Add Initial PocketBeagle 2 rev A0 A53 support

boards/beagle/pocketbeagle_2/Kconfig.pocketbeagle_2

@@ -5,4 +5,5 @@
 # SPDX-License-Identifier: Apache-2.0
 
 config BOARD_POCKETBEAGLE_2
+	select SOC_AM6232_A53 if BOARD_POCKETBEAGLE_2_AM6232_A53
 	select SOC_AM6232_M4 if BOARD_POCKETBEAGLE_2_AM6232_M4

boards/beagle/pocketbeagle_2/doc/index.rst

@@ -17,9 +17,11 @@ cluster with an Arm Cortex-M4F microcontroller, Imagination Technologies AXE-1-1
 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:
+Zephyr is ported to run on the both A53 cores and/or M4F core.
 
+The following listed hardware specifications are used:
+
+- Dual ARM Cortex-A53 cores
 - Low-power ARM Cortex-M4F
 - Memory
 
@@ -51,19 +53,67 @@ allocates Zephyr 4kB of RAM (only for resource table: 0x9CC00000 to 0x9CC00400).
 Serial Port
 -----------
 
+A53 Cores
+^^^^^^^^^
+
+This board configuration uses single serial communication channel with the MAIN domain UART
+(MAIN_UART6, i.e. debug port).
+
+M4F Core
+^^^^^^^^
+
 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
 *******
 
+A53 Cores
+=========
+
+Download BeagleBoard.org's official `BeagleBoard Imaging Utility`_ to create bootable
+SD-card with the Zephyr image. Optionally, the Zephyr SD Card images can be downloaded from
+`bb-zephyr-images`_.
+
+M4F Core
+========
+
 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
 ********
 
+A53 Core
+========
+
+The testing requires the binary to be copied to the BOOT partition in SD card.
+
+To test the A53 core, we build the :zephyr:code-sample:`hello_world` sample with the following command.
+
+.. zephyr-app-commands::
+   :board: pocketbeagle_2/am6232/a53
+   :zephyr-app: samples/hello_world
+   :goals: build
+
+We now copy this binary onto the SD card in the :file:`/boot/` directory and name it as
+:file:`zephyr.bin`.
+
+.. code-block:: console
+
+   # Mount the SD card at sdcard for example
+   sudo mount /dev/sdX sdcard
+   # copy the bin to the /boot/
+   sudo cp --remove-destination zephyr.bin sdcard/boot/zephyr.bin
+
+The SD card can now be used for booting.
+
+The binary will run and print Hello world to the debug port.
+
+M4F Core
+========
+
 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.
@@ -95,6 +145,9 @@ The binary will run and print Hello world to the MCU_UART0 port.
 Debugging
 *********
 
+M4F Core
+========
+
 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:
 
@@ -119,3 +172,6 @@ References
 
 .. _BeagleBoard Imaging Utility:
    https://github.com/beagleboard/bb-imager-rs/releases
+
+.. _bb-zephyr-images:
+   https://github.com/beagleboard/bb-zephyr-images/releases

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53-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 {
+	main_uart6_rx_default: main_uart6_rx_default {
+		pinmux = <K3_PINMUX(0x001c, PIN_INPUT, MUX_MODE_3)>;
+	};
+
+	main_uart6_tx_default: main_uart6_tx_default {
+		pinmux = <K3_PINMUX(0x0020, PIN_OUTPUT, MUX_MODE_3)>;
+	};
+};

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53.dts

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <ti/ti_am6232_a53.dtsi>
+#include "pocketbeagle_2_am6232_a53-pinctrl.dtsi"
+
+/ {
+	model = "BeagleBoard.org PocketBeagle 2";
+	compatible = "beagle,pocketbeagle_2_a53";
+
+	chosen {
+		zephyr,console = &uart6;
+		zephyr,shell-uart = &uart6;
+		zephyr,sram = &ddr0;
+	};
+
+	cpus {
+		cpu@0 {
+			status = "okay";
+		};
+
+		cpu@1 {
+			status = "okay";
+		};
+	};
+
+	ddr0: memory@80000000 {
+		reg = <0x80000000 DT_SIZE_M(512)>;
+	};
+};
+
+&uart6 {
+	pinctrl-0 = <&main_uart6_rx_default &main_uart6_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53.yaml

@@ -0,0 +1,11 @@
+identifier: pocketbeagle_2/am6232/a53
+name: BeagleBoard.org PocketBeagle 2
+type: mcu
+arch: arm64
+toolchain:
+  - zephyr
+  - cross-compile
+ram: 524288
+vendor: beagle
+supported:
+  - uart

boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_a53_defconfig

@@ -0,0 +1,32 @@
+# BeagleBoard.org PocketBeagle 2
+#
+# Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# ARM Options
+CONFIG_AARCH64_IMAGE_HEADER=y
+CONFIG_ARMV8_A_NS=y
+CONFIG_ARM64_VA_BITS_36=y
+CONFIG_ARM64_PA_BITS_36=y
+
+# Cache Options
+CONFIG_CACHE_MANAGEMENT=y
+CONFIG_DCACHE_LINE_SIZE_DETECT=y
+CONFIG_ICACHE_LINE_SIZE_DETECT=y
+
+# Platform Configuration
+
+# Zephyr Kernel Configuration
+CONFIG_XIP=n
+
+# Serial Drivers
+CONFIG_SERIAL=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+
+# Enable Console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+
+# Multicore Support
+CONFIG_SMP=y

dts/arm64/ti/ti_am6232_a53.dtsi

@@ -0,0 +1,21 @@
+/*
+ * Copyright (c) 2023 Enphase Energy
+ * Copyright (c) 2025 Ayush Singh, BeagleBoard.org Foundation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <arm64/ti/ti_am62x_a53.dtsi>
+
+/ {
+	cpus {
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		cpu@1 {
+			device_type = "cpu";
+			compatible = "arm,cortex-a53";
+			reg = <1>;
+		};
+	};
+};

soc/ti/k3/am6x/CMakeLists.txt

@@ -4,7 +4,7 @@
 zephyr_include_directories(.)
 zephyr_sources(common/ctrl_partitions.c)
 
-if(CONFIG_SOC_AM6234_A53)
+if(CONFIG_SOC_AM6234_A53 OR CONFIG_SOC_AM6232_A53)
   zephyr_sources_ifdef(CONFIG_ARM_MMU a53/mmu_regions.c)
 
   set(SOC_LINKER_SCRIPT ${ZEPHYR_BASE}/include/zephyr/arch/arm64/scripts/linker.ld CACHE INTERNAL "")

soc/ti/k3/am6x/Kconfig

@@ -33,6 +33,7 @@ config SOC_SERIES_AM6X_R5
 	select SOC_EARLY_INIT_HOOK
 
 config SOC_PART_NUMBER
+	default "AM6232" if SOC_AM6232_A53
 	default "AM6232" if SOC_AM6232_M4
 	default "AM6234" if SOC_AM6234_A53
 	default "AM6234" if SOC_AM6234_M4

soc/ti/k3/am6x/Kconfig.soc

@@ -31,6 +31,10 @@ config SOC_AM6234_M4
 	bool
 	select SOC_SERIES_AM6X_M4
 
+config SOC_AM6232_A53
+	bool
+	select SOC_SERIES_AM6X_A53
+
 config SOC_AM6232_M4
 	bool
 	select SOC_SERIES_AM6X_M4
@@ -55,7 +59,7 @@ config SOC_SERIES
 	default "am6x" if SOC_SERIES_AM6X
 
 config SOC
-	default "am6232" if SOC_AM6232_M4
+	default "am6232" if SOC_AM6232_M4 || SOC_AM6232_A53
 	default "am6234" if SOC_AM6234_M4 || SOC_AM6234_A53
 	default "am6442" if SOC_AM6442_M4
 	default "j721e" if SOC_J721E_MAIN_R5F0_0

soc/ti/k3/soc.yml

@@ -6,6 +6,7 @@ family:
     - name: am6232
       cpuclusters:
       - name: m4
+      - name: a53
     - name: am6234
       cpuclusters:
       - name: m4