PocketBeagle 2

Board Overview

PocketBeagle 2

Name:

pocketbeagle_2

Vendor:

BeagleBoard.org Foundation

Architecture:

arm64, arm

SoC:

mspm0l1105, am6232

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Overview

PocketBeagle 2 is a computational platform powered by TI AM62x SoC (there are two revisions, AM6232 and AM6254).

See the PocketBeagle 2 Product Page for details.

Hardware

PocketBeagle 2 features the TI AM62x SoC based around an Arm Cortex-A53 multicore cluster with an Arm Cortex-M4F microcontroller, Imagination Technologies AXE-1-16 graphics processor (from revision A1) and TI programmable real-time unit subsystem microcontroller cluster coprocessors.

Additionally, PocketBeagle 2 also contains an MSPM0L1105 SoC which serves as EEPROM and ADC.

Zephyr is enabled to run on:

• Arm Cortex-A53 cores on AM62x,

• Arm Cortex-M4F core on AM62x, and

• Arm Cortex-M0+ core on MSPM0L1105.

The following listed hardware specifications are used:

• Dual ARM Cortex-A53 cores

• Low-power ARM Cortex-M4F

• Memory

  • 256KB of SRAM

  • 512MB of DDR4

Currently supported PocketBeagle 2 revisions:

• A0: Comes wth SOC AM6232

Supported Features

The pocketbeagle_2 board supports the hardware features listed below.

on-chip / on-board

Feature integrated in the SoC / present on the board.

2 / 2

Number of instances that are enabled / disabled.
Click on the label to see the first instance of this feature in the board/SoC DTS files.

vnd,foo

Compatible string for the Devicetree binding matching the feature.
Click on the link to view the binding documentation.

pocketbeagle_2@A0/am6232/a53 target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-A53 CPU2	arm,cortex-a53
GPIO & Headers	on-chip	GPIO Controller for Davinci and Keystone devices1 1	ti,davinci-gpio
I2C	on-chip	TI OMAP I2C Controller1 3	ti,omap-i2c
Interrupt controller	on-chip	ARM Generic Interrupt Controller v31	arm,gic-v3
LED	on-board	Group of GPIO-controlled LEDs1	gpio-leds
Mailbox	on-chip	TI OMAP MAILBOX1	ti,omap-mailbox
Pin control	on-chip	TI K3 Pin Controller1	ti,k3-pinctrl
Serial controller	on-chip	ns16550 UART1 6	ns16550
Timer	on-chip	per-core ARM architected timer1	arm,armv8-timer

pocketbeagle_2@A0/am6232/m4 target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M4F CPU1	arm,cortex-m4f
Clock control	on-chip	Generic fixed-rate clock provider1	fixed-clock
GPIO & Headers	on-chip	GPIO Controller for Davinci and Keystone devices1	ti,davinci-gpio
I2C	on-chip	TI OMAP I2C Controller1	ti,omap-i2c
Interrupt controller	on-chip	ARMv7-M NVIC (Nested Vectored Interrupt Controller)1	arm,v7m-nvic
Mailbox	on-chip	TI OMAP MAILBOX1	ti,omap-mailbox
Pin control	on-chip	TI K3 Pin Controller1	ti,k3-pinctrl
Serial controller	on-chip	ns16550 UART1 7	ns16550
SRAM	on-chip	Generic on-chip SRAM3	mmio-sram
Timer	on-chip	ARMv7-M System Tick1	arm,armv7m-systick
Watchdog	on-chip	K3 Watchdog timer (RTI module) available in the K3 generation of processors1	ti,j7-rti-wdt

pocketbeagle_2@A0/mspm0l1105 target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M0+ CPU1	arm,cortex-m0+
Clock control	on-chip	TI MSPM0 Clock5 2	ti,mspm0-clk
	on-chip	TI MSPM0 oscillator2 2	ti,mspm0-osc
GPIO & Headers	on-chip	TI MSPM0 GPIO3	ti,mspm0-gpio
Interrupt controller	on-chip	ARMv6-M NVIC (Nested Vectored Interrupt Controller) controller1	arm,v6m-nvic
Pin control	on-chip	TI MSPM0 pinctrl node1	ti,mspm0-pinctrl
RTC	on-chip	Texas Instruments MSPM0 RTC Driver1	ti,mspm0-rtc
Serial controller	on-chip	TI MSPM0 UART1	ti,mspm0-uart
SRAM	on-chip	Generic on-chip SRAM1	mmio-sram
Timer	on-chip	ARMv6-M System Tick1	arm,armv6m-systick

Devices

System Clock

This board configuration uses a system clock frequency of 400 MHz.

DDR RAM

The board has 512MB of DDR RAM available. This board configuration allocates Zephyr 4kB of RAM (only for resource table: 0x9CC00000 to 0x9CC00400).

Serial Port

A53 Cores

This board configuration uses single serial communication channel with the MAIN domain UART (MAIN_UART6, i.e. debug port).

M4F Core

This board configuration uses a single serial communication channel with the MCU domain UART (MCU_UART0, i.e. P2.05 as RX and P2.07 as TX).

SD Card

A53 Cores

Download BeagleBoard.org’s official BeagleBoard Imaging Utility to create bootable SD-card with the Zephyr image. Optionally, the Zephyr SD Card images can be downloaded from bb-zephyr-images.

M4F Core

Download BeagleBoard.org’s official BeagleBoard Imaging Utility to create bootable SD-card with the Linux distro image. This will boot Linux on the A53 application cores. These cores will then load the Zephyr binary on the M4 core using remoteproc.

MSPM0L1105

Download BeagleBoard.org’s official BeagleBoard Imaging Utility to create bootable SD-card with the Linux distro image. This will boot Linux on the A53 application cores. We can then flash MSPM0L1105 firmware from Linux using BSL over I2C. The BeagleBoard.org distro images ship with a driver that supports Firmware Upload API for MSPM0L1105.

Flashing

A53 Core

The testing requires the binary to be copied to the BOOT partition in SD card.

To test the A53 core, we build the Hello World sample with the following command.

# From the root of the zephyr repository
west build -b pocketbeagle_2/am6232/a53 samples/hello_world

We now copy this binary onto the SD card in the /boot/ directory and name it as zephyr.bin.

# Mount the SD card at sdcard for example
sudo mount /dev/sdX sdcard
# copy the bin to the /boot/
sudo cp --remove-destination zephyr.bin sdcard/boot/zephyr.bin

The SD card can now be used for booting.

The binary will run and print Hello world to the debug port.

M4F Core

The board supports remoteproc using the OpenAMP resource table.

The testing requires the binary to be copied to the SD card to allow the A53 cores to load it while booting using remoteproc.

To test the M4F core, we build the Hello World sample with the following command.

# From the root of the zephyr repository
west build -b pocketbeagle_2/am6232/m4 samples/hello_world

This builds the program and the binary is present in the build/zephyr directory as zephyr.elf.

We now copy this binary onto the SD card in the /lib/firmware directory and name it as am62-mcu-m4f0_0-fw.

# Mount the SD card at sdcard for example
sudo mount /dev/sdX sdcard
# copy the elf to the /lib/firmware directory
sudo cp --remove-destination zephyr.elf sdcard/lib/firmware/am62-mcu-m4f0_0-fw

The SD card can now be used for booting. The binary will now be loaded onto the M4F core on boot.

The binary will run and print Hello world to the MCU_UART0 port.

MSPM0L1105

Note

On PocketBeagle 2 MSPM0L1105 is used as EEPROM and ADC. So flashing any custom firmware will break this functionality.

Note

Flashing new firmware will also clear the EEPROM contents. So please make backup of EEPROM data before attempting to flash firmware to MSPM0L1105.

To test the A53 cores, we build the Minimal footprint sample with the following command.

# From the root of the zephyr repository
west build -b pocketbeagle_2/mspm0l1105 samples/basic/minimal

This builds the program and the binary is present in the build/zephyr directory as zephyr.bin.

We now flash this binary using FW Upload API.

echo 1 > /sys/class/firmware/mspm0l1105/loading
dd if=zephyr.bin of=/sys/class/firmware/mspm0l1105/data
echo 0 > /sys/class/firmware/mspm0l1105/loading

Debugging

M4F Core

The board supports debugging M4 core from the A53 cores running Linux. Since the target needs superuser privilege, openocd needs to be launched separately for now:

sudo openocd -f board/ti_am625_swd_native.cfg

Start debugging

west build -b pocketbeagle_2/am6232/m4
west debug

References

• PocketBeagle 2 Product Page

• Documentation