[PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support

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* [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support
@ 2026-07-20 20:16 Randolph Sapp via U-Boot
  2026-07-20 20:16 ` [PATCHv4 1/3] arm: mach-k3: am62: add &main_uart6 to clock and pwr tree Randolph Sapp via U-Boot
                   ` (2 more replies)
  0 siblings, 3 replies; 6+ messages in thread
From: Randolph Sapp via U-Boot @ 2026-07-20 20:16 UTC (permalink / raw)
  To: robertcnelson, ayush, Erik.Welsh, anshuld, bb, trini, afd,
	xypron.glpk, ilias.apalodimas, sjg
  Cc: u-boot

From: Randolph Sapp <rs@ti.com>

Since it's been decided internally to follow along with what Zephyr is doing and
make a completely separate device tree for the 1GB + eMMC Industrial board, I'm
resubmitting v3 with the variant support patch dropped. We will circle back to
enable the Industrial part once the dt has been accepted kernel side.

See the following link for more information regarding that decision:
https://lore.kernel.org/u-boot/DJLTHZL0ERIG.JV1UL67GFIVJ@ti.com/

Add initial board support for the PocketBeagle 2 from BeagleBoard.org. This is
based on the current official series from Robert Nelson [1] and work from Bryan
Brattlof [2].

Now that the various memory issues have been resolved we can clearly see at
runtime that there's an issue with the current device. One of our reservations
overlaps with the u-boot stack. To get around this we'll need to change the
relocation address to something we know will not collide.

[1] https://github.com/beagleboard/u-boot/tree/v2026.01-am62-pocketbeagle2
[2] https://github.com/bryanbrattlof/beagleboot/tree/b4/pb2i

Bryan Brattlof (1):
  arm: mach-k3: am62: add &main_uart6 to clock and pwr tree

Randolph Sapp (2):
  k3-am62-pocketbeagle2: add initial board support
  k3-am62-pocketbeagle2: add support for efi capsules

 arch/arm/dts/Makefile                         |   1 +
 ...> k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} |  92 ++---
 .../arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi | 336 ++++++++++++++++++
 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts     |  35 ++
 arch/arm/mach-k3/am62x/Kconfig                |   1 +
 arch/arm/mach-k3/r5/am62x/clk-data.c          |  19 +-
 arch/arm/mach-k3/r5/am62x/dev-data.c          |   5 +-
 board/beagle/pocketbeagle2/Kconfig            |  60 ++++
 board/beagle/pocketbeagle2/MAINTAINERS        |  10 +
 board/beagle/pocketbeagle2/Makefile           |   9 +
 .../board-cfg.yaml                            |   0
 .../{beagleplay => pocketbeagle2}/pm-cfg.yaml |   0
 board/beagle/pocketbeagle2/pocketbeagle2.c    |  84 +++++
 .../pocketbeagle2/pocketbeagle2.env}          |  20 +-
 .../pocketbeagle2}/rm-cfg.yaml                |   4 +-
 .../sec-cfg.yaml                              |   0
 ...onfig => am62_pocketbeagle2_a53_defconfig} |  25 +-
 ...config => am62_pocketbeagle2_r5_defconfig} |  11 +-
 doc/board/beagle/am62_pocketbeagle2.rst       | 279 +++++++++++++++
 doc/board/beagle/index.rst                    |   1 +
 include/configs/pocketbeagle2.h               |  39 ++
 21 files changed, 949 insertions(+), 82 deletions(-)
 copy arch/arm/dts/{k3-am62x-sk-ddr4-1600MTs.dtsi => k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} (97%)
 create mode 100644 arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
 create mode 100644 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
 create mode 100644 board/beagle/pocketbeagle2/Kconfig
 create mode 100644 board/beagle/pocketbeagle2/MAINTAINERS
 create mode 100644 board/beagle/pocketbeagle2/Makefile
 copy board/beagle/{beagleplay => pocketbeagle2}/board-cfg.yaml (100%)
 copy board/beagle/{beagleplay => pocketbeagle2}/pm-cfg.yaml (100%)
 create mode 100644 board/beagle/pocketbeagle2/pocketbeagle2.c
 copy board/{ti/am62x/am62x.env => beagle/pocketbeagle2/pocketbeagle2.env} (64%)
 copy board/{phytec/phycore_am62x => beagle/pocketbeagle2}/rm-cfg.yaml (99%)
 copy board/beagle/{beagleplay => pocketbeagle2}/sec-cfg.yaml (100%)
 copy configs/{am62x_beagleplay_a53_defconfig => am62_pocketbeagle2_a53_defconfig} (88%)
 copy configs/{am62x_beagleplay_r5_defconfig => am62_pocketbeagle2_r5_defconfig} (89%)
 create mode 100644 doc/board/beagle/am62_pocketbeagle2.rst
 create mode 100644 include/configs/pocketbeagle2.h

-- 
2.55.0


^ permalink raw reply	[flat|nested] 6+ messages in thread

* [PATCHv4 1/3] arm: mach-k3: am62: add &main_uart6 to clock and pwr tree
  2026-07-20 20:16 [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support Randolph Sapp via U-Boot
@ 2026-07-20 20:16 ` Randolph Sapp via U-Boot
  2026-07-20 20:16 ` [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support Randolph Sapp via U-Boot
  2026-07-20 20:16 ` [PATCHv4 3/3] k3-am62-pocketbeagle2: add support for efi capsules Randolph Sapp via U-Boot
  2 siblings, 0 replies; 6+ messages in thread
From: Randolph Sapp via U-Boot @ 2026-07-20 20:16 UTC (permalink / raw)
  To: robertcnelson, ayush, Erik.Welsh, anshuld, bb, trini, afd,
	xypron.glpk, ilias.apalodimas, sjg
  Cc: u-boot

From: Bryan Brattlof <bb@ti.com>

The pocketbeagle2 uses the main_uart6 as the debug console. To get debug
console prints at the R5 SPL stage, add the &main_uart6 to the R5 clk
and dev data so we can configure the uart as early as possible during
the bootup of the pocketbeagle2

Signed-off-by: Bryan Brattlof <bb@ti.com>
---
 arch/arm/mach-k3/r5/am62x/clk-data.c | 19 +++++++++++++++----
 arch/arm/mach-k3/r5/am62x/dev-data.c |  5 +++--
 2 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/arch/arm/mach-k3/r5/am62x/clk-data.c b/arch/arm/mach-k3/r5/am62x/clk-data.c
index d7bfed0e031c..05cced0b313b 100644
--- a/arch/arm/mach-k3/r5/am62x/clk-data.c
+++ b/arch/arm/mach-k3/r5/am62x/clk-data.c
@@ -3,9 +3,9 @@
  * AM62X specific clock platform data
  *
  * This file is auto generated. Please do not hand edit and report any issues
- * to Dave Gerlach <d-gerlach@ti.com>.
+ * to Bryan Brattlof <bb@ti.com>.
  *
- * Copyright (C) 2020-2022 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2020-2025 Texas Instruments Incorporated - https://www.ti.com/
  */
 
 #include <linux/clk-provider.h>
@@ -125,6 +125,11 @@ static const char * const main_usart0_fclk_sel_out0_parents[] = {
 	"hsdiv4_16fft_main_1_hsdivout1_clk",
 };
 
+static const char * const main_usart6_fclk_sel_out0_parents[] = {
+	"usart_programmable_clock_divider_out6",
+	"hsdiv4_16fft_main_1_hsdivout1_clk",
+};
+
 static const struct clk_data clk_list[] = {
 	CLK_FIXED_RATE("osc_26_mhz", 26000000, 0),
 	CLK_FIXED_RATE("osc_25_mhz", 25000000, 0),
@@ -210,9 +215,11 @@ static const struct clk_data clk_list[] = {
 	CLK_MUX("main_gtcclk_sel_out0", main_gtcclk_sel_out0_parents, 8, 0x43008030, 0, 3, 0),
 	CLK_MUX("main_ospi_ref_clk_sel_out0", main_ospi_ref_clk_sel_out0_parents, 2, 0x108500, 0, 1, 0),
 	CLK_DIV_DEFFREQ("usart_programmable_clock_divider_out0", "hsdiv4_16fft_main_1_hsdivout0_clk", 0x108240, 0, 2, 0, 0, 48000000),
+	CLK_DIV_DEFFREQ("usart_programmable_clock_divider_out6", "hsdiv4_16fft_main_1_hsdivout0_clk", 0x108258, 0, 2, 0, 0, 48000000),
 	CLK_MUX("wkup_clkout_sel_out0", wkup_clkout_sel_out0_parents, 8, 0x43008020, 0, 3, 0),
 	CLK_MUX("wkup_clksel_out0", wkup_clksel_out0_parents, 2, 0x43008010, 0, 1, 0),
 	CLK_MUX("main_usart0_fclk_sel_out0", main_usart0_fclk_sel_out0_parents, 2, 0x108280, 0, 1, 0),
+	CLK_MUX("main_usart6_fclk_sel_out0", main_usart6_fclk_sel_out0_parents, 2, 0x108298, 0, 1, 0),
 	CLK_DIV("hsdiv4_16fft_mcu_0_hsdivout1_clk", "pllfracf_ssmod_16fft_mcu_0_foutvcop_clk", 0x4040084, 0, 7, 0, 0),
 	CLK_FIXED_RATE("mshsi2c_wkup_0_porscl", 0, 0),
 	CLK_DIV("sam62_pll_ctrl_wrap_main_0_chip_div24_clk_clk", "sam62_pll_ctrl_wrap_main_0_sysclkout_clk", 0x41011c, 0, 5, 0, 0),
@@ -336,6 +343,10 @@ static const struct dev_clk soc_dev_clk_data[] = {
 	DEV_CLK(157, 164, "clk_32k_rc_sel_out0"),
 	DEV_CLK(157, 165, "gluelogic_rcosc_clkout"),
 	DEV_CLK(157, 166, "gluelogic_hfosc0_clkout"),
+	DEV_CLK(158, 0, "main_usart6_fclk_sel_out0"),
+	DEV_CLK(158, 1, "usart_programmable_clock_divider_out6"),
+	DEV_CLK(158, 2, "hsdiv4_16fft_main_1_hsdivout1_clk"),
+	DEV_CLK(158, 5, "sam62_pll_ctrl_wrap_main_0_chip_div1_clk_clk"),
 	DEV_CLK(161, 0, "sam62_pll_ctrl_wrap_main_0_chip_div1_clk_clk"),
 	DEV_CLK(161, 1, "sam62_pll_ctrl_wrap_main_0_chip_div1_clk_clk"),
 	DEV_CLK(161, 2, "sam62_pll_ctrl_wrap_main_0_chip_div1_clk_clk"),
@@ -361,7 +372,7 @@ static const struct dev_clk soc_dev_clk_data[] = {
 
 const struct ti_k3_clk_platdata am62x_clk_platdata = {
 	.clk_list = clk_list,
-	.clk_list_cnt = 90,
+	.clk_list_cnt = 92,
 	.soc_dev_clk_data = soc_dev_clk_data,
-	.soc_dev_clk_data_cnt = 137,
+	.soc_dev_clk_data_cnt = 140,
 };
diff --git a/arch/arm/mach-k3/r5/am62x/dev-data.c b/arch/arm/mach-k3/r5/am62x/dev-data.c
index 59c95df2a887..ea1e76a8a758 100644
--- a/arch/arm/mach-k3/r5/am62x/dev-data.c
+++ b/arch/arm/mach-k3/r5/am62x/dev-data.c
@@ -3,9 +3,9 @@
  * AM62X specific device platform data
  *
  * This file is auto generated. Please do not hand edit and report any issues
- * to Dave Gerlach <d-gerlach@ti.com>.
+ * to Bryan Brattlof <bb@ti.com>.
  *
- * Copyright (C) 2020-2022 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2020-2025 Texas Instruments Incorporated - https://www.ti.com/
  */
 
 #include "k3-dev.h"
@@ -61,6 +61,7 @@ static struct ti_dev soc_dev_list[] = {
 	PSC_DEV(36, &soc_lpsc_list[11]),
 	PSC_DEV(102, &soc_lpsc_list[11]),
 	PSC_DEV(146, &soc_lpsc_list[11]),
+	PSC_DEV(158, &soc_lpsc_list[11]),
 	PSC_DEV(13, &soc_lpsc_list[12]),
 	PSC_DEV(166, &soc_lpsc_list[13]),
 	PSC_DEV(135, &soc_lpsc_list[14]),
-- 
2.55.0


^ permalink raw reply related	[flat|nested] 6+ messages in thread

* [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support
  2026-07-20 20:16 [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support Randolph Sapp via U-Boot
  2026-07-20 20:16 ` [PATCHv4 1/3] arm: mach-k3: am62: add &main_uart6 to clock and pwr tree Randolph Sapp via U-Boot
@ 2026-07-20 20:16 ` Randolph Sapp via U-Boot
  2026-07-20 20:16 ` [PATCHv4 3/3] k3-am62-pocketbeagle2: add support for efi capsules Randolph Sapp via U-Boot
  2 siblings, 0 replies; 6+ messages in thread
From: Randolph Sapp via U-Boot @ 2026-07-20 20:16 UTC (permalink / raw)
  To: robertcnelson, ayush, Erik.Welsh, anshuld, bb, trini, afd,
	xypron.glpk, ilias.apalodimas, sjg
  Cc: u-boot

From: Randolph Sapp <rs@ti.com>

Add initial board support for the PocketBeagle 2, based on Robert Nelson
and Bryan Brattlof's work. Unify all debug consoles to main_uart6. Use
DDR config v10.32 from our sysconfig tool [1] for Kingston's memory [2],
(4Gb Desnity with a CL of 11 and CWL of 9). Add support for the
SPL_TEXT_BASE config parameter. Ensure all files have a summary and SPDX
identifier.

Also, use board_get_usable_ram_top() to fixup our relocaddr since
otherwise the u-boot stack reservation will collide with the
wkup_r5fss0_core0_memory_region.

[1] https://dev.ti.com/sysconfig
[2] https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/6465/D2516AN9EXGXN-TU.pdf

Signed-off-by: Randolph Sapp <rs@ti.com>
---
v3:
	- Use board_get_usable_ram_top
---
 arch/arm/dts/Makefile                         |   1 +
 ...> k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} |  92 +++---
 ...dtsi => k3-am62-pocketbeagle2-u-boot.dtsi} | 160 ++++++----
 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts     |  35 +++
 arch/arm/mach-k3/am62x/Kconfig                |   1 +
 board/beagle/pocketbeagle2/Kconfig            |  60 ++++
 board/beagle/pocketbeagle2/MAINTAINERS        |  10 +
 board/beagle/pocketbeagle2/Makefile           |   9 +
 .../board-cfg.yaml                            |   0
 .../{beagleplay => pocketbeagle2}/pm-cfg.yaml |   0
 board/beagle/pocketbeagle2/pocketbeagle2.c    |  58 ++++
 .../pocketbeagle2/pocketbeagle2.env}          |  20 +-
 .../pocketbeagle2}/rm-cfg.yaml                |   4 +-
 .../sec-cfg.yaml                              |   0
 ...onfig => am62_pocketbeagle2_a53_defconfig} |  24 +-
 ...config => am62_pocketbeagle2_r5_defconfig} |  11 +-
 doc/board/beagle/am62_pocketbeagle2.rst       | 279 ++++++++++++++++++
 doc/board/beagle/index.rst                    |   1 +
 .../configs/{beagley_ai.h => pocketbeagle2.h} |   8 +-
 19 files changed, 636 insertions(+), 137 deletions(-)
 copy arch/arm/dts/{k3-am62x-sk-ddr4-1600MTs.dtsi => k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} (97%)
 copy arch/arm/dts/{k3-am67a-beagley-ai-u-boot.dtsi => k3-am62-pocketbeagle2-u-boot.dtsi} (53%)
 create mode 100644 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
 create mode 100644 board/beagle/pocketbeagle2/Kconfig
 create mode 100644 board/beagle/pocketbeagle2/MAINTAINERS
 create mode 100644 board/beagle/pocketbeagle2/Makefile
 copy board/beagle/{beagleplay => pocketbeagle2}/board-cfg.yaml (100%)
 copy board/beagle/{beagleplay => pocketbeagle2}/pm-cfg.yaml (100%)
 create mode 100644 board/beagle/pocketbeagle2/pocketbeagle2.c
 copy board/{ti/am62x/am62x.env => beagle/pocketbeagle2/pocketbeagle2.env} (64%)
 copy board/{phytec/phycore_am62x => beagle/pocketbeagle2}/rm-cfg.yaml (99%)
 copy board/beagle/{beagleplay => pocketbeagle2}/sec-cfg.yaml (100%)
 copy configs/{am62x_beagleplay_a53_defconfig => am62_pocketbeagle2_a53_defconfig} (87%)
 copy configs/{am62x_beagleplay_r5_defconfig => am62_pocketbeagle2_r5_defconfig} (89%)
 create mode 100644 doc/board/beagle/am62_pocketbeagle2.rst
 copy include/configs/{beagley_ai.h => pocketbeagle2.h} (57%)

diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
index 25234697e6ae..d93346b8eb92 100644
--- a/arch/arm/dts/Makefile
+++ b/arch/arm/dts/Makefile
@@ -1054,6 +1054,7 @@ dtb-$(CONFIG_SOC_K3_AM642) += k3-am642-r5-evm.dtb \
 			      k3-am642-r5-phycore-som-2gb.dtb
 
 dtb-$(CONFIG_SOC_K3_AM625) += k3-am625-r5-sk.dtb \
+			      k3-am62-r5-pocketbeagle2.dtb \
 			      k3-am625-r5-beagleplay.dtb \
 			      k3-am625-verdin-r5.dtb \
 			      k3-am625-r5-phycore-som-2gb.dtb
diff --git a/arch/arm/dts/k3-am62x-sk-ddr4-1600MTs.dtsi b/arch/arm/dts/k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi
similarity index 97%
copy from arch/arm/dts/k3-am62x-sk-ddr4-1600MTs.dtsi
copy to arch/arm/dts/k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi
index 4afa68a67394..455a55f2c0d8 100644
--- a/arch/arm/dts/k3-am62x-sk-ddr4-1600MTs.dtsi
+++ b/arch/arm/dts/k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi
@@ -2,20 +2,22 @@
 /*
  * This file was generated with the
  * AM623/AM625 SysConfig DDR Configuration Tool for AM64x, AM625, AM623, AM62Ax, AM62Px, AM62Dx, AM62Lx v0.10.32
- * Fri Jan 30 2026 13:45:31 GMT+0530 (India Standard Time)
+ * Mon Jan 26 2026 10:31:36 GMT-0600 (Central Standard Time)
  * DDR Type: DDR4
  * Frequency = 800MHz (1600MTs)
- * Density: 16Gb
+ * Density: 4Gb
  * Number of Ranks: 1
 */
 
+
 #define DDRSS_PLL_FHS_CNT 6
 #define DDRSS_PLL_FREQUENCY_1 400000000
 #define DDRSS_PLL_FREQUENCY_2 400000000
-#define DDRSS_SDRAM_IDX 15
+#define DDRSS_SDRAM_IDX 13
 #define DDRSS_REGION_IDX 16
 #define DDRSS_TOOL_VERSION "0.10.32"
 
+
 #define DDRSS_CTL_0_DATA 0x00000A00
 #define DDRSS_CTL_1_DATA 0x00000000
 #define DDRSS_CTL_2_DATA 0x00000000
@@ -54,11 +56,11 @@
 #define DDRSS_CTL_35_DATA 0x00000000
 #define DDRSS_CTL_36_DATA 0x00000000
 #define DDRSS_CTL_37_DATA 0x00000000
-#define DDRSS_CTL_38_DATA 0x0000091C
+#define DDRSS_CTL_38_DATA 0x00000916
 #define DDRSS_CTL_39_DATA 0x18181818
-#define DDRSS_CTL_40_DATA 0x0000091C
+#define DDRSS_CTL_40_DATA 0x00000916
 #define DDRSS_CTL_41_DATA 0x18181818
-#define DDRSS_CTL_42_DATA 0x0000091C
+#define DDRSS_CTL_42_DATA 0x00000916
 #define DDRSS_CTL_43_DATA 0x18181818
 #define DDRSS_CTL_44_DATA 0x05050404
 #define DDRSS_CTL_45_DATA 0x00002706
@@ -220,22 +222,22 @@
 #define DDRSS_CTL_201_DATA 0x00000000
 #define DDRSS_CTL_202_DATA 0x00000000
 #define DDRSS_CTL_203_DATA 0x00000000
-#define DDRSS_CTL_204_DATA 0x00042400
+#define DDRSS_CTL_204_DATA 0x00041000
 #define DDRSS_CTL_205_DATA 0x00000301
 #define DDRSS_CTL_206_DATA 0x00000000
-#define DDRSS_CTL_207_DATA 0x00000424
+#define DDRSS_CTL_207_DATA 0x00000410
 #define DDRSS_CTL_208_DATA 0x00000301
 #define DDRSS_CTL_209_DATA 0x00000000
-#define DDRSS_CTL_210_DATA 0x00000424
+#define DDRSS_CTL_210_DATA 0x00000410
 #define DDRSS_CTL_211_DATA 0x00000301
 #define DDRSS_CTL_212_DATA 0x00000000
-#define DDRSS_CTL_213_DATA 0x00000424
+#define DDRSS_CTL_213_DATA 0x00000410
 #define DDRSS_CTL_214_DATA 0x00000301
 #define DDRSS_CTL_215_DATA 0x00000000
-#define DDRSS_CTL_216_DATA 0x00000424
+#define DDRSS_CTL_216_DATA 0x00000410
 #define DDRSS_CTL_217_DATA 0x00000301
 #define DDRSS_CTL_218_DATA 0x00000000
-#define DDRSS_CTL_219_DATA 0x00000424
+#define DDRSS_CTL_219_DATA 0x00000410
 #define DDRSS_CTL_220_DATA 0x00000301
 #define DDRSS_CTL_221_DATA 0x00000000
 #define DDRSS_CTL_222_DATA 0x00000000
@@ -333,8 +335,8 @@
 #define DDRSS_CTL_314_DATA 0x00000000
 #define DDRSS_CTL_315_DATA 0x00000100
 #define DDRSS_CTL_316_DATA 0x01010000
-#define DDRSS_CTL_317_DATA 0x00000000
-#define DDRSS_CTL_318_DATA 0x3FFF0000
+#define DDRSS_CTL_317_DATA 0x00000202
+#define DDRSS_CTL_318_DATA 0x0FFF0000
 #define DDRSS_CTL_319_DATA 0x000FFF00
 #define DDRSS_CTL_320_DATA 0xFFFFFFFF
 #define DDRSS_CTL_321_DATA 0x00FFFF00
@@ -391,8 +393,8 @@
 #define DDRSS_CTL_372_DATA 0x06060806
 #define DDRSS_CTL_373_DATA 0x00010101
 #define DDRSS_CTL_374_DATA 0x02000000
-#define DDRSS_CTL_375_DATA 0x05020101
-#define DDRSS_CTL_376_DATA 0x00000505
+#define DDRSS_CTL_375_DATA 0x02020101
+#define DDRSS_CTL_376_DATA 0x00000202
 #define DDRSS_CTL_377_DATA 0x02020200
 #define DDRSS_CTL_378_DATA 0x02020202
 #define DDRSS_CTL_379_DATA 0x02020202
@@ -408,7 +410,7 @@
 #define DDRSS_CTL_389_DATA 0x00000200
 #define DDRSS_CTL_390_DATA 0x0000DB60
 #define DDRSS_CTL_391_DATA 0x0001E780
-#define DDRSS_CTL_392_DATA 0x080D0302
+#define DDRSS_CTL_392_DATA 0x050A0302
 #define DDRSS_CTL_393_DATA 0x001E0506
 #define DDRSS_CTL_394_DATA 0x000030C0
 #define DDRSS_CTL_395_DATA 0x00000200
@@ -417,7 +419,7 @@
 #define DDRSS_CTL_398_DATA 0x00000200
 #define DDRSS_CTL_399_DATA 0x0000DB60
 #define DDRSS_CTL_400_DATA 0x0001E780
-#define DDRSS_CTL_401_DATA 0x080D0302
+#define DDRSS_CTL_401_DATA 0x050A0302
 #define DDRSS_CTL_402_DATA 0x001E0506
 #define DDRSS_CTL_403_DATA 0x000030C0
 #define DDRSS_CTL_404_DATA 0x00000200
@@ -426,7 +428,7 @@
 #define DDRSS_CTL_407_DATA 0x00000200
 #define DDRSS_CTL_408_DATA 0x0000DB60
 #define DDRSS_CTL_409_DATA 0x0001E780
-#define DDRSS_CTL_410_DATA 0x080D0302
+#define DDRSS_CTL_410_DATA 0x050A0302
 #define DDRSS_CTL_411_DATA 0x00000506
 #define DDRSS_CTL_412_DATA 0x00000000
 #define DDRSS_CTL_413_DATA 0x0302000A
@@ -516,7 +518,7 @@
 #define DDRSS_PI_74_DATA 0x00000000
 #define DDRSS_PI_75_DATA 0x00000005
 #define DDRSS_PI_76_DATA 0x01000000
-#define DDRSS_PI_77_DATA 0x04000100
+#define DDRSS_PI_77_DATA 0x04020100
 #define DDRSS_PI_78_DATA 0x00020000
 #define DDRSS_PI_79_DATA 0x00010002
 #define DDRSS_PI_80_DATA 0x00000001
@@ -606,14 +608,14 @@
 #define DDRSS_PI_164_DATA 0x00007800
 #define DDRSS_PI_165_DATA 0x00780078
 #define DDRSS_PI_166_DATA 0x00141414
-#define DDRSS_PI_167_DATA 0x00000036
-#define DDRSS_PI_168_DATA 0x00000036
-#define DDRSS_PI_169_DATA 0x00040036
+#define DDRSS_PI_167_DATA 0x00000033
+#define DDRSS_PI_168_DATA 0x00000033
+#define DDRSS_PI_169_DATA 0x00040033
 #define DDRSS_PI_170_DATA 0x04000400
 #define DDRSS_PI_171_DATA 0xC8000009
-#define DDRSS_PI_172_DATA 0x0000091C
-#define DDRSS_PI_173_DATA 0x00091CC8
-#define DDRSS_PI_174_DATA 0x001CC800
+#define DDRSS_PI_172_DATA 0x00000916
+#define DDRSS_PI_173_DATA 0x000916C8
+#define DDRSS_PI_174_DATA 0x0016C800
 #define DDRSS_PI_175_DATA 0x00000118
 #define DDRSS_PI_176_DATA 0x00001860
 #define DDRSS_PI_177_DATA 0x00000118
@@ -626,14 +628,14 @@
 #define DDRSS_PI_184_DATA 0x01080108
 #define DDRSS_PI_185_DATA 0x00000108
 #define DDRSS_PI_186_DATA 0x00000000
-#define DDRSS_PI_187_DATA 0x05000000
-#define DDRSS_PI_188_DATA 0x01010505
+#define DDRSS_PI_187_DATA 0x02000000
+#define DDRSS_PI_188_DATA 0x01010202
 #define DDRSS_PI_189_DATA 0x01010101
 #define DDRSS_PI_190_DATA 0x00181818
 #define DDRSS_PI_191_DATA 0x00000000
 #define DDRSS_PI_192_DATA 0x00000000
-#define DDRSS_PI_193_DATA 0x09000000
-#define DDRSS_PI_194_DATA 0x06060909
+#define DDRSS_PI_193_DATA 0x06000000
+#define DDRSS_PI_194_DATA 0x06060606
 #define DDRSS_PI_195_DATA 0x03030306
 #define DDRSS_PI_196_DATA 0x00000000
 #define DDRSS_PI_197_DATA 0x00000000
@@ -661,15 +663,15 @@
 #define DDRSS_PI_219_DATA 0x001600C8
 #define DDRSS_PI_220_DATA 0x010100C8
 #define DDRSS_PI_221_DATA 0x00001701
-#define DDRSS_PI_222_DATA 0x1F0F0053
-#define DDRSS_PI_223_DATA 0x05000001
-#define DDRSS_PI_224_DATA 0x00170A09
-#define DDRSS_PI_225_DATA 0x1F0F0053
-#define DDRSS_PI_226_DATA 0x05000001
-#define DDRSS_PI_227_DATA 0x00170A09
-#define DDRSS_PI_228_DATA 0x1F0F0053
-#define DDRSS_PI_229_DATA 0x05000001
-#define DDRSS_PI_230_DATA 0x00010A09
+#define DDRSS_PI_222_DATA 0x1F0F0050
+#define DDRSS_PI_223_DATA 0x02000001
+#define DDRSS_PI_224_DATA 0x00170A06
+#define DDRSS_PI_225_DATA 0x1F0F0050
+#define DDRSS_PI_226_DATA 0x02000001
+#define DDRSS_PI_227_DATA 0x00170A06
+#define DDRSS_PI_228_DATA 0x1F0F0050
+#define DDRSS_PI_229_DATA 0x02000001
+#define DDRSS_PI_230_DATA 0x00010A06
 #define DDRSS_PI_231_DATA 0x0C0B0700
 #define DDRSS_PI_232_DATA 0x000D0605
 #define DDRSS_PI_233_DATA 0x0000C570
@@ -736,7 +738,7 @@
 #define DDRSS_PI_294_DATA 0x01000000
 #define DDRSS_PI_295_DATA 0x00020201
 #define DDRSS_PI_296_DATA 0x00000000
-#define DDRSS_PI_297_DATA 0x00000424
+#define DDRSS_PI_297_DATA 0x00000410
 #define DDRSS_PI_298_DATA 0x00000301
 #define DDRSS_PI_299_DATA 0x00000000
 #define DDRSS_PI_300_DATA 0x00000000
@@ -744,7 +746,7 @@
 #define DDRSS_PI_302_DATA 0x00001400
 #define DDRSS_PI_303_DATA 0x00000493
 #define DDRSS_PI_304_DATA 0x00000000
-#define DDRSS_PI_305_DATA 0x00000424
+#define DDRSS_PI_305_DATA 0x00000410
 #define DDRSS_PI_306_DATA 0x00000301
 #define DDRSS_PI_307_DATA 0x00000000
 #define DDRSS_PI_308_DATA 0x00000000
@@ -752,7 +754,7 @@
 #define DDRSS_PI_310_DATA 0x00001400
 #define DDRSS_PI_311_DATA 0x00000493
 #define DDRSS_PI_312_DATA 0x00000000
-#define DDRSS_PI_313_DATA 0x00000424
+#define DDRSS_PI_313_DATA 0x00000410
 #define DDRSS_PI_314_DATA 0x00000301
 #define DDRSS_PI_315_DATA 0x00000000
 #define DDRSS_PI_316_DATA 0x00000000
@@ -760,7 +762,7 @@
 #define DDRSS_PI_318_DATA 0x00001400
 #define DDRSS_PI_319_DATA 0x00000493
 #define DDRSS_PI_320_DATA 0x00000000
-#define DDRSS_PI_321_DATA 0x00000424
+#define DDRSS_PI_321_DATA 0x00000410
 #define DDRSS_PI_322_DATA 0x00000301
 #define DDRSS_PI_323_DATA 0x00000000
 #define DDRSS_PI_324_DATA 0x00000000
@@ -768,7 +770,7 @@
 #define DDRSS_PI_326_DATA 0x00001400
 #define DDRSS_PI_327_DATA 0x00000493
 #define DDRSS_PI_328_DATA 0x00000000
-#define DDRSS_PI_329_DATA 0x00000424
+#define DDRSS_PI_329_DATA 0x00000410
 #define DDRSS_PI_330_DATA 0x00000301
 #define DDRSS_PI_331_DATA 0x00000000
 #define DDRSS_PI_332_DATA 0x00000000
@@ -776,7 +778,7 @@
 #define DDRSS_PI_334_DATA 0x00001400
 #define DDRSS_PI_335_DATA 0x00000493
 #define DDRSS_PI_336_DATA 0x00000000
-#define DDRSS_PI_337_DATA 0x00000424
+#define DDRSS_PI_337_DATA 0x00000410
 #define DDRSS_PI_338_DATA 0x00000301
 #define DDRSS_PI_339_DATA 0x00000000
 #define DDRSS_PI_340_DATA 0x00000000
diff --git a/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi b/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
similarity index 53%
copy from arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi
copy to arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
index 0e810e7f492d..452161115318 100644
--- a/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi
+++ b/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
@@ -1,20 +1,53 @@
 // SPDX-License-Identifier: GPL-2.0
 /*
- * Common AM67A BeagleY-AI dts file for SPLs
+ * AM625 PocketBeagle 2 dts file for SPLs
+ * https://www.beagleboard.org/boards/pocketbeagle-2
  *
- * Copyright (C) 2024 Texas Instruments Incorporated - https://www.ti.com/
- * Copyright (C) 2024 Robert Nelson, BeagleBoard.org Foundation
+ * Copyright (C) 2024-2025 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2024-2025 Robert Nelson, BeagleBoard.org Foundation
  */
 
 #include "k3-binman.dtsi"
 
 / {
-	chosen {
-		stdout-path = "serial2:115200n8";
-		tick-timer = &main_timer0;
+	/* Keep the LEDs on by default to indicate life */
+	leds {
+		led-1 {
+			label = "led-1";
+			default-state = "on";
+		};
+
+		led-2 {
+			label = "led-2";
+			default-state = "on";
+		};
+
+		led-3 {
+			label = "led-3";
+			default-state = "on";
+		};
+
+		led-4 {
+			label = "led-4";
+			default-state = "on";
+		};
 	};
 };
 
+&main_bcdma {
+	reg = <0x00 0x485c0100 0x00 0x100>,
+	      <0x00 0x4c000000 0x00 0x20000>,
+	      <0x00 0x4a820000 0x00 0x20000>,
+	      <0x00 0x4aa40000 0x00 0x20000>,
+	      <0x00 0x4bc00000 0x00 0x100000>,
+	      <0x00 0x48600000 0x00 0x8000>,
+	      <0x00 0x484a4000 0x00 0x2000>,
+	      <0x00 0x484c2000 0x00 0x2000>;
+	reg-names = "gcfg", "bchanrt", "rchanrt", "tchanrt", "ringrt",
+		    "cfg", "tchan", "rchan";
+	bootph-all;
+};
+
 &main_pktdma {
 	reg = <0x00 0x485c0000 0x00 0x100>,
 	      <0x00 0x4a800000 0x00 0x20000>,
@@ -24,44 +57,32 @@
 	      <0x00 0x484a0000 0x00 0x4000>,
 	      <0x00 0x484c0000 0x00 0x2000>,
 	      <0x00 0x48430000 0x00 0x4000>;
-	reg-names = "gcfg", "rchanrt", "tchanrt", "ringrt",
-		    "cfg", "tchan", "rchan", "rflow";
-};
-
-&dmsc {
-	bootph-pre-ram;
-	k3_sysreset: sysreset-controller {
-		compatible = "ti,sci-sysreset";
-		bootph-pre-ram;
-	};
-};
-
-&usbss0 {
-	bootph-pre-ram;
+	reg-names = "gcfg", "rchanrt", "tchanrt", "ringrt", "cfg",
+		    "tchan", "rchan", "rflow";
+	bootph-all;
 };
 
-&usb0 {
-	dr_mode = "peripheral";
-	bootph-pre-ram;
+&cpsw3g {
+	status = "disabled";
 };
 
-&usbss1 {
+&cpsw_port1 {
 	status = "disabled";
 };
 
-&usb1 {
+&cpsw_port2 {
 	status = "disabled";
 };
 
-&main_gpio1 {
+&main_uart6_pins_default {
 	bootph-all;
 };
 
-#if IS_ENABLED(CONFIG_TARGET_J722S_R5_BEAGLEY_AI)
+#if IS_ENABLED(CONFIG_TARGET_AM62X_R5_POCKETBEAGLE2)
 
 &binman {
-	tiboot3-j722s-hs-evm.bin {
-		filename = "tiboot3-j722s-hs-evm.bin";
+	tiboot3-am62x-hs-evm.bin {
+		filename = "tiboot3-am62x-hs-evm.bin";
 		ti-secure-rom {
 			content = <&u_boot_spl>, <&ti_fs_enc>, <&combined_tifs_cfg>,
 				  <&combined_dm_cfg>, <&sysfw_inner_cert>;
@@ -78,7 +99,7 @@
 			load = <CONFIG_SPL_TEXT_BASE>;
 			load-sysfw = <0x40000>;
 			load-sysfw-data = <0x67000>;
-			load-dm-data = <0x43c7a800>;
+			load-dm-data = <0x43c3a800>;
 		};
 
 		u_boot_spl: u-boot-spl {
@@ -86,8 +107,9 @@
 		};
 
 		ti_fs_enc: ti-fs-enc.bin {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-enc.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-enc.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_tifs_cfg: combined-tifs-cfg.bin {
@@ -96,8 +118,9 @@
 		};
 
 		sysfw_inner_cert: sysfw-inner-cert {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-cert.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-cert.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_dm_cfg: combined-dm-cfg.bin {
@@ -108,8 +131,8 @@
 };
 
 &binman {
-	tiboot3-j722s-hs-fs-evm.bin {
-		filename = "tiboot3-j722s-hs-fs-evm.bin";
+	tiboot3-am62x-hs-fs-evm.bin {
+		filename = "tiboot3-am62x-hs-fs-evm.bin";
 		symlink = "tiboot3.bin";
 
 		ti-secure-rom {
@@ -128,7 +151,7 @@
 			load = <CONFIG_SPL_TEXT_BASE>;
 			load-sysfw = <0x40000>;
 			load-sysfw-data = <0x67000>;
-			load-dm-data = <0x43c7a800>;
+			load-dm-data = <0x43c3a800>;
 		};
 
 		u_boot_spl_fs: u-boot-spl {
@@ -136,8 +159,9 @@
 		};
 
 		ti_fs_enc_fs: ti-fs-enc.bin {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-fs-enc.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-fs-enc.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_tifs_cfg_fs: combined-tifs-cfg.bin {
@@ -146,8 +170,9 @@
 		};
 
 		sysfw_inner_cert_fs: sysfw-inner-cert {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-fs-cert.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-fs-cert.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_dm_cfg_fs: combined-dm-cfg.bin {
@@ -156,12 +181,9 @@
 		};
 	};
 };
-#endif /* CONFIG_TARGET_J722S_R5_BEAGLEY_AI */
+#endif /* CONFIG_TARGET_AM62X_R5_POCKETBEAGLE2 */
 
-#if IS_ENABLED(CONFIG_TARGET_J722S_A53_BEAGLEY_AI)
-
-#define SPL_BEAGLEY_AI_DTB "spl/dts/ti/k3-am67a-beagley-ai.dtb"
-#define BEAGLEY_AI_DTB "u-boot.dtb"
+#if IS_ENABLED(CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2)
 
 &binman {
 	ti-spl {
@@ -169,6 +191,32 @@
 
 		fit {
 			images {
+				atf {
+					description = "ARM Trusted Firmware";
+					type = "firmware";
+					arch = "arm64";
+					compression = "none";
+					os = "arm-trusted-firmware";
+					load = <CONFIG_K3_ATF_LOAD_ADDR>;
+					entry = <CONFIG_K3_ATF_LOAD_ADDR>;
+					atf-bl31 {
+						filename = "bl31.bin";
+					};
+				};
+
+				tee {
+					description = "OP-TEE";
+					type = "tee";
+					arch = "arm64";
+					compression = "none";
+					os = "tee";
+					load = <CONFIG_K3_OPTEE_LOAD_ADDR>;
+					entry = <CONFIG_K3_OPTEE_LOAD_ADDR>;
+					tee-os {
+						filename = "tee-raw.bin";
+					};
+				};
+
 				dm {
 					ti-secure {
 						content = <&dm>;
@@ -176,34 +224,33 @@
 					};
 
 					dm: ti-dm {
-						filename = "ti-dm/j722s/ipc_echo_testb_mcu1_0_release_strip.xer5f";
+						filename = "ti-dm/am62xx/ipc_echo_testb_mcu1_0_release_strip.xer5f";
+						optional;
 					};
 				};
 
 				fdt-0 {
-					description = "k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					type = "flat_dt";
 					arch = "arm";
 					compression = "none";
 
 					ti-secure {
-						content = <&spl_beagley_ai_dtb>;
+						content = <&spl_pocketbeagle2_dtb>;
 						keyfile = "custMpk.pem";
 					};
 
-					spl_beagley_ai_dtb: blob-ext {
-						filename = "spl/dts/ti/k3-am67a-beagley-ai.dtb";
+					spl_pocketbeagle2_dtb: blob-ext {
+						filename = "spl/dts/ti/k3-am62-pocketbeagle2.dtb";
 					};
-
 				};
-
 			};
 
 			configurations {
 				default = "conf-0";
 
 				conf-0 {
-					description = "k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					firmware = "atf";
 					loadables = "tee", "dm", "spl";
 					fdt = "fdt-0";
@@ -220,21 +267,21 @@
 		fit {
 			images {
 				uboot {
-					description = "U-Boot for BeagleY-AI";
+					description = "U-Boot for PocketBeagle 2";
 				};
 
 				fdt-0 {
-					description = "k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					type = "flat_dt";
 					arch = "arm";
 					compression = "none";
 
 					ti-secure {
-						content = <&beagley_ai_dtb>;
+						content = <&pocketbeagle2_dtb>;
 						keyfile = "custMpk.pem";
 					};
 
-					beagley_ai_dtb: blob-ext {
+					pocketbeagle2_dtb: blob-ext {
 						filename = "u-boot.dtb";
 					};
 
@@ -248,14 +295,13 @@
 				default = "conf-0";
 
 				conf-0 {
-					description = "k3-k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					firmware = "uboot";
 					loadables = "uboot";
 					fdt = "fdt-0";
 				};
-
 			};
 		};
 	};
 };
-#endif /* CONFIG_TARGET_J722S_A53_BEAGLEY_AI */
+#endif /* CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2 */
diff --git a/arch/arm/dts/k3-am62-r5-pocketbeagle2.dts b/arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
new file mode 100644
index 000000000000..4489a559287b
--- /dev/null
+++ b/arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
@@ -0,0 +1,35 @@
+// SPDX-License-Identifier: GPL-2.0-only OR MIT
+/*
+ * AM625 PocketBeagle 2 dts file for R5 SPL
+ * https://www.beagleboard.org/boards/pocketbeagle-2
+ *
+ * Copyright (C) 2022-2023 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2022-2023 Robert Nelson, BeagleBoard.org Foundation
+ */
+
+#include "k3-am62-pocketbeagle2.dts"
+#include "k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi"
+#include "k3-am62-ddr.dtsi"
+
+#include "k3-am62-pocketbeagle2-u-boot.dtsi"
+#include "k3-am625-r5.dtsi"
+
+/ {
+	aliases {
+		serial1 = &main_uart1;
+		serial2 = &main_uart6;
+		serial3 = &main_uart3;
+		serial4 = &main_uart4;
+		serial5 = &main_uart5;
+		serial6 = &main_uart2;
+		serial7 = &main_uart0;
+	};
+};
+
+&main_pktdma {
+	ti,sci = <&dm_tifs>;
+};
+
+&main_bcdma {
+	ti,sci = <&dm_tifs>;
+};
diff --git a/arch/arm/mach-k3/am62x/Kconfig b/arch/arm/mach-k3/am62x/Kconfig
index f7ad52db7d8d..87470248aa15 100644
--- a/arch/arm/mach-k3/am62x/Kconfig
+++ b/arch/arm/mach-k3/am62x/Kconfig
@@ -69,6 +69,7 @@ config TARGET_VERDIN_AM62_R5
 endchoice
 
 source "board/beagle/beagleplay/Kconfig"
+source "board/beagle/pocketbeagle2/Kconfig"
 source "board/phytec/phycore_am62x/Kconfig"
 source "board/ti/am62x/Kconfig"
 source "board/toradex/verdin-am62/Kconfig"
diff --git a/board/beagle/pocketbeagle2/Kconfig b/board/beagle/pocketbeagle2/Kconfig
new file mode 100644
index 000000000000..e957b8e8377e
--- /dev/null
+++ b/board/beagle/pocketbeagle2/Kconfig
@@ -0,0 +1,60 @@
+# SPDX-License-Identifier: GPL-2.0+
+#
+# Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
+#
+
+choice
+	prompt "BeagleBoard.org AM62X based PocketBeagle 2 board"
+	optional
+
+config TARGET_AM62X_A53_POCKETBEAGLE2
+	bool "BeagleBoard.org AM62X PocketBeagle 2 running on A53"
+	select ARM64
+	select BINMAN
+	select OF_SYSTEM_SETUP
+
+config TARGET_AM62X_R5_POCKETBEAGLE2
+	bool "BeagleBoard.org AM62X PocketBeagle 2 running on R5"
+	select CPU_V7R
+	select SYS_THUMB_BUILD
+	select K3_LOAD_SYSFW
+	select RAM
+	select SPL_RAM
+	select K3_DDRSS
+	select BINMAN
+	imply SYS_K3_SPL_ATF
+
+endchoice
+
+if TARGET_AM62X_A53_POCKETBEAGLE2
+
+config SYS_BOARD
+	default "pocketbeagle2"
+
+config SYS_VENDOR
+	default "beagle"
+
+config SYS_CONFIG_NAME
+	default "pocketbeagle2"
+
+source "board/ti/common/Kconfig"
+
+endif
+
+if TARGET_AM62X_R5_POCKETBEAGLE2
+
+config SYS_BOARD
+	default "pocketbeagle2"
+
+config SYS_VENDOR
+	default "beagle"
+
+config SYS_CONFIG_NAME
+	default "pocketbeagle2"
+
+config SPL_LDSCRIPT
+	default "arch/arm/mach-omap2/u-boot-spl.lds"
+
+source "board/ti/common/Kconfig"
+
+endif
diff --git a/board/beagle/pocketbeagle2/MAINTAINERS b/board/beagle/pocketbeagle2/MAINTAINERS
new file mode 100644
index 000000000000..79bdd59af7e7
--- /dev/null
+++ b/board/beagle/pocketbeagle2/MAINTAINERS
@@ -0,0 +1,10 @@
+POCKETBEAGLE2 BOARD
+M:	Nishanth Menon <nm@ti.com>
+M:	Robert Nelson <robertcnelson@gmail.com>
+M:	Tom Rini <trini@konsulko.com>
+S:	Maintained
+N:	pocketbeagle2
+F:	board/beagle/pocketbeagle2/
+F:	include/configs/pocketbeagle2.h
+F:	configs/am62_pocketbeagle2_a53_defconfig
+F:	configs/am62_pocketbeagle2_r5_defconfig
diff --git a/board/beagle/pocketbeagle2/Makefile b/board/beagle/pocketbeagle2/Makefile
new file mode 100644
index 000000000000..3d42c160716e
--- /dev/null
+++ b/board/beagle/pocketbeagle2/Makefile
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: GPL-2.0+
+#
+# Makefile for AM625 PocketBeagle 2
+# https://www.beagleboard.org/boards/pocketbeagle-2
+#
+# Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
+#
+
+obj-y += pocketbeagle2.o
diff --git a/board/beagle/beagleplay/board-cfg.yaml b/board/beagle/pocketbeagle2/board-cfg.yaml
similarity index 100%
copy from board/beagle/beagleplay/board-cfg.yaml
copy to board/beagle/pocketbeagle2/board-cfg.yaml
diff --git a/board/beagle/beagleplay/pm-cfg.yaml b/board/beagle/pocketbeagle2/pm-cfg.yaml
similarity index 100%
copy from board/beagle/beagleplay/pm-cfg.yaml
copy to board/beagle/pocketbeagle2/pm-cfg.yaml
diff --git a/board/beagle/pocketbeagle2/pocketbeagle2.c b/board/beagle/pocketbeagle2/pocketbeagle2.c
new file mode 100644
index 000000000000..291a1c6c3db7
--- /dev/null
+++ b/board/beagle/pocketbeagle2/pocketbeagle2.c
@@ -0,0 +1,58 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Board specific initialization for AM625 PocketBeagle 2
+ * https://www.beagleboard.org/boards/pocketbeagle-2
+ *
+ * Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2025 Robert Nelson, BeagleBoard.org Foundation
+ */
+
+#include <env.h>
+#include <fdt_support.h>
+#include <spl.h>
+
+#include <asm/arch/hardware.h>
+#include <asm/arch/k3-ddr.h>
+#include <asm/io.h>
+#include <dm/uclass.h>
+#include <linux/sizes.h>
+
+DECLARE_GLOBAL_DATA_PTR;
+
+int dram_init(void)
+{
+	return fdtdec_setup_mem_size_base();
+}
+
+int dram_init_banksize(void)
+{
+	return fdtdec_setup_memory_banksize();
+}
+
+/*
+ * The U-Boot stack can collide with some dt reservations in the 512MB
+ * configuration. Because of this, we need to relocate to just below our dt
+ * reservations. The magic number below corresponds to the lowest value from
+ * the block of conflicting reservations in the current device tree.
+ */
+phys_addr_t board_get_usable_ram_top(phys_size_t total_size)
+{
+	if (gd->ram_size == SZ_512M)
+		return 0x9c800000;
+
+	return gd->ram_top;
+}
+
+#if IS_ENABLED(CONFIG_BOARD_LATE_INIT)
+int board_late_init(void)
+{
+	char fdtfile[50];
+
+	snprintf(fdtfile, sizeof(fdtfile), "%s.dtb",
+		 CONFIG_DEFAULT_DEVICE_TREE);
+
+	env_set("fdtfile", fdtfile);
+
+	return 0;
+}
+#endif /* CONFIG_BOARD_LATE_INIT */
diff --git a/board/ti/am62x/am62x.env b/board/beagle/pocketbeagle2/pocketbeagle2.env
similarity index 64%
copy from board/ti/am62x/am62x.env
copy to board/beagle/pocketbeagle2/pocketbeagle2.env
index 60b5fd5e6ca7..816f365083e7 100644
--- a/board/ti/am62x/am62x.env
+++ b/board/beagle/pocketbeagle2/pocketbeagle2.env
@@ -10,23 +10,17 @@ rproc_fw_binaries= 0 /lib/firmware/am62-mcu-m4f0_0-fw
 
 name_kern=Image
 console=ttyS2,115200n8
-args_all=setenv optargs ${optargs} earlycon=ns16550a,mmio32,0x02800000
-	${mtdparts}
+args_all=setenv optargs ${optargs} earlycon=ns16550a,mmio32,0x02860000
 run_kern=booti ${loadaddr} ${rd_spec} ${fdtaddr}
+set_led_state_fail_load= led led-1 off; led led-2 on;
+	led led-3 off; led led-4 on
+set_led_state_start_load=led led-1 on; led led-2 off;
+	led led-3 on; led led-4 off
 
-boot_targets=mmc1 mmc0 usb pxe dhcp
+boot_targets=mmc1
 boot=mmc
 mmcdev=1
 bootpart=1:2
 bootdir=/boot
+bootmeths=script extlinux efi pxe
 rd_spec=-
-
-splashfile=ti_logo_414x97_32bpp.bmp.gz
-splashimage=0x80200000
-splashpos=m,m
-splashsource=sf
-
-#if CONFIG_BOOTMETH_ANDROID
-#include <env/ti/android.env>
-adtb_idx=0
-#endif
\ No newline at end of file
diff --git a/board/phytec/phycore_am62x/rm-cfg.yaml b/board/beagle/pocketbeagle2/rm-cfg.yaml
similarity index 99%
copy from board/phytec/phycore_am62x/rm-cfg.yaml
copy to board/beagle/pocketbeagle2/rm-cfg.yaml
index f800fb28a692..26d99b03b800 100644
--- a/board/phytec/phycore_am62x/rm-cfg.yaml
+++ b/board/beagle/pocketbeagle2/rm-cfg.yaml
@@ -525,7 +525,7 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 168
-            num_resource: 7
+            num_resource: 8
             type: 1802
             host_id: 30
             reserved: 0
@@ -555,7 +555,7 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 909
-            num_resource: 625
+            num_resource: 626
             type: 1805
             host_id: 128
             reserved: 0
diff --git a/board/beagle/beagleplay/sec-cfg.yaml b/board/beagle/pocketbeagle2/sec-cfg.yaml
similarity index 100%
copy from board/beagle/beagleplay/sec-cfg.yaml
copy to board/beagle/pocketbeagle2/sec-cfg.yaml
diff --git a/configs/am62x_beagleplay_a53_defconfig b/configs/am62_pocketbeagle2_a53_defconfig
similarity index 87%
copy from configs/am62x_beagleplay_a53_defconfig
copy to configs/am62_pocketbeagle2_a53_defconfig
index c9bc7cd8d398..8964cb3b1955 100644
--- a/configs/am62x_beagleplay_a53_defconfig
+++ b/configs/am62_pocketbeagle2_a53_defconfig
@@ -6,18 +6,23 @@ CONFIG_SPL_LIBCOMMON_SUPPORT=y
 CONFIG_SPL_LIBGENERIC_SUPPORT=y
 CONFIG_NR_DRAM_BANKS=1
 CONFIG_SOC_K3_AM625=y
-CONFIG_TARGET_AM625_A53_BEAGLEPLAY=y
+CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2=y
 CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
-CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x80b80000
+CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x82b00000
 CONFIG_DM_GPIO=y
-CONFIG_DEFAULT_DEVICE_TREE="ti/k3-am625-beagleplay"
+CONFIG_DEFAULT_DEVICE_TREE="ti/k3-am62-pocketbeagle2"
 CONFIG_OF_LIBFDT_OVERLAY=y
 CONFIG_DM_RESET=y
 CONFIG_SPL_MMC=y
 CONFIG_SPL_SERIAL=y
-CONFIG_SPL_STACK_R_ADDR=0x82000000
+CONFIG_TEXT_BASE=0x82f80000
+CONFIG_SPL_TEXT_BASE=0x82000000
+CONFIG_SPL_STACK_R_ADDR=0x83f80000
 CONFIG_SPL_HAS_BSS_LINKER_SECTION=y
-CONFIG_SPL_BSS_START_ADDR=0x80c80000
+CONFIG_K3_OPTEE_LOAD_ADDR=0x80080000
+CONFIG_SPL_BSS_START_ADDR=0x82c00000
+CONFIG_SPL_HAS_LOAD_FIT_ADDRESS=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x82f80000
 CONFIG_SPL_BSS_MAX_SIZE=0x80000
 CONFIG_SPL_STACK_R=y
 CONFIG_SPL_SIZE_LIMIT=0x40000
@@ -44,8 +49,6 @@ CONFIG_SPL_I2C=y
 CONFIG_SPL_DM_MAILBOX=y
 CONFIG_SPL_POWER_DOMAIN=y
 CONFIG_SPL_YMODEM_SUPPORT=y
-CONFIG_CMD_BOOTEFI_SELFTEST=y
-CONFIG_CMD_NVEDIT_EFI=y
 CONFIG_CMD_GPIO=y
 CONFIG_CMD_GPIO_READ=y
 CONFIG_CMD_I2C=y
@@ -53,6 +56,7 @@ CONFIG_CMD_MMC=y
 CONFIG_CMD_EFIDEBUG=y
 CONFIG_CMD_PMIC=y
 CONFIG_CMD_REGULATOR=y
+CONFIG_CMD_CACHE=y
 CONFIG_OF_CONTROL=y
 CONFIG_SPL_OF_CONTROL=y
 CONFIG_OF_UPSTREAM=y
@@ -90,10 +94,6 @@ CONFIG_MMC_SDHCI=y
 CONFIG_MMC_SDHCI_ADMA=y
 CONFIG_SPL_MMC_SDHCI_ADMA=y
 CONFIG_MMC_SDHCI_AM654=y
-CONFIG_PHY_REALTEK=y
-CONFIG_PHY_TI=y
-CONFIG_DM_ETH_PHY=y
-CONFIG_TI_AM65_CPSW_NUSS=y
 CONFIG_PHY=y
 CONFIG_PINCTRL=y
 CONFIG_SPL_PINCTRL=y
@@ -120,7 +120,5 @@ CONFIG_SYSRESET_TI_SCI=y
 CONFIG_EXT4_WRITE=y
 CONFIG_FS_FAT_MAX_CLUSTSIZE=16384
 CONFIG_LZO=y
-CONFIG_EFI_SET_TIME=y
 
-#include <configs/k3_efi_capsule.config>
 #include <configs/am62x_a53_usbdfu.config>
diff --git a/configs/am62x_beagleplay_r5_defconfig b/configs/am62_pocketbeagle2_r5_defconfig
similarity index 89%
copy from configs/am62x_beagleplay_r5_defconfig
copy to configs/am62_pocketbeagle2_r5_defconfig
index 08b2c38b80de..90e577e8ce16 100644
--- a/configs/am62x_beagleplay_r5_defconfig
+++ b/configs/am62_pocketbeagle2_r5_defconfig
@@ -3,15 +3,16 @@ CONFIG_ARCH_K3=y
 CONFIG_SYS_MALLOC_LEN=0x08000000
 CONFIG_SYS_MALLOC_F_LEN=0x9000
 CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
 CONFIG_NR_DRAM_BANKS=1
 CONFIG_SOC_K3_AM625=y
-CONFIG_TARGET_AM625_R5_BEAGLEPLAY=y
+CONFIG_TARGET_AM62X_R5_POCKETBEAGLE2=y
 CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
 CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x43c3a7f0
 CONFIG_ENV_SIZE=0x20000
 CONFIG_DM_GPIO=y
 CONFIG_SPL_DM_SPI=y
-CONFIG_DEFAULT_DEVICE_TREE="k3-am625-r5-beagleplay"
+CONFIG_DEFAULT_DEVICE_TREE="k3-am62-r5-pocketbeagle2"
 CONFIG_DM_RESET=y
 CONFIG_SPL_SYS_MALLOC_F_LEN=0x7000
 CONFIG_SPL_MMC=y
@@ -34,7 +35,6 @@ CONFIG_SPL_SIZE_LIMIT_SUBTRACT_MALLOC=y
 CONFIG_SPL_MAX_SIZE=0x3B000
 CONFIG_SPL_PAD_TO=0x0
 CONFIG_SPL_SYS_REPORT_STACK_F_USAGE=y
-CONFIG_SPL_BOARD_INIT=y
 CONFIG_SPL_SYS_MALLOC_SIMPLE=y
 CONFIG_SPL_SEPARATE_BSS=y
 CONFIG_SPL_SYS_MALLOC=y
@@ -62,6 +62,8 @@ CONFIG_ENV_RELOC_GD_ENV_ADDR=y
 CONFIG_NO_NET=y
 CONFIG_SPL_DM=y
 CONFIG_SPL_DM_SEQ_ALIAS=y
+CONFIG_REGMAP=y
+CONFIG_SPL_REGMAP=y
 CONFIG_SPL_OF_TRANSLATE=y
 CONFIG_CLK=y
 CONFIG_SPL_CLK=y
@@ -97,3 +99,6 @@ CONFIG_SPL_TIMER=y
 CONFIG_OMAP_TIMER=y
 CONFIG_LIB_RATIONAL=y
 CONFIG_SPL_LIB_RATIONAL=y
+CONFIG_K3_OPTEE_LOAD_ADDR=0x80080000
+CONFIG_SPL_HAS_LOAD_FIT_ADDRESS=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x82000000
diff --git a/doc/board/beagle/am62_pocketbeagle2.rst b/doc/board/beagle/am62_pocketbeagle2.rst
new file mode 100644
index 000000000000..4ee8aa57e497
--- /dev/null
+++ b/doc/board/beagle/am62_pocketbeagle2.rst
@@ -0,0 +1,279 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Randolph Sapp <rs@ti.com>
+
+AM62 Beagleboard.org PocketBeagle 2
+===================================
+
+Introduction:
+-------------
+
+BeagleBoard.org PocketBeagle 2 is an easy to use, affordable open source
+hardware single board computer based on the Texas Instruments AM625
+SoC.
+
+Further information can be found at:
+
+* Product Page: https://www.beagleboard.org/boards/pocketbeagle-2
+* Hardware documentation: https://openbeagle.org/pocketbeagle/pocketbeagle-2
+
+Boot Flow:
+----------
+Below is the pictorial representation of boot flow:
+
+.. image:: ../ti/img/boot_diagram_am62.svg
+   :alt: Boot flow diagram
+
+On this platform, 'TI Foundational Security' (TIFS) functions as the security
+enclave master while 'Device Manager' (DM), also known as the 'TISCI server' in
+"TI terminology", offers all the essential services. The A53 or M4F (Aux core)
+sends requests to TIFS/DM to accomplish these services, as illustrated in the
+diagram above.
+
+Sources:
+--------
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_boot_sources
+   :end-before: .. k3_rst_include_end_boot_sources
+
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_boot_firmwares
+   :end-before: .. k3_rst_include_end_tifsstub
+
+Build procedure:
+----------------
+
+#. Setup the environment variables:
+
+   .. include::  ../ti/k3.rst
+      :start-after: .. k3_rst_include_start_common_env_vars_desc
+      :end-before: .. k3_rst_include_end_common_env_vars_desc
+
+   .. include::  ../ti/k3.rst
+      :start-after: .. k3_rst_include_start_board_env_vars_desc
+      :end-before: .. k3_rst_include_end_board_env_vars_desc
+
+#. Set the variables corresponding to this platform:
+
+   .. include::  ../ti/k3.rst
+      :start-after: .. k3_rst_include_start_common_env_vars_defn
+      :end-before: .. k3_rst_include_end_common_env_vars_defn
+
+   .. prompt:: bash $
+
+      export UBOOT_CFG_CORTEXR=am62_pocketbeagle2_r5_defconfig
+      export UBOOT_CFG_CORTEXA=am62_pocketbeagle2_a53_defconfig
+      export TFA_BOARD=lite
+      export TFA_EXTRA_ARGS="PRELOADED_BL33_BASE=0x82000000 BL32_BASE=0x80080000"
+      export OPTEE_PLATFORM=k3-am62x
+      export OPTEE_EXTRA_ARGS="CFG_TZDRAM_START=0x80080000"
+
+   .. include::  ../ti/am62x_sk.rst
+      :start-after: .. am62x_evm_rst_include_start_build_steps
+      :end-before: .. am62x_evm_rst_include_end_build_steps
+
+Target Images
+-------------
+Copy these images to an SD card and boot:
+
+   * :file:`tiboot3.bin` from Cortex-R5 build.
+   * :file:`tispl.bin` and :file:`u-boot.img` from Cortex-A build
+
+Image formats
+-------------
+
+- :file:`tiboot3.bin`
+
+  .. image:: ../ti/img/multi_cert_tiboot3.bin.svg
+     :alt: tiboot3.bin image format
+
+- :file:`tispl.bin`
+
+  .. image:: ../ti/img/tifsstub_dm_tispl.bin.svg
+     :alt: tispl.bin image format
+
+Additional hardware for U-Boot development
+------------------------------------------
+
+* A Serial Console is critical for U-Boot development on the PocketBeagle 2. See
+  `PocketBeagle 2 serial console documentation`__.
+* uSD is the default, and a SD/MMC reader will be needed.
+* (optionally) JTAG is useful when working with very early stages of boot.
+
+.. __: https://docs.beagleboard.org/boards/pocketbeagle-2/03-design-and-specifications.html#serial-debug-port
+
+Default storage options
+-----------------------
+
+There is only one storage media option for the PocketBeagle 2, by default:
+
+* SD/MMC card interface
+
+Flash to uSD card
+-----------------
+
+If you choose to  hand format your own bootable uSD card, be
+aware that it can be difficult. The following information
+may be helpful, but remember that it is only sometimes
+reliable, and partition options can cause issues. These
+can potentially help:
+
+* https://git.ti.com/cgit/arago-project/tisdk-setup-scripts/tree/create-sdcard.sh
+* https://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD
+
+The simplest option is to start with a standard distribution
+image like those in `BeagleBoard.org Distros Page
+<https://www.beagleboard.org/distros>`_ and download a disk image for
+PocketBeagle 2. Pick a 16GB+ uSD card to be on the safer side.
+
+With an SD/MMC Card reader and `Balena Etcher
+<https://etcher.balena.io/>`_, having a functional setup in minutes is
+a trivial matter, and it works on almost all host operating systems.
+
+Updating U-Boot is a matter of copying the :file:`tiboot3.bin`,
+:file:`tispl.bin` and :file:`u-boot.img` to the "BOOT" partition of the uSD
+card. Remember to sync and unmount (or Eject - depending on the Operating
+System) the uSD card prior to physically removing from SD card reader.
+
+Also see following section on switch setting used for booting using
+uSD card.
+
+.. note::
+
+   If you are frequently working with uSD cards, you might find the
+   following useful:
+
+   * `USB-SD-Mux <https://www.linux-automation.com/en/products/usb-sd-mux.html>`_
+   * `SD-Wire <https://wiki.tizen.org/SDWire>`_
+
+LED patterns during boot
+------------------------
+
+.. list-table:: USR LED status indication
+   :widths: 16 16
+   :header-rows: 1
+
+   * - USR LEDs (1234)
+     - Indicates
+
+   * - 0000
+     - Boot failure or R5 image not started up
+
+   * - 1111
+     - A53 SPL/U-boot has started up
+
+   * - 1010
+     - OS boot process has been initiated
+
+   * - 0101
+     - OS boot process failed and drops to U-Boot shell
+
+.. note::
+
+   In the table above, 0 indicates LED switched off and 1 indicates LED
+   switched ON.
+
+.. warning::
+
+   If the "red" power LED is not glowing, the system power supply is not
+   functional. Please refer to the `PocketBeagle 2 documentation
+   <https://docs.beagleboard.org/boards/pocketbeagle-2/>`_ for further
+   information.
+
+A53 SPL DDR Memory Layout
+-------------------------
+
+.. include::  ../ti/am62x_sk.rst
+   :start-after: .. am62x_evm_rst_include_start_ddr_mem_layout
+   :end-before: .. am62x_evm_rst_include_end_ddr_mem_layout
+
+Switch Setting for Boot Mode
+----------------------------
+
+The boot time option is configured via "USR" button on the board. See the
+`PocketBeagle 2 Schematics
+<https://git.beagleboard.org/pocketbeagle/pocketbeagle-2/-/blob/main/pocketbeagle2_sch.pdf>`_
+and the `PocketBeagle 2 documentation on Boot Modes
+<https://docs.beagleboard.org/boards/pocketbeagle-2/03-design-and-specifications.html#boot-modes>`_
+for details.
+
+.. list-table:: Boot Modes
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - USR Button Status
+     - Primary Boot
+     - Secondary Boot
+
+   * - Not Pressed
+     - uSD
+     - USB Device Firmware Upgrade (DFU) mode
+
+   * - Pressed
+     - uSD
+     - UART
+
+To switch boot modes, hold the "USR" button while powering on the device with a
+USB type C power supply. Release the button when the red power LED lights up.
+
+DFU based boot
+--------------
+
+To boot the board over DFU, ensure there is no SD card inserted with a
+bootloader. After power-on the build artifacts needs to be uploaded one by one
+with a tool like dfu-util.
+
+.. include::  ../ti/am62x_sk.rst
+   :start-after: .. am62x_evm_rst_include_start_dfu_boot
+   :end-before: .. am62x_evm_rst_include_end_dfu_boot
+
+Debugging U-Boot
+----------------
+
+See :ref:`Common Debugging environment - OpenOCD <k3_rst_refer_openocd>`: for
+detailed setup and debugging information.
+
+.. warning::
+
+   **OpenOCD support since**: v0.12.0
+
+   If the default package version of OpenOCD in your development
+   environment's distribution needs to be updated, it might be necessary to
+   build OpenOCD from the source.
+
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_openocd_connect_tag_connect
+   :end-before: .. k3_rst_include_end_openocd_connect_tag_connect
+
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_openocd_cfg_external_intro
+   :end-before: .. k3_rst_include_end_openocd_cfg_external_intro
+
+For example, with the PocketBeagle 2 (AM62X platform), the
+:file:`openocd_connect.cfg` would look like:
+
+.. code-block:: tcl
+
+   # TUMPA example:
+   # http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User's_Manual
+   source [find interface/ftdi/tumpa.cfg]
+
+   transport select jtag
+
+   # default JTAG configuration has only SRST and no TRST
+   reset_config srst_only srst_push_pull
+
+   # delay after SRST goes inactive
+   adapter srst delay 20
+
+   if { ![info exists SOC] } {
+     # Set the SoC of interest
+     set SOC am625
+   }
+
+   source [find target/ti_k3.cfg]
+
+   ftdi tdo_sample_edge falling
+
+   # Speeds for FT2232H are in multiples of 2, and 32MHz is tops
+   # max speed we seem to achieve is ~20MHz.. so we pick 16MHz
+   adapter speed 16000
diff --git a/doc/board/beagle/index.rst b/doc/board/beagle/index.rst
index e33d39fc677f..8bf099ae7be7 100644
--- a/doc/board/beagle/index.rst
+++ b/doc/board/beagle/index.rst
@@ -10,6 +10,7 @@ ARM based boards
 .. toctree::
    :maxdepth: 2
 
+   am62_pocketbeagle2
    am62x_beagleplay
    am67a_beagley_ai.rst
    j721e_beagleboneai64
diff --git a/include/configs/beagley_ai.h b/include/configs/pocketbeagle2.h
similarity index 57%
copy from include/configs/beagley_ai.h
copy to include/configs/pocketbeagle2.h
index a7072a094c58..dd6956aa8b90 100644
--- a/include/configs/beagley_ai.h
+++ b/include/configs/pocketbeagle2.h
@@ -1,14 +1,14 @@
 /* SPDX-License-Identifier: GPL-2.0+ */
 /*
- * Configuration header file for BeagleY-AI
+ * Configuration header file for PocketBeagle 2
  *
  * Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
  */
 
-#ifndef __CONFIG_BEAGLEY_AI_H
-#define __CONFIG_BEAGLEY_AI_H
+#ifndef __CONFIG_POCKETBEAGLE2_H
+#define __CONFIG_POCKETBEAGLE2_H
 
 /* Now for the remaining common defines */
 #include <configs/ti_armv7_common.h>
 
-#endif /* __CONFIG_BEAGLEY_AI_H */
+#endif /* __CONFIG_POCKETBEAGLE2_H */
-- 
2.55.0


^ permalink raw reply related	[flat|nested] 6+ messages in thread

* [PATCHv4 3/3] k3-am62-pocketbeagle2: add support for efi capsules
  2026-07-20 20:16 [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support Randolph Sapp via U-Boot
  2026-07-20 20:16 ` [PATCHv4 1/3] arm: mach-k3: am62: add &main_uart6 to clock and pwr tree Randolph Sapp via U-Boot
  2026-07-20 20:16 ` [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support Randolph Sapp via U-Boot
@ 2026-07-20 20:16 ` Randolph Sapp via U-Boot
  2 siblings, 0 replies; 6+ messages in thread
From: Randolph Sapp via U-Boot @ 2026-07-20 20:16 UTC (permalink / raw)
  To: robertcnelson, ayush, Erik.Welsh, anshuld, bb, trini, afd,
	xypron.glpk, ilias.apalodimas, sjg
  Cc: u-boot

From: Randolph Sapp <rs@ti.com>

Add support for EFI capsules for this device. One large caveat is that
the partition holding boot binaries cannot be the ESP partition due to
the following ROM limitations.

- The boot disk must be MBR
- The boot partition must be labeled 0x0c with a boot flag

A separate ESP partition should be provided for EFI capabilities.

Signed-off-by: Randolph Sapp <rs@ti.com>
---
v3:
	- Remove unnecessary dfu_alt_info_ram variable
---
 .../arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi | 29 +++++++++++++++++++
 board/beagle/pocketbeagle2/pocketbeagle2.c    | 26 +++++++++++++++++
 configs/am62_pocketbeagle2_a53_defconfig      |  1 +
 include/configs/pocketbeagle2.h               | 25 ++++++++++++++++
 4 files changed, 81 insertions(+)

diff --git a/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi b/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
index 452161115318..283e26380e48 100644
--- a/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
+++ b/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
@@ -181,6 +181,17 @@
 		};
 	};
 };
+
+#include "k3-binman-capsule-r5.dtsi"
+
+// Capsule update GUIDs in string form. See pocketbeagle2.h
+#define POCKETBEAGLE2_TIBOOT3_IMAGE_GUID_STR "F0D53723-106E-5346-8A41-85EB2D07C720"
+
+&capsule_tiboot3 {
+	efi-capsule {
+		image-guid = POCKETBEAGLE2_TIBOOT3_IMAGE_GUID_STR;
+	};
+};
 #endif /* CONFIG_TARGET_AM62X_R5_POCKETBEAGLE2 */
 
 #if IS_ENABLED(CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2)
@@ -304,4 +315,22 @@
 		};
 	};
 };
+
+#include "k3-binman-capsule.dtsi"
+
+// Capsule update GUIDs in string form. See pocketbeagle2.h
+#define POCKETBEAGLE2_SPL_IMAGE_GUID_STR "C73FDEA2-3964-58C8-8A25-E55102172E1D"
+#define POCKETBEAGLE2_UBOOT_IMAGE_GUID_STR "520E1012-DE6C-5992-B43A-95D53D8332F2"
+
+&capsule_tispl {
+	efi-capsule {
+		image-guid = POCKETBEAGLE2_SPL_IMAGE_GUID_STR;
+	};
+};
+
+&capsule_uboot {
+	efi-capsule {
+		image-guid = POCKETBEAGLE2_UBOOT_IMAGE_GUID_STR;
+	};
+};
 #endif /* CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2 */
diff --git a/board/beagle/pocketbeagle2/pocketbeagle2.c b/board/beagle/pocketbeagle2/pocketbeagle2.c
index 291a1c6c3db7..acc694c253ea 100644
--- a/board/beagle/pocketbeagle2/pocketbeagle2.c
+++ b/board/beagle/pocketbeagle2/pocketbeagle2.c
@@ -7,6 +7,7 @@
  * Copyright (C) 2025 Robert Nelson, BeagleBoard.org Foundation
  */
 
+#include <efi_loader.h>
 #include <env.h>
 #include <fdt_support.h>
 #include <spl.h>
@@ -19,6 +20,31 @@
 
 DECLARE_GLOBAL_DATA_PTR;
 
+struct efi_fw_image fw_images[] = {
+	{
+		.image_type_id = POCKETBEAGLE2_TIBOOT3_IMAGE_GUID,
+		.fw_name = u"POCKETBEAGLE2_TIBOOT3",
+		.image_index = 1,
+	},
+	{
+		.image_type_id = POCKETBEAGLE2_SPL_IMAGE_GUID,
+		.fw_name = u"POCKETBEAGLE2_SPL",
+		.image_index = 2,
+	},
+	{
+		.image_type_id = POCKETBEAGLE2_UBOOT_IMAGE_GUID,
+		.fw_name = u"POCKETBEAGLE2_UBOOT",
+		.image_index = 3,
+	}
+};
+
+struct efi_capsule_update_info update_info = {
+	.dfu_string = "mmc 1=tiboot3.bin fat 1 1;"
+		      "tispl.bin fat 1 1;u-boot.img fat 1 1",
+	.num_images = ARRAY_SIZE(fw_images),
+	.images = fw_images,
+};
+
 int dram_init(void)
 {
 	return fdtdec_setup_mem_size_base();
diff --git a/configs/am62_pocketbeagle2_a53_defconfig b/configs/am62_pocketbeagle2_a53_defconfig
index 8964cb3b1955..7428926a8ba6 100644
--- a/configs/am62_pocketbeagle2_a53_defconfig
+++ b/configs/am62_pocketbeagle2_a53_defconfig
@@ -122,3 +122,4 @@ CONFIG_FS_FAT_MAX_CLUSTSIZE=16384
 CONFIG_LZO=y
 
 #include <configs/am62x_a53_usbdfu.config>
+#include <configs/k3_efi_capsule.config>
diff --git a/include/configs/pocketbeagle2.h b/include/configs/pocketbeagle2.h
index dd6956aa8b90..aed60d325742 100644
--- a/include/configs/pocketbeagle2.h
+++ b/include/configs/pocketbeagle2.h
@@ -8,6 +8,31 @@
 #ifndef __CONFIG_POCKETBEAGLE2_H
 #define __CONFIG_POCKETBEAGLE2_H
 
+/**
+ * define POCKETBEAGLE2_TIBOOT3_IMAGE_GUID - firmware GUID for PocketBeagle 2
+ *                                           tiboot3.bin
+ * define POCKETBEAGLE2_SPL_IMAGE_GUID     - firmware GUID for PocketBeagle 2 SPL
+ * define POCKETBEAGLE2_UBOOT_IMAGE_GUID   - firmware GUID for PocketBeagle 2 UBOOT
+ *
+ * These GUIDs are used in capsules updates to identify the corresponding
+ * firmware object.
+ *
+ * Board developers using this as a starting reference should
+ * define their own GUIDs to ensure that firmware repositories (like
+ * LVFS) do not confuse them.
+ */
+#define POCKETBEAGLE2_TIBOOT3_IMAGE_GUID                                   \
+	EFI_GUID(0xF0D53723, 0x106E, 0x5346, 0x8A, 0x41, 0x85, 0xEB, 0x2D, \
+		 0x07, 0xC7, 0x20)
+
+#define POCKETBEAGLE2_SPL_IMAGE_GUID                                       \
+	EFI_GUID(0xC73FDEA2, 0x3964, 0x58C8, 0x8A, 0x25, 0xE5, 0x51, 0x02, \
+		 0x17, 0x2E, 0x1D)
+
+#define POCKETBEAGLE2_UBOOT_IMAGE_GUID                                     \
+	EFI_GUID(0x520E1012, 0xDE6C, 0x5992, 0xB4, 0x3A, 0x95, 0xD5, 0x3D, \
+		 0x83, 0x32, 0xF2)
+
 /* Now for the remaining common defines */
 #include <configs/ti_armv7_common.h>
 
-- 
2.55.0


^ permalink raw reply related	[flat|nested] 6+ messages in thread

* [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support
@ 2026-07-29 19:32 rs
  2026-07-29 19:32 ` [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support rs
  0 siblings, 1 reply; 6+ messages in thread
From: rs @ 2026-07-29 19:32 UTC (permalink / raw)
  To: Anshul Dalal, robertcnelson, ayush, Erik.Welsh, trini, afd,
	xypron.glpk, ilias.apalodimas, sjg
  Cc: u-boot

From: Randolph Sapp <rs@ti.com>

[Uh, I thought I sent this a while back. Looks like that wasn't the case (or our
faulty mail server ate it again). Man.]

Since it's been decided internally to follow along with what Zephyr is doing and
make a completely separate device tree for the 1GB + eMMC Industrial board, I'm
resubmitting v3 with the variant support patch dropped. We will circle back to
enable the Industrial part once the dt has been accepted kernel side.

See the following link for more information regarding that decision:
https://lore.kernel.org/u-boot/DJLTHZL0ERIG.JV1UL67GFIVJ@ti.com/

Add initial board support for the PocketBeagle 2 from BeagleBoard.org. This is
based on the current official series from Robert Nelson [1] and work from Bryan
Brattlof [2].

Now that the various memory issues have been resolved we can clearly see at
runtime that there's an issue with the current device. One of our reservations
overlaps with the u-boot stack. To get around this we'll need to change the
relocation address to something we know will not collide.

[1] https://github.com/beagleboard/u-boot/tree/v2026.01-am62-pocketbeagle2
[2] https://github.com/bryanbrattlof/beagleboot/tree/b4/pb2i

Bryan Brattlof (1):
  arm: mach-k3: am62: add &main_uart6 to clock and pwr tree

Randolph Sapp (2):
  k3-am62-pocketbeagle2: add initial board support
  k3-am62-pocketbeagle2: add support for efi capsules

 arch/arm/dts/Makefile                         |   1 +
 ...> k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} |  92 ++---
 .../arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi | 336 ++++++++++++++++++
 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts     |  35 ++
 arch/arm/mach-k3/am62x/Kconfig                |   1 +
 arch/arm/mach-k3/r5/am62x/clk-data.c          |  19 +-
 arch/arm/mach-k3/r5/am62x/dev-data.c          |   5 +-
 board/beagle/pocketbeagle2/Kconfig            |  60 ++++
 board/beagle/pocketbeagle2/MAINTAINERS        |  10 +
 board/beagle/pocketbeagle2/Makefile           |   9 +
 .../board-cfg.yaml                            |   0
 .../{beagleplay => pocketbeagle2}/pm-cfg.yaml |   0
 board/beagle/pocketbeagle2/pocketbeagle2.c    |  84 +++++
 .../pocketbeagle2/pocketbeagle2.env}          |  20 +-
 .../pocketbeagle2}/rm-cfg.yaml                |   4 +-
 .../sec-cfg.yaml                              |   0
 ...onfig => am62_pocketbeagle2_a53_defconfig} |  25 +-
 ...config => am62_pocketbeagle2_r5_defconfig} |  11 +-
 doc/board/beagle/am62_pocketbeagle2.rst       | 279 +++++++++++++++
 doc/board/beagle/index.rst                    |   1 +
 include/configs/pocketbeagle2.h               |  39 ++
 21 files changed, 949 insertions(+), 82 deletions(-)
 copy arch/arm/dts/{k3-am62x-sk-ddr4-1600MTs.dtsi => k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} (97%)
 create mode 100644 arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
 create mode 100644 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
 create mode 100644 board/beagle/pocketbeagle2/Kconfig
 create mode 100644 board/beagle/pocketbeagle2/MAINTAINERS
 create mode 100644 board/beagle/pocketbeagle2/Makefile
 copy board/beagle/{beagleplay => pocketbeagle2}/board-cfg.yaml (100%)
 copy board/beagle/{beagleplay => pocketbeagle2}/pm-cfg.yaml (100%)
 create mode 100644 board/beagle/pocketbeagle2/pocketbeagle2.c
 copy board/{ti/am62x/am62x.env => beagle/pocketbeagle2/pocketbeagle2.env} (64%)
 copy board/{phytec/phycore_am62x => beagle/pocketbeagle2}/rm-cfg.yaml (99%)
 copy board/beagle/{beagleplay => pocketbeagle2}/sec-cfg.yaml (100%)
 copy configs/{am62x_beagleplay_a53_defconfig => am62_pocketbeagle2_a53_defconfig} (88%)
 copy configs/{am62x_beagleplay_r5_defconfig => am62_pocketbeagle2_r5_defconfig} (89%)
 create mode 100644 doc/board/beagle/am62_pocketbeagle2.rst
 create mode 100644 include/configs/pocketbeagle2.h

-- 
2.55.0


^ permalink raw reply	[flat|nested] 6+ messages in thread

* [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support
  2026-07-29 19:32 [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support rs
@ 2026-07-29 19:32 ` rs
  2026-07-29 19:50   ` Andrew Davis
  0 siblings, 1 reply; 6+ messages in thread
From: rs @ 2026-07-29 19:32 UTC (permalink / raw)
  To: Anshul Dalal, robertcnelson, ayush, Erik.Welsh, trini, afd,
	xypron.glpk, ilias.apalodimas, sjg
  Cc: u-boot

From: Randolph Sapp <rs@ti.com>

Add initial board support for the PocketBeagle 2, based on Robert Nelson
and Bryan Brattlof's work. Unify all debug consoles to main_uart6. Use
DDR config v10.32 from our sysconfig tool [1] for Kingston's memory [2],
(4Gb Desnity with a CL of 11 and CWL of 9). Add support for the
SPL_TEXT_BASE config parameter. Ensure all files have a summary and SPDX
identifier.

Also, use board_get_usable_ram_top() to fixup our relocaddr since
otherwise the u-boot stack reservation will collide with the
wkup_r5fss0_core0_memory_region.

[1] https://dev.ti.com/sysconfig
[2] https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/6465/D2516AN9EXGXN-TU.pdf

Signed-off-by: Randolph Sapp <rs@ti.com>
---
v3:
	- Use board_get_usable_ram_top
---
 arch/arm/dts/Makefile                         |   1 +
 ...> k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} |  92 +++---
 ...dtsi => k3-am62-pocketbeagle2-u-boot.dtsi} | 160 ++++++----
 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts     |  35 +++
 arch/arm/mach-k3/am62x/Kconfig                |   1 +
 board/beagle/pocketbeagle2/Kconfig            |  60 ++++
 board/beagle/pocketbeagle2/MAINTAINERS        |  10 +
 board/beagle/pocketbeagle2/Makefile           |   9 +
 .../board-cfg.yaml                            |   0
 .../{beagleplay => pocketbeagle2}/pm-cfg.yaml |   0
 board/beagle/pocketbeagle2/pocketbeagle2.c    |  58 ++++
 .../pocketbeagle2/pocketbeagle2.env}          |  20 +-
 .../pocketbeagle2}/rm-cfg.yaml                |   4 +-
 .../sec-cfg.yaml                              |   0
 ...onfig => am62_pocketbeagle2_a53_defconfig} |  24 +-
 ...config => am62_pocketbeagle2_r5_defconfig} |  11 +-
 doc/board/beagle/am62_pocketbeagle2.rst       | 279 ++++++++++++++++++
 doc/board/beagle/index.rst                    |   1 +
 .../configs/{beagley_ai.h => pocketbeagle2.h} |   8 +-
 19 files changed, 636 insertions(+), 137 deletions(-)
 copy arch/arm/dts/{k3-am62x-sk-ddr4-1600MTs.dtsi => k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} (97%)
 copy arch/arm/dts/{k3-am67a-beagley-ai-u-boot.dtsi => k3-am62-pocketbeagle2-u-boot.dtsi} (53%)
 create mode 100644 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
 create mode 100644 board/beagle/pocketbeagle2/Kconfig
 create mode 100644 board/beagle/pocketbeagle2/MAINTAINERS
 create mode 100644 board/beagle/pocketbeagle2/Makefile
 copy board/beagle/{beagleplay => pocketbeagle2}/board-cfg.yaml (100%)
 copy board/beagle/{beagleplay => pocketbeagle2}/pm-cfg.yaml (100%)
 create mode 100644 board/beagle/pocketbeagle2/pocketbeagle2.c
 copy board/{ti/am62x/am62x.env => beagle/pocketbeagle2/pocketbeagle2.env} (64%)
 copy board/{phytec/phycore_am62x => beagle/pocketbeagle2}/rm-cfg.yaml (99%)
 copy board/beagle/{beagleplay => pocketbeagle2}/sec-cfg.yaml (100%)
 copy configs/{am62x_beagleplay_a53_defconfig => am62_pocketbeagle2_a53_defconfig} (87%)
 copy configs/{am62x_beagleplay_r5_defconfig => am62_pocketbeagle2_r5_defconfig} (89%)
 create mode 100644 doc/board/beagle/am62_pocketbeagle2.rst
 copy include/configs/{beagley_ai.h => pocketbeagle2.h} (57%)

diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
index 25234697e6ae..d93346b8eb92 100644
--- a/arch/arm/dts/Makefile
+++ b/arch/arm/dts/Makefile
@@ -1054,6 +1054,7 @@ dtb-$(CONFIG_SOC_K3_AM642) += k3-am642-r5-evm.dtb \
 			      k3-am642-r5-phycore-som-2gb.dtb
 
 dtb-$(CONFIG_SOC_K3_AM625) += k3-am625-r5-sk.dtb \
+			      k3-am62-r5-pocketbeagle2.dtb \
 			      k3-am625-r5-beagleplay.dtb \
 			      k3-am625-verdin-r5.dtb \
 			      k3-am625-r5-phycore-som-2gb.dtb
diff --git a/arch/arm/dts/k3-am62x-sk-ddr4-1600MTs.dtsi b/arch/arm/dts/k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi
similarity index 97%
copy from arch/arm/dts/k3-am62x-sk-ddr4-1600MTs.dtsi
copy to arch/arm/dts/k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi
index 4afa68a67394..455a55f2c0d8 100644
--- a/arch/arm/dts/k3-am62x-sk-ddr4-1600MTs.dtsi
+++ b/arch/arm/dts/k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi
@@ -2,20 +2,22 @@
 /*
  * This file was generated with the
  * AM623/AM625 SysConfig DDR Configuration Tool for AM64x, AM625, AM623, AM62Ax, AM62Px, AM62Dx, AM62Lx v0.10.32
- * Fri Jan 30 2026 13:45:31 GMT+0530 (India Standard Time)
+ * Mon Jan 26 2026 10:31:36 GMT-0600 (Central Standard Time)
  * DDR Type: DDR4
  * Frequency = 800MHz (1600MTs)
- * Density: 16Gb
+ * Density: 4Gb
  * Number of Ranks: 1
 */
 
+
 #define DDRSS_PLL_FHS_CNT 6
 #define DDRSS_PLL_FREQUENCY_1 400000000
 #define DDRSS_PLL_FREQUENCY_2 400000000
-#define DDRSS_SDRAM_IDX 15
+#define DDRSS_SDRAM_IDX 13
 #define DDRSS_REGION_IDX 16
 #define DDRSS_TOOL_VERSION "0.10.32"
 
+
 #define DDRSS_CTL_0_DATA 0x00000A00
 #define DDRSS_CTL_1_DATA 0x00000000
 #define DDRSS_CTL_2_DATA 0x00000000
@@ -54,11 +56,11 @@
 #define DDRSS_CTL_35_DATA 0x00000000
 #define DDRSS_CTL_36_DATA 0x00000000
 #define DDRSS_CTL_37_DATA 0x00000000
-#define DDRSS_CTL_38_DATA 0x0000091C
+#define DDRSS_CTL_38_DATA 0x00000916
 #define DDRSS_CTL_39_DATA 0x18181818
-#define DDRSS_CTL_40_DATA 0x0000091C
+#define DDRSS_CTL_40_DATA 0x00000916
 #define DDRSS_CTL_41_DATA 0x18181818
-#define DDRSS_CTL_42_DATA 0x0000091C
+#define DDRSS_CTL_42_DATA 0x00000916
 #define DDRSS_CTL_43_DATA 0x18181818
 #define DDRSS_CTL_44_DATA 0x05050404
 #define DDRSS_CTL_45_DATA 0x00002706
@@ -220,22 +222,22 @@
 #define DDRSS_CTL_201_DATA 0x00000000
 #define DDRSS_CTL_202_DATA 0x00000000
 #define DDRSS_CTL_203_DATA 0x00000000
-#define DDRSS_CTL_204_DATA 0x00042400
+#define DDRSS_CTL_204_DATA 0x00041000
 #define DDRSS_CTL_205_DATA 0x00000301
 #define DDRSS_CTL_206_DATA 0x00000000
-#define DDRSS_CTL_207_DATA 0x00000424
+#define DDRSS_CTL_207_DATA 0x00000410
 #define DDRSS_CTL_208_DATA 0x00000301
 #define DDRSS_CTL_209_DATA 0x00000000
-#define DDRSS_CTL_210_DATA 0x00000424
+#define DDRSS_CTL_210_DATA 0x00000410
 #define DDRSS_CTL_211_DATA 0x00000301
 #define DDRSS_CTL_212_DATA 0x00000000
-#define DDRSS_CTL_213_DATA 0x00000424
+#define DDRSS_CTL_213_DATA 0x00000410
 #define DDRSS_CTL_214_DATA 0x00000301
 #define DDRSS_CTL_215_DATA 0x00000000
-#define DDRSS_CTL_216_DATA 0x00000424
+#define DDRSS_CTL_216_DATA 0x00000410
 #define DDRSS_CTL_217_DATA 0x00000301
 #define DDRSS_CTL_218_DATA 0x00000000
-#define DDRSS_CTL_219_DATA 0x00000424
+#define DDRSS_CTL_219_DATA 0x00000410
 #define DDRSS_CTL_220_DATA 0x00000301
 #define DDRSS_CTL_221_DATA 0x00000000
 #define DDRSS_CTL_222_DATA 0x00000000
@@ -333,8 +335,8 @@
 #define DDRSS_CTL_314_DATA 0x00000000
 #define DDRSS_CTL_315_DATA 0x00000100
 #define DDRSS_CTL_316_DATA 0x01010000
-#define DDRSS_CTL_317_DATA 0x00000000
-#define DDRSS_CTL_318_DATA 0x3FFF0000
+#define DDRSS_CTL_317_DATA 0x00000202
+#define DDRSS_CTL_318_DATA 0x0FFF0000
 #define DDRSS_CTL_319_DATA 0x000FFF00
 #define DDRSS_CTL_320_DATA 0xFFFFFFFF
 #define DDRSS_CTL_321_DATA 0x00FFFF00
@@ -391,8 +393,8 @@
 #define DDRSS_CTL_372_DATA 0x06060806
 #define DDRSS_CTL_373_DATA 0x00010101
 #define DDRSS_CTL_374_DATA 0x02000000
-#define DDRSS_CTL_375_DATA 0x05020101
-#define DDRSS_CTL_376_DATA 0x00000505
+#define DDRSS_CTL_375_DATA 0x02020101
+#define DDRSS_CTL_376_DATA 0x00000202
 #define DDRSS_CTL_377_DATA 0x02020200
 #define DDRSS_CTL_378_DATA 0x02020202
 #define DDRSS_CTL_379_DATA 0x02020202
@@ -408,7 +410,7 @@
 #define DDRSS_CTL_389_DATA 0x00000200
 #define DDRSS_CTL_390_DATA 0x0000DB60
 #define DDRSS_CTL_391_DATA 0x0001E780
-#define DDRSS_CTL_392_DATA 0x080D0302
+#define DDRSS_CTL_392_DATA 0x050A0302
 #define DDRSS_CTL_393_DATA 0x001E0506
 #define DDRSS_CTL_394_DATA 0x000030C0
 #define DDRSS_CTL_395_DATA 0x00000200
@@ -417,7 +419,7 @@
 #define DDRSS_CTL_398_DATA 0x00000200
 #define DDRSS_CTL_399_DATA 0x0000DB60
 #define DDRSS_CTL_400_DATA 0x0001E780
-#define DDRSS_CTL_401_DATA 0x080D0302
+#define DDRSS_CTL_401_DATA 0x050A0302
 #define DDRSS_CTL_402_DATA 0x001E0506
 #define DDRSS_CTL_403_DATA 0x000030C0
 #define DDRSS_CTL_404_DATA 0x00000200
@@ -426,7 +428,7 @@
 #define DDRSS_CTL_407_DATA 0x00000200
 #define DDRSS_CTL_408_DATA 0x0000DB60
 #define DDRSS_CTL_409_DATA 0x0001E780
-#define DDRSS_CTL_410_DATA 0x080D0302
+#define DDRSS_CTL_410_DATA 0x050A0302
 #define DDRSS_CTL_411_DATA 0x00000506
 #define DDRSS_CTL_412_DATA 0x00000000
 #define DDRSS_CTL_413_DATA 0x0302000A
@@ -516,7 +518,7 @@
 #define DDRSS_PI_74_DATA 0x00000000
 #define DDRSS_PI_75_DATA 0x00000005
 #define DDRSS_PI_76_DATA 0x01000000
-#define DDRSS_PI_77_DATA 0x04000100
+#define DDRSS_PI_77_DATA 0x04020100
 #define DDRSS_PI_78_DATA 0x00020000
 #define DDRSS_PI_79_DATA 0x00010002
 #define DDRSS_PI_80_DATA 0x00000001
@@ -606,14 +608,14 @@
 #define DDRSS_PI_164_DATA 0x00007800
 #define DDRSS_PI_165_DATA 0x00780078
 #define DDRSS_PI_166_DATA 0x00141414
-#define DDRSS_PI_167_DATA 0x00000036
-#define DDRSS_PI_168_DATA 0x00000036
-#define DDRSS_PI_169_DATA 0x00040036
+#define DDRSS_PI_167_DATA 0x00000033
+#define DDRSS_PI_168_DATA 0x00000033
+#define DDRSS_PI_169_DATA 0x00040033
 #define DDRSS_PI_170_DATA 0x04000400
 #define DDRSS_PI_171_DATA 0xC8000009
-#define DDRSS_PI_172_DATA 0x0000091C
-#define DDRSS_PI_173_DATA 0x00091CC8
-#define DDRSS_PI_174_DATA 0x001CC800
+#define DDRSS_PI_172_DATA 0x00000916
+#define DDRSS_PI_173_DATA 0x000916C8
+#define DDRSS_PI_174_DATA 0x0016C800
 #define DDRSS_PI_175_DATA 0x00000118
 #define DDRSS_PI_176_DATA 0x00001860
 #define DDRSS_PI_177_DATA 0x00000118
@@ -626,14 +628,14 @@
 #define DDRSS_PI_184_DATA 0x01080108
 #define DDRSS_PI_185_DATA 0x00000108
 #define DDRSS_PI_186_DATA 0x00000000
-#define DDRSS_PI_187_DATA 0x05000000
-#define DDRSS_PI_188_DATA 0x01010505
+#define DDRSS_PI_187_DATA 0x02000000
+#define DDRSS_PI_188_DATA 0x01010202
 #define DDRSS_PI_189_DATA 0x01010101
 #define DDRSS_PI_190_DATA 0x00181818
 #define DDRSS_PI_191_DATA 0x00000000
 #define DDRSS_PI_192_DATA 0x00000000
-#define DDRSS_PI_193_DATA 0x09000000
-#define DDRSS_PI_194_DATA 0x06060909
+#define DDRSS_PI_193_DATA 0x06000000
+#define DDRSS_PI_194_DATA 0x06060606
 #define DDRSS_PI_195_DATA 0x03030306
 #define DDRSS_PI_196_DATA 0x00000000
 #define DDRSS_PI_197_DATA 0x00000000
@@ -661,15 +663,15 @@
 #define DDRSS_PI_219_DATA 0x001600C8
 #define DDRSS_PI_220_DATA 0x010100C8
 #define DDRSS_PI_221_DATA 0x00001701
-#define DDRSS_PI_222_DATA 0x1F0F0053
-#define DDRSS_PI_223_DATA 0x05000001
-#define DDRSS_PI_224_DATA 0x00170A09
-#define DDRSS_PI_225_DATA 0x1F0F0053
-#define DDRSS_PI_226_DATA 0x05000001
-#define DDRSS_PI_227_DATA 0x00170A09
-#define DDRSS_PI_228_DATA 0x1F0F0053
-#define DDRSS_PI_229_DATA 0x05000001
-#define DDRSS_PI_230_DATA 0x00010A09
+#define DDRSS_PI_222_DATA 0x1F0F0050
+#define DDRSS_PI_223_DATA 0x02000001
+#define DDRSS_PI_224_DATA 0x00170A06
+#define DDRSS_PI_225_DATA 0x1F0F0050
+#define DDRSS_PI_226_DATA 0x02000001
+#define DDRSS_PI_227_DATA 0x00170A06
+#define DDRSS_PI_228_DATA 0x1F0F0050
+#define DDRSS_PI_229_DATA 0x02000001
+#define DDRSS_PI_230_DATA 0x00010A06
 #define DDRSS_PI_231_DATA 0x0C0B0700
 #define DDRSS_PI_232_DATA 0x000D0605
 #define DDRSS_PI_233_DATA 0x0000C570
@@ -736,7 +738,7 @@
 #define DDRSS_PI_294_DATA 0x01000000
 #define DDRSS_PI_295_DATA 0x00020201
 #define DDRSS_PI_296_DATA 0x00000000
-#define DDRSS_PI_297_DATA 0x00000424
+#define DDRSS_PI_297_DATA 0x00000410
 #define DDRSS_PI_298_DATA 0x00000301
 #define DDRSS_PI_299_DATA 0x00000000
 #define DDRSS_PI_300_DATA 0x00000000
@@ -744,7 +746,7 @@
 #define DDRSS_PI_302_DATA 0x00001400
 #define DDRSS_PI_303_DATA 0x00000493
 #define DDRSS_PI_304_DATA 0x00000000
-#define DDRSS_PI_305_DATA 0x00000424
+#define DDRSS_PI_305_DATA 0x00000410
 #define DDRSS_PI_306_DATA 0x00000301
 #define DDRSS_PI_307_DATA 0x00000000
 #define DDRSS_PI_308_DATA 0x00000000
@@ -752,7 +754,7 @@
 #define DDRSS_PI_310_DATA 0x00001400
 #define DDRSS_PI_311_DATA 0x00000493
 #define DDRSS_PI_312_DATA 0x00000000
-#define DDRSS_PI_313_DATA 0x00000424
+#define DDRSS_PI_313_DATA 0x00000410
 #define DDRSS_PI_314_DATA 0x00000301
 #define DDRSS_PI_315_DATA 0x00000000
 #define DDRSS_PI_316_DATA 0x00000000
@@ -760,7 +762,7 @@
 #define DDRSS_PI_318_DATA 0x00001400
 #define DDRSS_PI_319_DATA 0x00000493
 #define DDRSS_PI_320_DATA 0x00000000
-#define DDRSS_PI_321_DATA 0x00000424
+#define DDRSS_PI_321_DATA 0x00000410
 #define DDRSS_PI_322_DATA 0x00000301
 #define DDRSS_PI_323_DATA 0x00000000
 #define DDRSS_PI_324_DATA 0x00000000
@@ -768,7 +770,7 @@
 #define DDRSS_PI_326_DATA 0x00001400
 #define DDRSS_PI_327_DATA 0x00000493
 #define DDRSS_PI_328_DATA 0x00000000
-#define DDRSS_PI_329_DATA 0x00000424
+#define DDRSS_PI_329_DATA 0x00000410
 #define DDRSS_PI_330_DATA 0x00000301
 #define DDRSS_PI_331_DATA 0x00000000
 #define DDRSS_PI_332_DATA 0x00000000
@@ -776,7 +778,7 @@
 #define DDRSS_PI_334_DATA 0x00001400
 #define DDRSS_PI_335_DATA 0x00000493
 #define DDRSS_PI_336_DATA 0x00000000
-#define DDRSS_PI_337_DATA 0x00000424
+#define DDRSS_PI_337_DATA 0x00000410
 #define DDRSS_PI_338_DATA 0x00000301
 #define DDRSS_PI_339_DATA 0x00000000
 #define DDRSS_PI_340_DATA 0x00000000
diff --git a/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi b/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
similarity index 53%
copy from arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi
copy to arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
index 0e810e7f492d..452161115318 100644
--- a/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi
+++ b/arch/arm/dts/k3-am62-pocketbeagle2-u-boot.dtsi
@@ -1,20 +1,53 @@
 // SPDX-License-Identifier: GPL-2.0
 /*
- * Common AM67A BeagleY-AI dts file for SPLs
+ * AM625 PocketBeagle 2 dts file for SPLs
+ * https://www.beagleboard.org/boards/pocketbeagle-2
  *
- * Copyright (C) 2024 Texas Instruments Incorporated - https://www.ti.com/
- * Copyright (C) 2024 Robert Nelson, BeagleBoard.org Foundation
+ * Copyright (C) 2024-2025 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2024-2025 Robert Nelson, BeagleBoard.org Foundation
  */
 
 #include "k3-binman.dtsi"
 
 / {
-	chosen {
-		stdout-path = "serial2:115200n8";
-		tick-timer = &main_timer0;
+	/* Keep the LEDs on by default to indicate life */
+	leds {
+		led-1 {
+			label = "led-1";
+			default-state = "on";
+		};
+
+		led-2 {
+			label = "led-2";
+			default-state = "on";
+		};
+
+		led-3 {
+			label = "led-3";
+			default-state = "on";
+		};
+
+		led-4 {
+			label = "led-4";
+			default-state = "on";
+		};
 	};
 };
 
+&main_bcdma {
+	reg = <0x00 0x485c0100 0x00 0x100>,
+	      <0x00 0x4c000000 0x00 0x20000>,
+	      <0x00 0x4a820000 0x00 0x20000>,
+	      <0x00 0x4aa40000 0x00 0x20000>,
+	      <0x00 0x4bc00000 0x00 0x100000>,
+	      <0x00 0x48600000 0x00 0x8000>,
+	      <0x00 0x484a4000 0x00 0x2000>,
+	      <0x00 0x484c2000 0x00 0x2000>;
+	reg-names = "gcfg", "bchanrt", "rchanrt", "tchanrt", "ringrt",
+		    "cfg", "tchan", "rchan";
+	bootph-all;
+};
+
 &main_pktdma {
 	reg = <0x00 0x485c0000 0x00 0x100>,
 	      <0x00 0x4a800000 0x00 0x20000>,
@@ -24,44 +57,32 @@
 	      <0x00 0x484a0000 0x00 0x4000>,
 	      <0x00 0x484c0000 0x00 0x2000>,
 	      <0x00 0x48430000 0x00 0x4000>;
-	reg-names = "gcfg", "rchanrt", "tchanrt", "ringrt",
-		    "cfg", "tchan", "rchan", "rflow";
-};
-
-&dmsc {
-	bootph-pre-ram;
-	k3_sysreset: sysreset-controller {
-		compatible = "ti,sci-sysreset";
-		bootph-pre-ram;
-	};
-};
-
-&usbss0 {
-	bootph-pre-ram;
+	reg-names = "gcfg", "rchanrt", "tchanrt", "ringrt", "cfg",
+		    "tchan", "rchan", "rflow";
+	bootph-all;
 };
 
-&usb0 {
-	dr_mode = "peripheral";
-	bootph-pre-ram;
+&cpsw3g {
+	status = "disabled";
 };
 
-&usbss1 {
+&cpsw_port1 {
 	status = "disabled";
 };
 
-&usb1 {
+&cpsw_port2 {
 	status = "disabled";
 };
 
-&main_gpio1 {
+&main_uart6_pins_default {
 	bootph-all;
 };
 
-#if IS_ENABLED(CONFIG_TARGET_J722S_R5_BEAGLEY_AI)
+#if IS_ENABLED(CONFIG_TARGET_AM62X_R5_POCKETBEAGLE2)
 
 &binman {
-	tiboot3-j722s-hs-evm.bin {
-		filename = "tiboot3-j722s-hs-evm.bin";
+	tiboot3-am62x-hs-evm.bin {
+		filename = "tiboot3-am62x-hs-evm.bin";
 		ti-secure-rom {
 			content = <&u_boot_spl>, <&ti_fs_enc>, <&combined_tifs_cfg>,
 				  <&combined_dm_cfg>, <&sysfw_inner_cert>;
@@ -78,7 +99,7 @@
 			load = <CONFIG_SPL_TEXT_BASE>;
 			load-sysfw = <0x40000>;
 			load-sysfw-data = <0x67000>;
-			load-dm-data = <0x43c7a800>;
+			load-dm-data = <0x43c3a800>;
 		};
 
 		u_boot_spl: u-boot-spl {
@@ -86,8 +107,9 @@
 		};
 
 		ti_fs_enc: ti-fs-enc.bin {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-enc.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-enc.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_tifs_cfg: combined-tifs-cfg.bin {
@@ -96,8 +118,9 @@
 		};
 
 		sysfw_inner_cert: sysfw-inner-cert {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-cert.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-cert.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_dm_cfg: combined-dm-cfg.bin {
@@ -108,8 +131,8 @@
 };
 
 &binman {
-	tiboot3-j722s-hs-fs-evm.bin {
-		filename = "tiboot3-j722s-hs-fs-evm.bin";
+	tiboot3-am62x-hs-fs-evm.bin {
+		filename = "tiboot3-am62x-hs-fs-evm.bin";
 		symlink = "tiboot3.bin";
 
 		ti-secure-rom {
@@ -128,7 +151,7 @@
 			load = <CONFIG_SPL_TEXT_BASE>;
 			load-sysfw = <0x40000>;
 			load-sysfw-data = <0x67000>;
-			load-dm-data = <0x43c7a800>;
+			load-dm-data = <0x43c3a800>;
 		};
 
 		u_boot_spl_fs: u-boot-spl {
@@ -136,8 +159,9 @@
 		};
 
 		ti_fs_enc_fs: ti-fs-enc.bin {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-fs-enc.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-fs-enc.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_tifs_cfg_fs: combined-tifs-cfg.bin {
@@ -146,8 +170,9 @@
 		};
 
 		sysfw_inner_cert_fs: sysfw-inner-cert {
-			filename = "ti-sysfw/ti-fs-firmware-j722s-hs-fs-cert.bin";
+			filename = "ti-sysfw/ti-fs-firmware-am62x-hs-fs-cert.bin";
 			type = "blob-ext";
+			optional;
 		};
 
 		combined_dm_cfg_fs: combined-dm-cfg.bin {
@@ -156,12 +181,9 @@
 		};
 	};
 };
-#endif /* CONFIG_TARGET_J722S_R5_BEAGLEY_AI */
+#endif /* CONFIG_TARGET_AM62X_R5_POCKETBEAGLE2 */
 
-#if IS_ENABLED(CONFIG_TARGET_J722S_A53_BEAGLEY_AI)
-
-#define SPL_BEAGLEY_AI_DTB "spl/dts/ti/k3-am67a-beagley-ai.dtb"
-#define BEAGLEY_AI_DTB "u-boot.dtb"
+#if IS_ENABLED(CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2)
 
 &binman {
 	ti-spl {
@@ -169,6 +191,32 @@
 
 		fit {
 			images {
+				atf {
+					description = "ARM Trusted Firmware";
+					type = "firmware";
+					arch = "arm64";
+					compression = "none";
+					os = "arm-trusted-firmware";
+					load = <CONFIG_K3_ATF_LOAD_ADDR>;
+					entry = <CONFIG_K3_ATF_LOAD_ADDR>;
+					atf-bl31 {
+						filename = "bl31.bin";
+					};
+				};
+
+				tee {
+					description = "OP-TEE";
+					type = "tee";
+					arch = "arm64";
+					compression = "none";
+					os = "tee";
+					load = <CONFIG_K3_OPTEE_LOAD_ADDR>;
+					entry = <CONFIG_K3_OPTEE_LOAD_ADDR>;
+					tee-os {
+						filename = "tee-raw.bin";
+					};
+				};
+
 				dm {
 					ti-secure {
 						content = <&dm>;
@@ -176,34 +224,33 @@
 					};
 
 					dm: ti-dm {
-						filename = "ti-dm/j722s/ipc_echo_testb_mcu1_0_release_strip.xer5f";
+						filename = "ti-dm/am62xx/ipc_echo_testb_mcu1_0_release_strip.xer5f";
+						optional;
 					};
 				};
 
 				fdt-0 {
-					description = "k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					type = "flat_dt";
 					arch = "arm";
 					compression = "none";
 
 					ti-secure {
-						content = <&spl_beagley_ai_dtb>;
+						content = <&spl_pocketbeagle2_dtb>;
 						keyfile = "custMpk.pem";
 					};
 
-					spl_beagley_ai_dtb: blob-ext {
-						filename = "spl/dts/ti/k3-am67a-beagley-ai.dtb";
+					spl_pocketbeagle2_dtb: blob-ext {
+						filename = "spl/dts/ti/k3-am62-pocketbeagle2.dtb";
 					};
-
 				};
-
 			};
 
 			configurations {
 				default = "conf-0";
 
 				conf-0 {
-					description = "k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					firmware = "atf";
 					loadables = "tee", "dm", "spl";
 					fdt = "fdt-0";
@@ -220,21 +267,21 @@
 		fit {
 			images {
 				uboot {
-					description = "U-Boot for BeagleY-AI";
+					description = "U-Boot for PocketBeagle 2";
 				};
 
 				fdt-0 {
-					description = "k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					type = "flat_dt";
 					arch = "arm";
 					compression = "none";
 
 					ti-secure {
-						content = <&beagley_ai_dtb>;
+						content = <&pocketbeagle2_dtb>;
 						keyfile = "custMpk.pem";
 					};
 
-					beagley_ai_dtb: blob-ext {
+					pocketbeagle2_dtb: blob-ext {
 						filename = "u-boot.dtb";
 					};
 
@@ -248,14 +295,13 @@
 				default = "conf-0";
 
 				conf-0 {
-					description = "k3-k3-am67a-beagley-ai";
+					description = "k3-am62-pocketbeagle2";
 					firmware = "uboot";
 					loadables = "uboot";
 					fdt = "fdt-0";
 				};
-
 			};
 		};
 	};
 };
-#endif /* CONFIG_TARGET_J722S_A53_BEAGLEY_AI */
+#endif /* CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2 */
diff --git a/arch/arm/dts/k3-am62-r5-pocketbeagle2.dts b/arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
new file mode 100644
index 000000000000..4489a559287b
--- /dev/null
+++ b/arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
@@ -0,0 +1,35 @@
+// SPDX-License-Identifier: GPL-2.0-only OR MIT
+/*
+ * AM625 PocketBeagle 2 dts file for R5 SPL
+ * https://www.beagleboard.org/boards/pocketbeagle-2
+ *
+ * Copyright (C) 2022-2023 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2022-2023 Robert Nelson, BeagleBoard.org Foundation
+ */
+
+#include "k3-am62-pocketbeagle2.dts"
+#include "k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi"
+#include "k3-am62-ddr.dtsi"
+
+#include "k3-am62-pocketbeagle2-u-boot.dtsi"
+#include "k3-am625-r5.dtsi"
+
+/ {
+	aliases {
+		serial1 = &main_uart1;
+		serial2 = &main_uart6;
+		serial3 = &main_uart3;
+		serial4 = &main_uart4;
+		serial5 = &main_uart5;
+		serial6 = &main_uart2;
+		serial7 = &main_uart0;
+	};
+};
+
+&main_pktdma {
+	ti,sci = <&dm_tifs>;
+};
+
+&main_bcdma {
+	ti,sci = <&dm_tifs>;
+};
diff --git a/arch/arm/mach-k3/am62x/Kconfig b/arch/arm/mach-k3/am62x/Kconfig
index f7ad52db7d8d..87470248aa15 100644
--- a/arch/arm/mach-k3/am62x/Kconfig
+++ b/arch/arm/mach-k3/am62x/Kconfig
@@ -69,6 +69,7 @@ config TARGET_VERDIN_AM62_R5
 endchoice
 
 source "board/beagle/beagleplay/Kconfig"
+source "board/beagle/pocketbeagle2/Kconfig"
 source "board/phytec/phycore_am62x/Kconfig"
 source "board/ti/am62x/Kconfig"
 source "board/toradex/verdin-am62/Kconfig"
diff --git a/board/beagle/pocketbeagle2/Kconfig b/board/beagle/pocketbeagle2/Kconfig
new file mode 100644
index 000000000000..e957b8e8377e
--- /dev/null
+++ b/board/beagle/pocketbeagle2/Kconfig
@@ -0,0 +1,60 @@
+# SPDX-License-Identifier: GPL-2.0+
+#
+# Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
+#
+
+choice
+	prompt "BeagleBoard.org AM62X based PocketBeagle 2 board"
+	optional
+
+config TARGET_AM62X_A53_POCKETBEAGLE2
+	bool "BeagleBoard.org AM62X PocketBeagle 2 running on A53"
+	select ARM64
+	select BINMAN
+	select OF_SYSTEM_SETUP
+
+config TARGET_AM62X_R5_POCKETBEAGLE2
+	bool "BeagleBoard.org AM62X PocketBeagle 2 running on R5"
+	select CPU_V7R
+	select SYS_THUMB_BUILD
+	select K3_LOAD_SYSFW
+	select RAM
+	select SPL_RAM
+	select K3_DDRSS
+	select BINMAN
+	imply SYS_K3_SPL_ATF
+
+endchoice
+
+if TARGET_AM62X_A53_POCKETBEAGLE2
+
+config SYS_BOARD
+	default "pocketbeagle2"
+
+config SYS_VENDOR
+	default "beagle"
+
+config SYS_CONFIG_NAME
+	default "pocketbeagle2"
+
+source "board/ti/common/Kconfig"
+
+endif
+
+if TARGET_AM62X_R5_POCKETBEAGLE2
+
+config SYS_BOARD
+	default "pocketbeagle2"
+
+config SYS_VENDOR
+	default "beagle"
+
+config SYS_CONFIG_NAME
+	default "pocketbeagle2"
+
+config SPL_LDSCRIPT
+	default "arch/arm/mach-omap2/u-boot-spl.lds"
+
+source "board/ti/common/Kconfig"
+
+endif
diff --git a/board/beagle/pocketbeagle2/MAINTAINERS b/board/beagle/pocketbeagle2/MAINTAINERS
new file mode 100644
index 000000000000..79bdd59af7e7
--- /dev/null
+++ b/board/beagle/pocketbeagle2/MAINTAINERS
@@ -0,0 +1,10 @@
+POCKETBEAGLE2 BOARD
+M:	Nishanth Menon <nm@ti.com>
+M:	Robert Nelson <robertcnelson@gmail.com>
+M:	Tom Rini <trini@konsulko.com>
+S:	Maintained
+N:	pocketbeagle2
+F:	board/beagle/pocketbeagle2/
+F:	include/configs/pocketbeagle2.h
+F:	configs/am62_pocketbeagle2_a53_defconfig
+F:	configs/am62_pocketbeagle2_r5_defconfig
diff --git a/board/beagle/pocketbeagle2/Makefile b/board/beagle/pocketbeagle2/Makefile
new file mode 100644
index 000000000000..3d42c160716e
--- /dev/null
+++ b/board/beagle/pocketbeagle2/Makefile
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: GPL-2.0+
+#
+# Makefile for AM625 PocketBeagle 2
+# https://www.beagleboard.org/boards/pocketbeagle-2
+#
+# Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
+#
+
+obj-y += pocketbeagle2.o
diff --git a/board/beagle/beagleplay/board-cfg.yaml b/board/beagle/pocketbeagle2/board-cfg.yaml
similarity index 100%
copy from board/beagle/beagleplay/board-cfg.yaml
copy to board/beagle/pocketbeagle2/board-cfg.yaml
diff --git a/board/beagle/beagleplay/pm-cfg.yaml b/board/beagle/pocketbeagle2/pm-cfg.yaml
similarity index 100%
copy from board/beagle/beagleplay/pm-cfg.yaml
copy to board/beagle/pocketbeagle2/pm-cfg.yaml
diff --git a/board/beagle/pocketbeagle2/pocketbeagle2.c b/board/beagle/pocketbeagle2/pocketbeagle2.c
new file mode 100644
index 000000000000..291a1c6c3db7
--- /dev/null
+++ b/board/beagle/pocketbeagle2/pocketbeagle2.c
@@ -0,0 +1,58 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Board specific initialization for AM625 PocketBeagle 2
+ * https://www.beagleboard.org/boards/pocketbeagle-2
+ *
+ * Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2025 Robert Nelson, BeagleBoard.org Foundation
+ */
+
+#include <env.h>
+#include <fdt_support.h>
+#include <spl.h>
+
+#include <asm/arch/hardware.h>
+#include <asm/arch/k3-ddr.h>
+#include <asm/io.h>
+#include <dm/uclass.h>
+#include <linux/sizes.h>
+
+DECLARE_GLOBAL_DATA_PTR;
+
+int dram_init(void)
+{
+	return fdtdec_setup_mem_size_base();
+}
+
+int dram_init_banksize(void)
+{
+	return fdtdec_setup_memory_banksize();
+}
+
+/*
+ * The U-Boot stack can collide with some dt reservations in the 512MB
+ * configuration. Because of this, we need to relocate to just below our dt
+ * reservations. The magic number below corresponds to the lowest value from
+ * the block of conflicting reservations in the current device tree.
+ */
+phys_addr_t board_get_usable_ram_top(phys_size_t total_size)
+{
+	if (gd->ram_size == SZ_512M)
+		return 0x9c800000;
+
+	return gd->ram_top;
+}
+
+#if IS_ENABLED(CONFIG_BOARD_LATE_INIT)
+int board_late_init(void)
+{
+	char fdtfile[50];
+
+	snprintf(fdtfile, sizeof(fdtfile), "%s.dtb",
+		 CONFIG_DEFAULT_DEVICE_TREE);
+
+	env_set("fdtfile", fdtfile);
+
+	return 0;
+}
+#endif /* CONFIG_BOARD_LATE_INIT */
diff --git a/board/ti/am62x/am62x.env b/board/beagle/pocketbeagle2/pocketbeagle2.env
similarity index 64%
copy from board/ti/am62x/am62x.env
copy to board/beagle/pocketbeagle2/pocketbeagle2.env
index 60b5fd5e6ca7..816f365083e7 100644
--- a/board/ti/am62x/am62x.env
+++ b/board/beagle/pocketbeagle2/pocketbeagle2.env
@@ -10,23 +10,17 @@ rproc_fw_binaries= 0 /lib/firmware/am62-mcu-m4f0_0-fw
 
 name_kern=Image
 console=ttyS2,115200n8
-args_all=setenv optargs ${optargs} earlycon=ns16550a,mmio32,0x02800000
-	${mtdparts}
+args_all=setenv optargs ${optargs} earlycon=ns16550a,mmio32,0x02860000
 run_kern=booti ${loadaddr} ${rd_spec} ${fdtaddr}
+set_led_state_fail_load= led led-1 off; led led-2 on;
+	led led-3 off; led led-4 on
+set_led_state_start_load=led led-1 on; led led-2 off;
+	led led-3 on; led led-4 off
 
-boot_targets=mmc1 mmc0 usb pxe dhcp
+boot_targets=mmc1
 boot=mmc
 mmcdev=1
 bootpart=1:2
 bootdir=/boot
+bootmeths=script extlinux efi pxe
 rd_spec=-
-
-splashfile=ti_logo_414x97_32bpp.bmp.gz
-splashimage=0x80200000
-splashpos=m,m
-splashsource=sf
-
-#if CONFIG_BOOTMETH_ANDROID
-#include <env/ti/android.env>
-adtb_idx=0
-#endif
\ No newline at end of file
diff --git a/board/phytec/phycore_am62x/rm-cfg.yaml b/board/beagle/pocketbeagle2/rm-cfg.yaml
similarity index 99%
copy from board/phytec/phycore_am62x/rm-cfg.yaml
copy to board/beagle/pocketbeagle2/rm-cfg.yaml
index f800fb28a692..26d99b03b800 100644
--- a/board/phytec/phycore_am62x/rm-cfg.yaml
+++ b/board/beagle/pocketbeagle2/rm-cfg.yaml
@@ -525,7 +525,7 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 168
-            num_resource: 7
+            num_resource: 8
             type: 1802
             host_id: 30
             reserved: 0
@@ -555,7 +555,7 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 909
-            num_resource: 625
+            num_resource: 626
             type: 1805
             host_id: 128
             reserved: 0
diff --git a/board/beagle/beagleplay/sec-cfg.yaml b/board/beagle/pocketbeagle2/sec-cfg.yaml
similarity index 100%
copy from board/beagle/beagleplay/sec-cfg.yaml
copy to board/beagle/pocketbeagle2/sec-cfg.yaml
diff --git a/configs/am62x_beagleplay_a53_defconfig b/configs/am62_pocketbeagle2_a53_defconfig
similarity index 87%
copy from configs/am62x_beagleplay_a53_defconfig
copy to configs/am62_pocketbeagle2_a53_defconfig
index c9bc7cd8d398..8964cb3b1955 100644
--- a/configs/am62x_beagleplay_a53_defconfig
+++ b/configs/am62_pocketbeagle2_a53_defconfig
@@ -6,18 +6,23 @@ CONFIG_SPL_LIBCOMMON_SUPPORT=y
 CONFIG_SPL_LIBGENERIC_SUPPORT=y
 CONFIG_NR_DRAM_BANKS=1
 CONFIG_SOC_K3_AM625=y
-CONFIG_TARGET_AM625_A53_BEAGLEPLAY=y
+CONFIG_TARGET_AM62X_A53_POCKETBEAGLE2=y
 CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
-CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x80b80000
+CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x82b00000
 CONFIG_DM_GPIO=y
-CONFIG_DEFAULT_DEVICE_TREE="ti/k3-am625-beagleplay"
+CONFIG_DEFAULT_DEVICE_TREE="ti/k3-am62-pocketbeagle2"
 CONFIG_OF_LIBFDT_OVERLAY=y
 CONFIG_DM_RESET=y
 CONFIG_SPL_MMC=y
 CONFIG_SPL_SERIAL=y
-CONFIG_SPL_STACK_R_ADDR=0x82000000
+CONFIG_TEXT_BASE=0x82f80000
+CONFIG_SPL_TEXT_BASE=0x82000000
+CONFIG_SPL_STACK_R_ADDR=0x83f80000
 CONFIG_SPL_HAS_BSS_LINKER_SECTION=y
-CONFIG_SPL_BSS_START_ADDR=0x80c80000
+CONFIG_K3_OPTEE_LOAD_ADDR=0x80080000
+CONFIG_SPL_BSS_START_ADDR=0x82c00000
+CONFIG_SPL_HAS_LOAD_FIT_ADDRESS=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x82f80000
 CONFIG_SPL_BSS_MAX_SIZE=0x80000
 CONFIG_SPL_STACK_R=y
 CONFIG_SPL_SIZE_LIMIT=0x40000
@@ -44,8 +49,6 @@ CONFIG_SPL_I2C=y
 CONFIG_SPL_DM_MAILBOX=y
 CONFIG_SPL_POWER_DOMAIN=y
 CONFIG_SPL_YMODEM_SUPPORT=y
-CONFIG_CMD_BOOTEFI_SELFTEST=y
-CONFIG_CMD_NVEDIT_EFI=y
 CONFIG_CMD_GPIO=y
 CONFIG_CMD_GPIO_READ=y
 CONFIG_CMD_I2C=y
@@ -53,6 +56,7 @@ CONFIG_CMD_MMC=y
 CONFIG_CMD_EFIDEBUG=y
 CONFIG_CMD_PMIC=y
 CONFIG_CMD_REGULATOR=y
+CONFIG_CMD_CACHE=y
 CONFIG_OF_CONTROL=y
 CONFIG_SPL_OF_CONTROL=y
 CONFIG_OF_UPSTREAM=y
@@ -90,10 +94,6 @@ CONFIG_MMC_SDHCI=y
 CONFIG_MMC_SDHCI_ADMA=y
 CONFIG_SPL_MMC_SDHCI_ADMA=y
 CONFIG_MMC_SDHCI_AM654=y
-CONFIG_PHY_REALTEK=y
-CONFIG_PHY_TI=y
-CONFIG_DM_ETH_PHY=y
-CONFIG_TI_AM65_CPSW_NUSS=y
 CONFIG_PHY=y
 CONFIG_PINCTRL=y
 CONFIG_SPL_PINCTRL=y
@@ -120,7 +120,5 @@ CONFIG_SYSRESET_TI_SCI=y
 CONFIG_EXT4_WRITE=y
 CONFIG_FS_FAT_MAX_CLUSTSIZE=16384
 CONFIG_LZO=y
-CONFIG_EFI_SET_TIME=y
 
-#include <configs/k3_efi_capsule.config>
 #include <configs/am62x_a53_usbdfu.config>
diff --git a/configs/am62x_beagleplay_r5_defconfig b/configs/am62_pocketbeagle2_r5_defconfig
similarity index 89%
copy from configs/am62x_beagleplay_r5_defconfig
copy to configs/am62_pocketbeagle2_r5_defconfig
index 08b2c38b80de..90e577e8ce16 100644
--- a/configs/am62x_beagleplay_r5_defconfig
+++ b/configs/am62_pocketbeagle2_r5_defconfig
@@ -3,15 +3,16 @@ CONFIG_ARCH_K3=y
 CONFIG_SYS_MALLOC_LEN=0x08000000
 CONFIG_SYS_MALLOC_F_LEN=0x9000
 CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
 CONFIG_NR_DRAM_BANKS=1
 CONFIG_SOC_K3_AM625=y
-CONFIG_TARGET_AM625_R5_BEAGLEPLAY=y
+CONFIG_TARGET_AM62X_R5_POCKETBEAGLE2=y
 CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
 CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x43c3a7f0
 CONFIG_ENV_SIZE=0x20000
 CONFIG_DM_GPIO=y
 CONFIG_SPL_DM_SPI=y
-CONFIG_DEFAULT_DEVICE_TREE="k3-am625-r5-beagleplay"
+CONFIG_DEFAULT_DEVICE_TREE="k3-am62-r5-pocketbeagle2"
 CONFIG_DM_RESET=y
 CONFIG_SPL_SYS_MALLOC_F_LEN=0x7000
 CONFIG_SPL_MMC=y
@@ -34,7 +35,6 @@ CONFIG_SPL_SIZE_LIMIT_SUBTRACT_MALLOC=y
 CONFIG_SPL_MAX_SIZE=0x3B000
 CONFIG_SPL_PAD_TO=0x0
 CONFIG_SPL_SYS_REPORT_STACK_F_USAGE=y
-CONFIG_SPL_BOARD_INIT=y
 CONFIG_SPL_SYS_MALLOC_SIMPLE=y
 CONFIG_SPL_SEPARATE_BSS=y
 CONFIG_SPL_SYS_MALLOC=y
@@ -62,6 +62,8 @@ CONFIG_ENV_RELOC_GD_ENV_ADDR=y
 CONFIG_NO_NET=y
 CONFIG_SPL_DM=y
 CONFIG_SPL_DM_SEQ_ALIAS=y
+CONFIG_REGMAP=y
+CONFIG_SPL_REGMAP=y
 CONFIG_SPL_OF_TRANSLATE=y
 CONFIG_CLK=y
 CONFIG_SPL_CLK=y
@@ -97,3 +99,6 @@ CONFIG_SPL_TIMER=y
 CONFIG_OMAP_TIMER=y
 CONFIG_LIB_RATIONAL=y
 CONFIG_SPL_LIB_RATIONAL=y
+CONFIG_K3_OPTEE_LOAD_ADDR=0x80080000
+CONFIG_SPL_HAS_LOAD_FIT_ADDRESS=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x82000000
diff --git a/doc/board/beagle/am62_pocketbeagle2.rst b/doc/board/beagle/am62_pocketbeagle2.rst
new file mode 100644
index 000000000000..4ee8aa57e497
--- /dev/null
+++ b/doc/board/beagle/am62_pocketbeagle2.rst
@@ -0,0 +1,279 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Randolph Sapp <rs@ti.com>
+
+AM62 Beagleboard.org PocketBeagle 2
+===================================
+
+Introduction:
+-------------
+
+BeagleBoard.org PocketBeagle 2 is an easy to use, affordable open source
+hardware single board computer based on the Texas Instruments AM625
+SoC.
+
+Further information can be found at:
+
+* Product Page: https://www.beagleboard.org/boards/pocketbeagle-2
+* Hardware documentation: https://openbeagle.org/pocketbeagle/pocketbeagle-2
+
+Boot Flow:
+----------
+Below is the pictorial representation of boot flow:
+
+.. image:: ../ti/img/boot_diagram_am62.svg
+   :alt: Boot flow diagram
+
+On this platform, 'TI Foundational Security' (TIFS) functions as the security
+enclave master while 'Device Manager' (DM), also known as the 'TISCI server' in
+"TI terminology", offers all the essential services. The A53 or M4F (Aux core)
+sends requests to TIFS/DM to accomplish these services, as illustrated in the
+diagram above.
+
+Sources:
+--------
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_boot_sources
+   :end-before: .. k3_rst_include_end_boot_sources
+
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_boot_firmwares
+   :end-before: .. k3_rst_include_end_tifsstub
+
+Build procedure:
+----------------
+
+#. Setup the environment variables:
+
+   .. include::  ../ti/k3.rst
+      :start-after: .. k3_rst_include_start_common_env_vars_desc
+      :end-before: .. k3_rst_include_end_common_env_vars_desc
+
+   .. include::  ../ti/k3.rst
+      :start-after: .. k3_rst_include_start_board_env_vars_desc
+      :end-before: .. k3_rst_include_end_board_env_vars_desc
+
+#. Set the variables corresponding to this platform:
+
+   .. include::  ../ti/k3.rst
+      :start-after: .. k3_rst_include_start_common_env_vars_defn
+      :end-before: .. k3_rst_include_end_common_env_vars_defn
+
+   .. prompt:: bash $
+
+      export UBOOT_CFG_CORTEXR=am62_pocketbeagle2_r5_defconfig
+      export UBOOT_CFG_CORTEXA=am62_pocketbeagle2_a53_defconfig
+      export TFA_BOARD=lite
+      export TFA_EXTRA_ARGS="PRELOADED_BL33_BASE=0x82000000 BL32_BASE=0x80080000"
+      export OPTEE_PLATFORM=k3-am62x
+      export OPTEE_EXTRA_ARGS="CFG_TZDRAM_START=0x80080000"
+
+   .. include::  ../ti/am62x_sk.rst
+      :start-after: .. am62x_evm_rst_include_start_build_steps
+      :end-before: .. am62x_evm_rst_include_end_build_steps
+
+Target Images
+-------------
+Copy these images to an SD card and boot:
+
+   * :file:`tiboot3.bin` from Cortex-R5 build.
+   * :file:`tispl.bin` and :file:`u-boot.img` from Cortex-A build
+
+Image formats
+-------------
+
+- :file:`tiboot3.bin`
+
+  .. image:: ../ti/img/multi_cert_tiboot3.bin.svg
+     :alt: tiboot3.bin image format
+
+- :file:`tispl.bin`
+
+  .. image:: ../ti/img/tifsstub_dm_tispl.bin.svg
+     :alt: tispl.bin image format
+
+Additional hardware for U-Boot development
+------------------------------------------
+
+* A Serial Console is critical for U-Boot development on the PocketBeagle 2. See
+  `PocketBeagle 2 serial console documentation`__.
+* uSD is the default, and a SD/MMC reader will be needed.
+* (optionally) JTAG is useful when working with very early stages of boot.
+
+.. __: https://docs.beagleboard.org/boards/pocketbeagle-2/03-design-and-specifications.html#serial-debug-port
+
+Default storage options
+-----------------------
+
+There is only one storage media option for the PocketBeagle 2, by default:
+
+* SD/MMC card interface
+
+Flash to uSD card
+-----------------
+
+If you choose to  hand format your own bootable uSD card, be
+aware that it can be difficult. The following information
+may be helpful, but remember that it is only sometimes
+reliable, and partition options can cause issues. These
+can potentially help:
+
+* https://git.ti.com/cgit/arago-project/tisdk-setup-scripts/tree/create-sdcard.sh
+* https://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD
+
+The simplest option is to start with a standard distribution
+image like those in `BeagleBoard.org Distros Page
+<https://www.beagleboard.org/distros>`_ and download a disk image for
+PocketBeagle 2. Pick a 16GB+ uSD card to be on the safer side.
+
+With an SD/MMC Card reader and `Balena Etcher
+<https://etcher.balena.io/>`_, having a functional setup in minutes is
+a trivial matter, and it works on almost all host operating systems.
+
+Updating U-Boot is a matter of copying the :file:`tiboot3.bin`,
+:file:`tispl.bin` and :file:`u-boot.img` to the "BOOT" partition of the uSD
+card. Remember to sync and unmount (or Eject - depending on the Operating
+System) the uSD card prior to physically removing from SD card reader.
+
+Also see following section on switch setting used for booting using
+uSD card.
+
+.. note::
+
+   If you are frequently working with uSD cards, you might find the
+   following useful:
+
+   * `USB-SD-Mux <https://www.linux-automation.com/en/products/usb-sd-mux.html>`_
+   * `SD-Wire <https://wiki.tizen.org/SDWire>`_
+
+LED patterns during boot
+------------------------
+
+.. list-table:: USR LED status indication
+   :widths: 16 16
+   :header-rows: 1
+
+   * - USR LEDs (1234)
+     - Indicates
+
+   * - 0000
+     - Boot failure or R5 image not started up
+
+   * - 1111
+     - A53 SPL/U-boot has started up
+
+   * - 1010
+     - OS boot process has been initiated
+
+   * - 0101
+     - OS boot process failed and drops to U-Boot shell
+
+.. note::
+
+   In the table above, 0 indicates LED switched off and 1 indicates LED
+   switched ON.
+
+.. warning::
+
+   If the "red" power LED is not glowing, the system power supply is not
+   functional. Please refer to the `PocketBeagle 2 documentation
+   <https://docs.beagleboard.org/boards/pocketbeagle-2/>`_ for further
+   information.
+
+A53 SPL DDR Memory Layout
+-------------------------
+
+.. include::  ../ti/am62x_sk.rst
+   :start-after: .. am62x_evm_rst_include_start_ddr_mem_layout
+   :end-before: .. am62x_evm_rst_include_end_ddr_mem_layout
+
+Switch Setting for Boot Mode
+----------------------------
+
+The boot time option is configured via "USR" button on the board. See the
+`PocketBeagle 2 Schematics
+<https://git.beagleboard.org/pocketbeagle/pocketbeagle-2/-/blob/main/pocketbeagle2_sch.pdf>`_
+and the `PocketBeagle 2 documentation on Boot Modes
+<https://docs.beagleboard.org/boards/pocketbeagle-2/03-design-and-specifications.html#boot-modes>`_
+for details.
+
+.. list-table:: Boot Modes
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - USR Button Status
+     - Primary Boot
+     - Secondary Boot
+
+   * - Not Pressed
+     - uSD
+     - USB Device Firmware Upgrade (DFU) mode
+
+   * - Pressed
+     - uSD
+     - UART
+
+To switch boot modes, hold the "USR" button while powering on the device with a
+USB type C power supply. Release the button when the red power LED lights up.
+
+DFU based boot
+--------------
+
+To boot the board over DFU, ensure there is no SD card inserted with a
+bootloader. After power-on the build artifacts needs to be uploaded one by one
+with a tool like dfu-util.
+
+.. include::  ../ti/am62x_sk.rst
+   :start-after: .. am62x_evm_rst_include_start_dfu_boot
+   :end-before: .. am62x_evm_rst_include_end_dfu_boot
+
+Debugging U-Boot
+----------------
+
+See :ref:`Common Debugging environment - OpenOCD <k3_rst_refer_openocd>`: for
+detailed setup and debugging information.
+
+.. warning::
+
+   **OpenOCD support since**: v0.12.0
+
+   If the default package version of OpenOCD in your development
+   environment's distribution needs to be updated, it might be necessary to
+   build OpenOCD from the source.
+
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_openocd_connect_tag_connect
+   :end-before: .. k3_rst_include_end_openocd_connect_tag_connect
+
+.. include::  ../ti/k3.rst
+   :start-after: .. k3_rst_include_start_openocd_cfg_external_intro
+   :end-before: .. k3_rst_include_end_openocd_cfg_external_intro
+
+For example, with the PocketBeagle 2 (AM62X platform), the
+:file:`openocd_connect.cfg` would look like:
+
+.. code-block:: tcl
+
+   # TUMPA example:
+   # http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User's_Manual
+   source [find interface/ftdi/tumpa.cfg]
+
+   transport select jtag
+
+   # default JTAG configuration has only SRST and no TRST
+   reset_config srst_only srst_push_pull
+
+   # delay after SRST goes inactive
+   adapter srst delay 20
+
+   if { ![info exists SOC] } {
+     # Set the SoC of interest
+     set SOC am625
+   }
+
+   source [find target/ti_k3.cfg]
+
+   ftdi tdo_sample_edge falling
+
+   # Speeds for FT2232H are in multiples of 2, and 32MHz is tops
+   # max speed we seem to achieve is ~20MHz.. so we pick 16MHz
+   adapter speed 16000
diff --git a/doc/board/beagle/index.rst b/doc/board/beagle/index.rst
index e33d39fc677f..8bf099ae7be7 100644
--- a/doc/board/beagle/index.rst
+++ b/doc/board/beagle/index.rst
@@ -10,6 +10,7 @@ ARM based boards
 .. toctree::
    :maxdepth: 2
 
+   am62_pocketbeagle2
    am62x_beagleplay
    am67a_beagley_ai.rst
    j721e_beagleboneai64
diff --git a/include/configs/beagley_ai.h b/include/configs/pocketbeagle2.h
similarity index 57%
copy from include/configs/beagley_ai.h
copy to include/configs/pocketbeagle2.h
index a7072a094c58..dd6956aa8b90 100644
--- a/include/configs/beagley_ai.h
+++ b/include/configs/pocketbeagle2.h
@@ -1,14 +1,14 @@
 /* SPDX-License-Identifier: GPL-2.0+ */
 /*
- * Configuration header file for BeagleY-AI
+ * Configuration header file for PocketBeagle 2
  *
  * Copyright (C) 2025 Texas Instruments Incorporated - https://www.ti.com/
  */
 
-#ifndef __CONFIG_BEAGLEY_AI_H
-#define __CONFIG_BEAGLEY_AI_H
+#ifndef __CONFIG_POCKETBEAGLE2_H
+#define __CONFIG_POCKETBEAGLE2_H
 
 /* Now for the remaining common defines */
 #include <configs/ti_armv7_common.h>
 
-#endif /* __CONFIG_BEAGLEY_AI_H */
+#endif /* __CONFIG_POCKETBEAGLE2_H */
-- 
2.55.0


^ permalink raw reply related	[flat|nested] 6+ messages in thread

* Re: [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support
  2026-07-29 19:32 ` [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support rs
@ 2026-07-29 19:50   ` Andrew Davis
  0 siblings, 0 replies; 6+ messages in thread
From: Andrew Davis @ 2026-07-29 19:50 UTC (permalink / raw)
  To: rs, Anshul Dalal, robertcnelson, ayush, Erik.Welsh, trini,
	xypron.glpk, ilias.apalodimas, sjg
  Cc: u-boot

On 7/29/26 2:32 PM, rs@ti.com wrote:
> From: Randolph Sapp <rs@ti.com>
> 
> Add initial board support for the PocketBeagle 2, based on Robert Nelson
> and Bryan Brattlof's work. Unify all debug consoles to main_uart6. Use
> DDR config v10.32 from our sysconfig tool [1] for Kingston's memory [2],
> (4Gb Desnity with a CL of 11 and CWL of 9). Add support for the
> SPL_TEXT_BASE config parameter. Ensure all files have a summary and SPDX
> identifier.
> 
> Also, use board_get_usable_ram_top() to fixup our relocaddr since
> otherwise the u-boot stack reservation will collide with the
> wkup_r5fss0_core0_memory_region.
> 
> [1] https://dev.ti.com/sysconfig
> [2] https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/6465/D2516AN9EXGXN-TU.pdf
> 
> Signed-off-by: Randolph Sapp <rs@ti.com>
> ---
> v3:
> 	- Use board_get_usable_ram_top
> ---
>   arch/arm/dts/Makefile                         |   1 +
>   ...> k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} |  92 +++---
>   ...dtsi => k3-am62-pocketbeagle2-u-boot.dtsi} | 160 ++++++----
>   arch/arm/dts/k3-am62-r5-pocketbeagle2.dts     |  35 +++
>   arch/arm/mach-k3/am62x/Kconfig                |   1 +
>   board/beagle/pocketbeagle2/Kconfig            |  60 ++++
>   board/beagle/pocketbeagle2/MAINTAINERS        |  10 +
>   board/beagle/pocketbeagle2/Makefile           |   9 +
>   .../board-cfg.yaml                            |   0
>   .../{beagleplay => pocketbeagle2}/pm-cfg.yaml |   0
>   board/beagle/pocketbeagle2/pocketbeagle2.c    |  58 ++++
>   .../pocketbeagle2/pocketbeagle2.env}          |  20 +-
>   .../pocketbeagle2}/rm-cfg.yaml                |   4 +-
>   .../sec-cfg.yaml                              |   0
>   ...onfig => am62_pocketbeagle2_a53_defconfig} |  24 +-
>   ...config => am62_pocketbeagle2_r5_defconfig} |  11 +-
>   doc/board/beagle/am62_pocketbeagle2.rst       | 279 ++++++++++++++++++
>   doc/board/beagle/index.rst                    |   1 +
>   .../configs/{beagley_ai.h => pocketbeagle2.h} |   8 +-
>   19 files changed, 636 insertions(+), 137 deletions(-)
>   copy arch/arm/dts/{k3-am62x-sk-ddr4-1600MTs.dtsi => k3-am62-pocketbeagle2-ddr4-1600MTs.dtsi} (97%)
>   copy arch/arm/dts/{k3-am67a-beagley-ai-u-boot.dtsi => k3-am62-pocketbeagle2-u-boot.dtsi} (53%)


Beagley-AI and PocketBeagle2 are completely different boards, any similarity
between the DTSI files is coincidental. Why is git thinking 53% is enough
similarity to consider this a copy, making the diff mostly nonsense?
See if you can adjust your format-patch params to fix this.


>   create mode 100644 arch/arm/dts/k3-am62-r5-pocketbeagle2.dts
>   create mode 100644 board/beagle/pocketbeagle2/Kconfig
>   create mode 100644 board/beagle/pocketbeagle2/MAINTAINERS
>   create mode 100644 board/beagle/pocketbeagle2/Makefile
>   copy board/beagle/{beagleplay => pocketbeagle2}/board-cfg.yaml (100%)
>   copy board/beagle/{beagleplay => pocketbeagle2}/pm-cfg.yaml (100%)
>   create mode 100644 board/beagle/pocketbeagle2/pocketbeagle2.c
>   copy board/{ti/am62x/am62x.env => beagle/pocketbeagle2/pocketbeagle2.env} (64%)
>   copy board/{phytec/phycore_am62x => beagle/pocketbeagle2}/rm-cfg.yaml (99%)
>   copy board/beagle/{beagleplay => pocketbeagle2}/sec-cfg.yaml (100%)
>   copy configs/{am62x_beagleplay_a53_defconfig => am62_pocketbeagle2_a53_defconfig} (87%)
>   copy configs/{am62x_beagleplay_r5_defconfig => am62_pocketbeagle2_r5_defconfig} (89%)
>   create mode 100644 doc/board/beagle/am62_pocketbeagle2.rst
>   copy include/configs/{beagley_ai.h => pocketbeagle2.h} (57%)
> 

Same here.

Andrew


^ permalink raw reply	[flat|nested] 6+ messages in thread

end of thread, other threads:[~2026-07-29 19:51 UTC | newest]

Thread overview: 6+ messages (download: mbox.gz follow: Atom feed
-- links below jump to the message on this page --
2026-07-20 20:16 [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support Randolph Sapp via U-Boot
2026-07-20 20:16 ` [PATCHv4 1/3] arm: mach-k3: am62: add &main_uart6 to clock and pwr tree Randolph Sapp via U-Boot
2026-07-20 20:16 ` [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support Randolph Sapp via U-Boot
2026-07-20 20:16 ` [PATCHv4 3/3] k3-am62-pocketbeagle2: add support for efi capsules Randolph Sapp via U-Boot
  -- strict thread matches above, loose matches on Subject: below --
2026-07-29 19:32 [PATCHv4 0/3] k3-am62-pocketbeagle2: add board and variant support rs
2026-07-29 19:32 ` [PATCHv4 2/3] k3-am62-pocketbeagle2: add initial board support rs
2026-07-29 19:50   ` Andrew Davis

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