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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 <[email protected]>
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‎boards/beagle/pocketbeagle_2/Kconfig.pocketbeagle_2

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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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config BOARD_POCKETBEAGLE_2
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select SOC_AM6232_M4 if BOARD_POCKETBEAGLE_2_AM6232_M4

‎boards/beagle/pocketbeagle_2/board.cmake

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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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if(CONFIG_SOC_AM6232_M4)
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board_runner_args(openocd "--no-init" "--no-halt" "--no-targets" "--gdb-client-port=3339")
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include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
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endif()

‎boards/beagle/pocketbeagle_2/board.yml

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board:
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name: pocketbeagle_2
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full_name: PocketBeagle 2
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vendor: beagle
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socs:
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- name: am6232
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revision:
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format: custom
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exact: true
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default: "A0"
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revisions:
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- name: "A0"

‎boards/beagle/pocketbeagle_2/doc/img/pocketbeagle_2.webp

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‎boards/beagle/pocketbeagle_2/doc/index.rst

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.. zephyr:board:: pocketbeagle_2
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Overview
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********
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PocketBeagle 2 is a computational platform powered by TI AM62x SoC (there are two
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revisions, AM6232 and AM6254).
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The board configuration provides support for the ARM Cortex-M4F MCU core.
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See the `PocketBeagle 2 Product Page`_ for details.
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Hardware
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********
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PocketBeagle 2 features the TI AM62x SoC based around an Arm Cortex-A53 multicore
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cluster with an Arm Cortex-M4F microcontroller, Imagination Technologies AXE-1-16
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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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- Low-power ARM Cortex-M4F
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- Memory
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- 256KB of SRAM
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- 512MB of DDR4
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Currently supported PocketBeagle 2 revisions:
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- A0: Comes wth SOC AM6232
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Supported Features
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==================
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.. zephyr:board-supported-hw::
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Devices
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========
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System Clock
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------------
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This board configuration uses a system clock frequency of 400 MHz.
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DDR RAM
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-------
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The board has 512MB of DDR RAM available. This board configuration
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allocates Zephyr 4kB of RAM (only for resource table: 0x9CC00000 to 0x9CC00400).
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Serial Port
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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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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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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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To test the M4F 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/m4
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:zephyr-app: samples/hello_world
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:goals: build
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This builds the program and the binary is present in the :file:`build/zephyr` directory as
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:file:`zephyr.elf`.
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We now copy this binary onto the SD card in the :file:`/lib/firmware` directory and name it as
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:file:`am62-mcu-m4f0_0-fw`.
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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 elf to the /lib/firmware directory
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sudo cp --remove-destination zephyr.elf sdcard/lib/firmware/am62-mcu-m4f0_0-fw
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The SD card can now be used for booting. The binary will now be loaded onto the M4F core on boot.
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The binary will run and print Hello world to the MCU_UART0 port.
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Debugging
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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 seperately for now:
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.. code-block:: console
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sudo openocd -f board/ti_am625_swd_native.cfg
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Start debugging
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.. zephyr-app-commands::
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:goals: debug
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References
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**********
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* `PocketBeagle 2 Product Page`_
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* `Documentation <https://docs.beagleboard.org/boards/pocketbeagle-2/index.html>`_
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.. _PocketBeagle 2 Product Page:
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https://www.beagleboard.org/boards/pocketbeagle-2
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.. _BeagleBoard Imaging Utility:
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https://github.com/beagleboard/bb-imager-rs/releases

‎boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4-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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mcu_uart0_rx_default: mcu_uart0_rx_default {
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pinmux = <K3_PINMUX(0x0014, PIN_INPUT, MUX_MODE_0)>;
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};
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mcu_uart0_tx_default: mcu_uart0_tx_default {
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pinmux = <K3_PINMUX(0x0018, PIN_OUTPUT, MUX_MODE_0)>;
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};
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};

‎boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4.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/am62x_m4.dtsi>
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#include "pocketbeagle_2_am6232_m4-pinctrl.dtsi"
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/ {
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model = "BeagleBoard.org PocketBeagle 2";
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compatible = "beagle,pocketbeagle_2_m4";
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chosen {
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zephyr,sram = &sram0;
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zephyr,console = &uart0;
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zephyr,shell-uart = &uart0;
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zephyr,ipc = &ipc0;
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zephyr,ipc_shm = &ddr0;
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zephyr,sram1 = &ddr1;
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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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clock-frequency = <400000000>;
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};
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};
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ddr0: memory@9cb00000 {
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compatible = "mmio-sram";
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reg = <0x9cb00000 DT_SIZE_M(1)>;
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};
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rsc_table: memory@9cc00000 {
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compatible = "zephyr,memory-region", "mmio-sram";
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reg = <0x9cc00000 DT_SIZE_K(4)>;
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zephyr,memory-region = "RSC_TABLE";
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};
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ddr1: memory@9cc01000 {
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compatible = "zephyr,memory-region", "mmio-sram";
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reg = <0x9cc01000 (DT_SIZE_M(15) - DT_SIZE_K(4))>;
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zephyr,memory-region = "DDR";
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};
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ipc0: ipc {
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compatible = "zephyr,mbox-ipm";
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mboxes = <&mbox0 0>, <&mbox0 1>;
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mbox-names = "tx", "rx";
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};
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};
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&uart0 {
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current-speed = <115200>;
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pinctrl-0 = <&mcu_uart0_rx_default &mcu_uart0_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_m4.yaml

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

‎boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4_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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# Platform Configuration
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CONFIG_CORTEX_M_SYSTICK=y
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# Zephyr Kernel Configuration
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CONFIG_XIP=n
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# Serial Driver
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CONFIG_SERIAL=y
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# Enable Console
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CONFIG_CONSOLE=y
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CONFIG_UART_CONSOLE=y

‎boards/beagle/pocketbeagle_2/revision.cmake

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

‎boards/beagle/pocketbeagle_2/support/openocd.cfg

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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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source [find board/ti_am625_swd_native.cfg]

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