6232/m4
+   :zephyr-app: samples/hello_world
+   :goals: build
+
+This builds the program and the binary is present in the :file:`build/zephyr` directory as
+:file:`zephyr.elf`.
+
+We now copy this binary onto the SD card in the :file:`/lib/firmware` directory and name it as
+:file:`am62-mcu-m4f0_0-fw`.
+
+.. code-block:: console
+
+   # Mount the SD card at sdcard for example
+   sudo mount /dev/sdX sdcard
+   # copy the elf to the /lib/firmware directory
+   sudo cp --remove-destination zephyr.elf sdcard/lib/firmware/am62-mcu-m4f0_0-fw
+
+The SD card can now be used for booting. The binary will now be loaded onto the M4F core on boot.
+
+The binary will run and print Hello world to the MCU_UART0 port.
+
+Debugging
+*********
+
+The board supports debugging M4 core from the A53 cores running Linux. Since the target needs
+superuser privilege, openocd needs to be launched seperately for now:
+
+.. code-block:: console
+
+   sudo openocd -f board/ti_am625_swd_native.cfg
+
+
+Start debugging
+
+.. zephyr-app-commands::
+   :goals: debug
+
+References
+**********
+
+* `PocketBeagle 2 Product Page`_
+* `Documentation <https://docs.beagleboard.org/boards/pocketbeagle-2/index.html>`_
+
+.. _PocketBeagle 2 Product Page:
+   https://www.beagleboard.org/boards/pocketbeagle-2
+
+.. _BeagleBoard Imaging Utility:
+   https://github.com/beagleboard/bb-imager-rs/releases

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4-pinctrl.dtsi

@@ -0,0 +1,17 @@
+/*
+ * Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/pinctrl/ti-k3-pinctrl.h>
+
+&pinctrl {
+	mcu_uart0_rx_default: mcu_uart0_rx_default {
+		pinmux = <K3_PINMUX(0x0014, PIN_INPUT, MUX_MODE_0)>;
+	};
+
+	mcu_uart0_tx_default: mcu_uart0_tx_default {
+		pinmux = <K3_PINMUX(0x0018, PIN_OUTPUT, MUX_MODE_0)>;
+	};
+};

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4.dts

@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <ti/am62x_m4.dtsi>
+#include "pocketbeagle_2_am6232_m4-pinctrl.dtsi"
+
+/ {
+	model = "BeagleBoard.org PocketBeagle 2";
+	compatible = "beagle,pocketbeagle_2_m4";
+
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,ipc = &ipc0;
+		zephyr,ipc_shm = &ddr0;
+		zephyr,sram1 = &ddr1;
+	};
+
+	cpus {
+		cpu@0 {
+			status = "okay";
+			clock-frequency = <400000000>;
+		};
+	};
+
+	ddr0: memory@9cb00000 {
+		compatible = "mmio-sram";
+		reg = <0x9cb00000 DT_SIZE_M(1)>;
+	};
+
+	rsc_table: memory@9cc00000 {
+		compatible = "zephyr,memory-region", "mmio-sram";
+		reg = <0x9cc00000 DT_SIZE_K(4)>;
+		zephyr,memory-region = "RSC_TABLE";
+	};
+
+	ddr1: memory@9cc01000 {
+		compatible = "zephyr,memory-region", "mmio-sram";
+		reg = <0x9cc01000 (DT_SIZE_M(15) - DT_SIZE_K(4))>;
+		zephyr,memory-region = "DDR";
+	};
+
+	ipc0: ipc {
+		compatible = "zephyr,mbox-ipm";
+		mboxes = <&mbox0 0>, <&mbox0 1>;
+		mbox-names = "tx", "rx";
+	};
+};
+
+&uart0 {
+	current-speed = <115200>;
+	pinctrl-0 = <&mcu_uart0_rx_default &mcu_uart0_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4.yaml

@@ -0,0 +1,10 @@
+identifier: pocketbeagle_2/am6232/m4
+name: BeagleBoard.org PocketBeagle 2
+type: mcu
+arch: arm
+toolchain:
+  - zephyr
+ram: 192
+vendor: beagle
+supported:
+  - uart

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4_defconfig

@@ -0,0 +1,18 @@
+# BeagleBoard.org PocketBeagle 2
+#
+# Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Platform Configuration
+CONFIG_CORTEX_M_SYSTICK=y
+
+# Zephyr Kernel Configuration
+CONFIG_XIP=n
+
+# Serial Driver
+CONFIG_SERIAL=y
+
+# Enable Console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y

boards/beagle/pocketbeagle_2/revision.cmake

@@ -0,0 +1,10 @@
+set(BOARD_REVISIONS "A0")
+
+# If BOARD_REVISION not set, use the default revision
+if(NOT DEFINED BOARD_REVISION)
+  set(BOARD_REVISION ${LIST_BOARD_REVISION_DEFAULT})
+endif()
+
+if(NOT BOARD_REVISION IN_LIST BOARD_REVISIONS)
+  message(FATAL_ERROR "${BOARD_REVISION} is not a valid revision for PocketBeagle 2. Accepted revisions: ${BOARD_REVISIONS}")
+endif()

boards/beagle/pocketbeagle_2/support/openocd.cfg

@@ -0,0 +1,7 @@
+# BeagleBoard.org PocketBeagle 2
+#
+# Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+#
+# SPDX-License-Identifier: Apache-2.0
+
+source [find board/ti_am625_swd_native.cfg]