soc: esp32h2: Add initial support

boards/espressif/esp32h2_devkitm/Kconfig

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+# Copyright (c) 2025 Espressif Systems (Shanghai) Co., Ltd.
+# SPDX-License-Identifier: Apache-2.0
+
+config HEAP_MEM_POOL_ADD_SIZE_BOARD
+	int
+	default 4096

boards/espressif/esp32h2_devkitm/Kconfig.esp32h2_devkitm

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+# ESP32-H2 DevKitM board configuration
+
+# Copyright (c) 2025 Espressif Systems (Shanghai) Co., Ltd.
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_ESP32H2_DEVKITM
+	select SOC_ESP32_H2_MINI_H4

boards/espressif/esp32h2_devkitm/Kconfig.sysbuild

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+# Copyright (c) 2025 Espressif Systems (Shanghai) Co., Ltd.
+# SPDX-License-Identifier: Apache-2.0
+
+choice BOOTLOADER
+	default BOOTLOADER_MCUBOOT
+endchoice
+
+choice BOOT_SIGNATURE_TYPE
+	default BOOT_SIGNATURE_TYPE_NONE
+endchoice

boards/espressif/esp32h2_devkitm/board.cmake

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+# SPDX-License-Identifier: Apache-2.0
+
+if(NOT "${OPENOCD}" MATCHES "^${ESPRESSIF_TOOLCHAIN_PATH}/.*")
+  set(OPENOCD OPENOCD-NOTFOUND)
+endif()
+find_program(OPENOCD openocd PATHS ${ESPRESSIF_TOOLCHAIN_PATH}/openocd-esp32/bin NO_DEFAULT_PATH)
+
+include(${ZEPHYR_BASE}/boards/common/esp32.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)

boards/espressif/esp32h2_devkitm/board.yml

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+board:
+  name: esp32h2_devkitm
+  full_name: ESP32-H2-DevKitM
+  vendor: espressif
+  socs:
+  - name: esp32h2

boards/espressif/esp32h2_devkitm/doc/index.rst

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+.. zephyr:board:: esp32h2_devkitm
+
+Overview
+********
+
+ESP32-H2-DevKitM-1 is an entry-level development board based on the ESP32-H2-MINI-1 module,
+which integrates Bluetooth® Low Energy (LE) and IEEE 802.15.4 connectivity. It features
+the ESP32-H2 SoC — a 32-bit RISC-V core designed for low-power, secure wireless communication,
+supporting Bluetooth 5 (LE), Bluetooth Mesh, Thread, Matter, and Zigbee protocols.
+This module is ideal for a wide range of low-power IoT applications.
+
+Hardware
+********
+
+ESP32-H2 combines IEEE 802.15.4 connectivity with Bluetooth 5 (LE). The SoC is powered by
+a single-core, 32-bit RISC-V microcontroller that can be clocked up to 96 MHz. The ESP32-H2 has
+been designed to ensure low power consumption and security for connected devices. ESP32-H2 has
+320 KB of SRAM with 16 KB of Cache, 128 KB of ROM, 4 KB LP of memory, and a built-in 2 MB or 4 MB
+SiP flash. It has 19 programmable GPIOs with support for ADC, SPI, UART, I2C, I2S, RMT, GDMA
+and LED PWM.
+
+Most of ESP32-H2-DevKitM-1's I/O pins are broken out to the pin headers on both sides for easy
+interfacing. Developers can either connect peripherals with jumper wires or mount the board
+on a breadboard.
+
+ESP32-H2 main features:
+
+- RISC-V 32-bit single-core microprocessor
+- 320 KB of internal RAM
+- 4 KB LP Memory
+- Bluetooth LE: Bluetooth 5.3 certified
+- IEEE 802.15.4 (Zigbee and Thread)
+- 19 programmable GPIOs
+- Numerous peripherals (details below)
+
+Digital interfaces:
+
+- 19x GPIOs
+- 2x UART
+- 2x I2C
+- 1x General-purpose SPI
+- 1x I2S
+- 1x Pulse counter
+- 1x USB Serial/JTAG controller
+- 1x TWAI® controller, compatible with ISO 11898-1 (CAN Specification 2.0)
+- 1x LED PWM controller, up to 6 channels
+- 1x Motor Control PWM (MCPWM)
+- 1x Remote Control peripheral (RMT), with up to 2 TX and 2 RX channels
+- 1x Parallel IO interface (PARLIO)
+- General DMA controller (GDMA), with 3 transmit channels and 3 receive channels
+- Event Task Matrix (ETM)
+
+Analog interfaces:
+
+- 1x 12-bit SAR ADCs, up to 5 channels
+- 1x Temperature sensor (die)
+
+Timers:
+
+- 1x 52-bit system timer
+- 2x 54-bit general-purpose timers
+- 3x Watchdog timers
+
+Low Power:
+
+- Four power modes designed for typical scenarios: Active, Modem-sleep, Light-sleep, Deep-sleep
+
+Security:
+
+- Secure boot
+- Flash encryption
+- 4-Kbit OTP, up to 1792 bits for users
+- Cryptographic hardware acceleration: (AES-128/256, ECC, HMAC, RSA, SHA, Digital signature, Hash)
+- Random number generator (RNG)
+
+For detailed information, check the datasheet at `ESP32-H2 Datasheet`_ or the Technical Reference
+Manual at `ESP32-H2 Technical Reference Manual`_.
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+System requirements
+*******************
+
+Prerequisites
+=============
+
+Espressif HAL requires WiFi and Bluetooth binary blobs in order work. Run the command
+below to retrieve those files.
+
+.. code-block:: console
+
+   west blobs fetch hal_espressif
+
+.. note::
+
+   It is recommended running the command above after :file:`west update`.
+
+Building & Flashing
+*******************
+
+.. zephyr:board-supported-runners::
+
+Simple boot
+===========
+
+The board could be loaded using the single binary image, without 2nd stage bootloader.
+It is the default option when building the application without additional configuration.
+
+.. note::
+
+   Simple boot does not provide any security features nor OTA updates.
+
+MCUboot bootloader
+==================
+
+User may choose to use MCUboot bootloader instead. In that case the bootloader
+must be built (and flashed) at least once.
+
+There are two options to be used when building an application:
+
+1. Sysbuild
+2. Manual build
+
+.. note::
+
+   User can select the MCUboot bootloader by adding the following line
+   to the board default configuration file.
+
+   .. code:: cfg
+
+      CONFIG_BOOTLOADER_MCUBOOT=y
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the EPS32-H2 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :zephyr-app: samples/hello_world
+   :board: esp32h2_devkitm
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32-H2 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images.
+
+Build directory structure created by sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time the pristine build is used.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During the development cycle, it is intended to build & flash as quickly possible.
+For that reason, images can be built one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
+Build and flash applications as usual (see :ref:`build_an_application` and
+:ref:`application_run` for more details).
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32h2_devkitm
+   :goals: build
+
+The usual ``flash`` target will work with the ``esp32h2_devkitm`` board
+configuration. Here is an example for the :zephyr:code-sample:`hello_world`
+application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32h2_devkitm
+   :goals: flash
+
+Open the serial monitor using the following command:
+
+.. code-block:: shell
+
+   west espressif monitor
+
+After the board has automatically reset and booted, you should see the following
+message in the monitor:
+
+.. code-block:: console
+
+   ***** Booting Zephyr OS vx.x.x-xxx-gxxxxxxxxxxxx *****
+   Hello World! esp32h2_devkitm/esp32h2
+
+.. include:: ../../../espressif/common/board-variants.rst
+   :start-after: espressif-board-variants
+
+Debugging
+*********
+
+As with much custom hardware, the ESP32-H2 modules require patches to
+OpenOCD that are not upstreamed yet. Espressif maintains their own fork of
+the project. The custom OpenOCD can be obtained at `OpenOCD ESP32`_.
+
+The Zephyr SDK uses a bundled version of OpenOCD by default. You can overwrite that behavior by adding the
+``-DOPENOCD=<path/to/bin/openocd> -DOPENOCD_DEFAULT_PATH=<path/to/openocd/share/openocd/scripts>``
+parameter when building.
+
+Here is an example for building the :zephyr:code-sample:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32h2_devkitm
+   :goals: build flash
+   :gen-args: -DOPENOCD=<path/to/bin/openocd> -DOPENOCD_DEFAULT_PATH=<path/to/openocd/share/openocd/scripts>
+
+You can debug an application in the usual way. Here is an example for the :zephyr:code-sample:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32h2_devkitm
+   :goals: debug
+
+References
+**********
+
+.. target-notes::
+
+.. _`ESP32-H2-DevKitM-1`: https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32h2/esp32-h2-devkitm-1/user_guide.html
+.. _`ESP32-H2 Datasheet`: https://www.espressif.com/sites/default/files/documentation/esp32-h2_datasheet_en.pdf
+.. _`ESP32-H2 Technical Reference Manual`: https://www.espressif.com/sites/default/files/documentation/esp32-h2_technical_reference_manual_en.pdf
+.. _`OpenOCD ESP32`: https://github.com/espressif/openocd-esp32/releases

boards/espressif/esp32h2_devkitm/esp32h2_devkitm-pinctrl.dtsi

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+/*
+ * Copyright (c) 2025 Espressif Systems (Shanghai) Co., Ltd.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/pinctrl/esp-pinctrl-common.h>
+#include <dt-bindings/pinctrl/esp32h2-pinctrl.h>
+#include <zephyr/dt-bindings/pinctrl/esp32h2-gpio-sigmap.h>
+
+&pinctrl {
+
+	uart0_default: uart0_default {
+		group1 {
+			pinmux = <UART0_TX_GPIO24>;
+			output-high;
+		};
+		group2 {
+			pinmux = <UART0_RX_GPIO23>;
+			bias-pull-up;
+		};
+	};
+};

boards/espressif/esp32h2_devkitm/esp32h2_devkitm.dts

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+/*
+ * Copyright (c) 2025 Espressif Systems (Shanghai) Co., Ltd.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <espressif/esp32h2/esp32h2_mini_h4.dtsi>
+#include "esp32h2_devkitm-pinctrl.dtsi"
+#include <zephyr/dt-bindings/input/input-event-codes.h>
+#include <espressif/partitions_0x0_default.dtsi>
+
+/ {
+	model = "Espressif ESP32H2-DevkitM";
+	compatible = "espressif,esp32h2";
+
+	chosen {
+		zephyr,sram = &sramhp;
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,flash = &flash0;
+		zephyr,code-partition = &slot0_partition;
+	};
+
+	aliases {
+		sw0 = &user_button1;
+		watchdog0 = &wdt0;
+	};
+
+	gpio_keys {
+		compatible = "gpio-keys";
+		user_button1: button_1 {
+			label = "User SW1";
+			gpios = <&gpio0 9 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			zephyr,code = <INPUT_KEY_0>;
+		};
+	};
+};
+
+&uart0 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&uart0_default>;
+	pinctrl-names = "default";
+};
+
+&gpio0 {
+	status = "okay";
+};
+
+&wdt0 {
+	status = "okay";
+};
+
+&trng0 {
+	status = "okay";
+};
+
+&coretemp {
+	status = "okay";
+};