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boards: beagle: pocketbeagle_2: Add support for A53s
- Add support to run Zephyr on A53 with U-boot for rev A0. - Only UART support for now Signed-off-by: Ayush Singh <[email protected]>
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‎boards/beagle/pocketbeagle_2/Kconfig.pocketbeagle_2‎

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# SPDX-License-Identifier: Apache-2.0
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config BOARD_POCKETBEAGLE_2
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select SOC_AM6232_A53 if BOARD_POCKETBEAGLE_2_AM6232_A53
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select SOC_AM6232_M4 if BOARD_POCKETBEAGLE_2_AM6232_M4

‎boards/beagle/pocketbeagle_2/doc/index.rst‎

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graphics processor (from revision A1) and TI programmable real-time unit subsystem
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microcontroller cluster coprocessors.
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Zephyr is ported to run on the M4F core and the following listed hardware
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specifications are used:
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Zephyr is ported to run on the both A53 cores and/or M4F core.
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The following listed hardware specifications are used:
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- Dual ARM Cortex-A53 cores
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- Low-power ARM Cortex-M4F
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- Memory
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Serial Port
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-----------
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A53 Cores
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^^^^^^^^^
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This board configuration uses single serial communication channel with the MAIN domain UART
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(MAIN_UART6, i.e. debug port).
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M4F Core
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^^^^^^^^
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This board configuration uses a single serial communication channel with the
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MCU domain UART (MCU_UART0, i.e. P2.05 as RX and P2.07 as TX).
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SD Card
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*******
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A53 Cores
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=========
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Download BeagleBoard.org's official `BeagleBoard Imaging Utility`_ to create bootable
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SD-card with the Zephyr image. Optionally, the Zephyr SD Card images can be downloaded from
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`bb-zephyr-images`_.
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M4F Core
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========
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Download BeagleBoard.org's official `BeagleBoard Imaging Utility`_ to create bootable
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SD-card with the Linux distro image. This will boot Linux on the A53 application
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cores. These cores will then load the Zephyr binary on the M4 core using remoteproc.
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Flashing
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********
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A53 Core
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========
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The testing requires the binary to be copied to the BOOT partition in SD card.
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To test the A53 core, we build the :zephyr:code-sample:`hello_world` sample with the following command.
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.. zephyr-app-commands::
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:board: pocketbeagle_2/am6232/a53
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:zephyr-app: samples/hello_world
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:goals: build
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We now copy this binary onto the SD card in the :file:`/boot/` directory and name it as
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:file:`zephyr.bin`.
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.. code-block:: console
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# Mount the SD card at sdcard for example
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sudo mount /dev/sdX sdcard
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# copy the bin to the /boot/
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sudo cp --remove-destination zephyr.bin sdcard/boot/zephyr.bin
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The SD card can now be used for booting.
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The binary will run and print Hello world to the debug port.
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M4F Core
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========
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The board supports remoteproc using the OpenAMP resource table.
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The testing requires the binary to be copied to the SD card to allow the A53 cores to load it while booting using remoteproc.
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Debugging
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*********
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M4F Core
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========
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The board supports debugging M4 core from the A53 cores running Linux. Since the target needs
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superuser privilege, openocd needs to be launched separately for now:
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.. _BeagleBoard Imaging Utility:
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https://github.com/beagleboard/bb-imager-rs/releases
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.. _bb-zephyr-images:
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https://github.com/beagleboard/bb-zephyr-images/releases

‎boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53-pinctrl.dtsi‎

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/*
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* Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/pinctrl/ti-k3-pinctrl.h>
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&pinctrl {
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main_uart6_rx_default: main_uart6_rx_default {
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pinmux = <K3_PINMUX(0x001c, PIN_INPUT, MUX_MODE_3)>;
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};
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main_uart6_tx_default: main_uart6_tx_default {
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pinmux = <K3_PINMUX(0x0020, PIN_OUTPUT, MUX_MODE_3)>;
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};
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};

‎boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53.dts‎

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/*
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* Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/dts-v1/;
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#include <ti/ti_am6232_a53.dtsi>
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#include "pocketbeagle_2_am6232_a53-pinctrl.dtsi"
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/ {
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model = "BeagleBoard.org PocketBeagle 2";
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compatible = "beagle,pocketbeagle_2_a53";
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chosen {
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zephyr,console = &uart6;
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zephyr,shell-uart = &uart6;
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zephyr,sram = &ddr0;
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};
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cpus {
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cpu@0 {
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status = "okay";
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};
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cpu@1 {
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status = "okay";
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};
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};
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ddr0: memory@80000000 {
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reg = <0x80000000 DT_SIZE_M(512)>;
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};
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};
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&uart6 {
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pinctrl-0 = <&main_uart6_rx_default &main_uart6_tx_default>;
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pinctrl-names = "default";
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status = "okay";
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};

‎boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53.yaml‎

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identifier: pocketbeagle_2/am6232/a53
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name: BeagleBoard.org PocketBeagle 2
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type: mcu
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arch: arm64
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toolchain:
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- zephyr
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- cross-compile
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ram: 524288
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vendor: beagle
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supported:
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- uart

‎boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53_defconfig‎

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# BeagleBoard.org PocketBeagle 2
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#
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# Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
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#
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# SPDX-License-Identifier: Apache-2.0
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# ARM Options
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CONFIG_AARCH64_IMAGE_HEADER=y
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CONFIG_ARMV8_A_NS=y
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CONFIG_ARM64_VA_BITS_36=y
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CONFIG_ARM64_PA_BITS_36=y
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# Cache Options
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CONFIG_CACHE_MANAGEMENT=y
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CONFIG_DCACHE_LINE_SIZE_DETECT=y
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CONFIG_ICACHE_LINE_SIZE_DETECT=y
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# Platform Configuration
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# Zephyr Kernel Configuration
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CONFIG_XIP=n
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# Serial Drivers
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CONFIG_SERIAL=y
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CONFIG_UART_INTERRUPT_DRIVEN=y
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# Enable Console
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CONFIG_CONSOLE=y
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CONFIG_UART_CONSOLE=y
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# Multicore Support
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CONFIG_SMP=y

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