diff --git a/arch/arm/boot/dts/Makefile b/arch/arm/boot/dts/Makefile
index 9ae8af0c1459..81ecaa32df07 100644
--- a/arch/arm/boot/dts/Makefile
+++ b/arch/arm/boot/dts/Makefile
@@ -739,6 +739,7 @@ dtb-$(CONFIG_SOC_IMX6UL) += \
 	imx6ull-colibri-wifi-eval-v3.dtb \
 	imx6ull-colibri-wifi-iris.dtb \
 	imx6ull-colibri-wifi-iris-v2.dtb \
+	imx6ull-dhcom-drc02.dtb \
 	imx6ull-dhcom-pdk2.dtb \
 	imx6ull-dhcom-picoitx.dtb \
 	imx6ull-jozacp.dtb \
diff --git a/arch/arm/boot/dts/imx6ull-dhcom-drc02.dts b/arch/arm/boot/dts/imx6ull-dhcom-drc02.dts
new file mode 100644
index 000000000000..268e4de6be7d
--- /dev/null
+++ b/arch/arm/boot/dts/imx6ull-dhcom-drc02.dts
@@ -0,0 +1,144 @@
+// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+/*
+ * Copyright (C) 2022 DH electronics GmbH
+ *
+ * DHCOM iMX6ULL variant:
+ * DHCM-iMX6ULL-C080-R051-F0409-SPI-E2-CAN2-SD-RTC-ADC-I-01D2
+ * DHCOR PCB number: 578-200 or newer
+ * DHCOM PCB number: 579-200 or newer
+ * DRC02 PCB number: 568-100 or newer (2nd ethernet by internal USB device)
+ */
+/dts-v1/;
+
+#include "imx6ull-dhcom-som.dtsi"
+#include "imx6ull-dhcom-som-cfg-sdcard.dtsi"
+
+/ {
+	model = "DH electronics i.MX6ULL DHCOM on DRC02";
+	compatible = "dh,imx6ull-dhcom-drc02", "dh,imx6ull-dhcom-som",
+		     "dh,imx6ull-dhcor-som", "fsl,imx6ull";
+};
+
+/*
+ * The signals for CAN2 TX and RX are routed to the DHCOM UART1 RTS/CTS pins.
+ * Therefore the UART RTS/CTS must be output on other DHCOM pins, see uart1
+ * node below.
+ */
+&can2 {
+	status = "okay";
+};
+
+&fec1 {
+	phy-handle = <&mdio1_phy0>;
+
+	mdio {
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		mdio1_phy0: ethernet-phy@0 { /* SMSC LAN8710Ai */
+			clock-names = "rmii-ref";
+			clocks = <&clks IMX6UL_CLK_ENET_REF>;
+			compatible = "ethernet-phy-id0007.c0f0",
+				     "ethernet-phy-ieee802.3-c22";
+			interrupt-parent = <&gpio5>;
+			interrupts = <5 IRQ_TYPE_LEVEL_LOW>;
+			pinctrl-0 = <&pinctrl_fec1_phy &pinctrl_snvs_fec1_phy>;
+			pinctrl-names = "default";
+			reg = <0>;
+			reset-assert-us = <500>;
+			reset-deassert-us = <500>;
+			reset-gpios = <&gpio3 23 GPIO_ACTIVE_LOW>;
+			smsc,disable-energy-detect; /* Make plugin detection reliable */
+		};
+	};
+};
+
+/* Disabled, because 2nd ethernet is provided by an internal USB device */
+&fec2 {
+	status = "disabled";
+};
+
+&gpio1 {
+	gpio-line-names =
+		"", "", "", "",
+		"", "", "", "",
+		"", "", "", "DRC02-In2",
+		"", "", "", "",
+		"", "", "DHCOM-I", "",
+		"", "", "", "",
+		"", "", "", "",
+		"", "", "", "";
+};
+
+&gpio4 {
+	gpio-line-names =
+		"", "", "", "",
+		"", "", "", "",
+		"", "", "", "",
+		"", "", "", "",
+		"", "DRC02-HW0", "DRC02-HW1", "DHCOM-M",
+		"DRC02-HW2", "DHCOM-U", "DHCOM-T", "DHCOM-S",
+		"DHCOM-R", "DHCOM-Q", "DHCOM-P", "DHCOM-O",
+		"DHCOM-N", "", "", "";
+	/*
+	 * NOTE: On DRC02, the RS485_RX_En is controlled by a separate
+	 * GPIO line, however the i.MX6ULL UART driver assumes RX happens
+	 * during TX anyway and that it only controls drive enable DE
+	 * line. Hence, the RX is always enabled here.
+	 */
+	rs485-rx-en-hog {
+		gpio-hog;
+		gpios = <25 0>; /* GPIO Q */
+		line-name = "rs485-rx-en";
+		output-low;
+	};
+};
+
+&gpio5 {
+	gpio-line-names =
+		"DHCOM-A", "DHCOM-B", "DHCOM-C", "DRC02-Out2",
+		"DHCOM-E", "", "", "DRC02-Out1",
+		"DRC02-In1", "DHCOM-H", "", "",
+		"", "", "", "",
+		"", "", "", "",
+		"", "", "", "",
+		"", "", "", "",
+		"", "", "", "";
+};
+
+&i2c1 { /* DHCOM I2C2 */
+	eeprom@56 {
+		compatible = "atmel,24c04";
+		pagesize = <16>;
+		reg = <0x56>;
+	};
+};
+
+&uart1 {
+	/delete-property/ uart-has-rtscts;
+	rts-gpios = <&gpio1 18 GPIO_ACTIVE_HIGH>; /* GPIO I */
+	cts-gpios = <&gpio4 19 GPIO_ACTIVE_HIGH>; /* GPIO M */
+};
+
+&uart2 { /* Use UART as RS485 */
+	/delete-property/ uart-has-rtscts;
+	linux,rs485-enabled-at-boot-time;
+	rts-gpios = <&gpio4 26 GPIO_ACTIVE_HIGH>; /* GPIO P */
+};
+
+&iomuxc {
+	pinctrl_fec1: fec1-grp {
+		fsl,pins = <
+			MX6UL_PAD_GPIO1_IO07__ENET1_MDC		0x1b0b0
+			MX6UL_PAD_GPIO1_IO06__ENET1_MDIO	0x1b0b0
+			MX6UL_PAD_ENET1_RX_EN__ENET1_RX_EN	0x1b0b0
+			MX6UL_PAD_ENET1_RX_ER__ENET1_RX_ER	0x1b0b0
+			MX6UL_PAD_ENET1_RX_DATA0__ENET1_RDATA00	0x1b0b0
+			MX6UL_PAD_ENET1_RX_DATA1__ENET1_RDATA01	0x1b0b0
+			MX6UL_PAD_ENET1_TX_EN__ENET1_TX_EN	0x1b010
+			MX6UL_PAD_ENET1_TX_DATA0__ENET1_TDATA00	0x1b010
+			MX6UL_PAD_ENET1_TX_DATA1__ENET1_TDATA01	0x1b010
+			MX6UL_PAD_ENET1_TX_CLK__ENET1_REF_CLK1	0x4001b010
+		>;
+	};
+};
