diff --git a/arch/arm/boot/dts/Makefile b/arch/arm/boot/dts/Makefile
index 7e2424957809..5a09ff15743b 100644
--- a/arch/arm/boot/dts/Makefile
+++ b/arch/arm/boot/dts/Makefile
@@ -688,6 +688,7 @@ dtb-$(CONFIG_SOC_AM33XX) += \
 	am335x-pdu001.dtb \
 	am335x-pepper.dtb \
 	am335x-phycore-rdk.dtb \
+	am335x-pocketbeagle.dtb \
 	am335x-shc.dtb \
 	am335x-sbc-t335.dtb \
 	am335x-sl50.dtb \
diff --git a/arch/arm/boot/dts/am335x-osd335x-common.dtsi b/arch/arm/boot/dts/am335x-osd335x-common.dtsi
new file mode 100644
index 000000000000..d2150d207b7a
--- /dev/null
+++ b/arch/arm/boot/dts/am335x-osd335x-common.dtsi
@@ -0,0 +1,124 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2012 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ * Author: Robert Nelson <robertcnelson@gmail.com>
+ */
+
+/ {
+	cpus {
+		cpu@0 {
+			cpu0-supply = <&dcdc2_reg>;
+		};
+	};
+
+	memory@80000000 {
+		device_type = "memory";
+		reg = <0x80000000 0x20000000>; /* 512 MB */
+	};
+};
+
+&cpu0_opp_table {
+	/*
+	* Octavo Systems:
+	* The EFUSE_SMA register is not programmed for any of the AM335x wafers
+	* we get and we are not programming them during our production test.
+	* Therefore, from a DEVICE_ID revision point of view, the silicon looks
+	* like it is Revision 2.1.  However, from an EFUSE_SMA point of view for
+	* the HW OPP table, the silicon looks like it is Revision 1.0 (ie the 
+	* EFUSE_SMA register reads as all zeros).
+	*/
+	oppnitro-1000000000 {
+		opp-supported-hw = <0x06 0x0100>;
+	};
+};
+
+&am33xx_pinmux {
+	i2c0_pins: pinmux-i2c0-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x988, PIN_INPUT_PULLUP | MUX_MODE0)	/* (C17) I2C0_SDA.I2C0_SDA */
+			AM33XX_IOPAD(0x98c, PIN_INPUT_PULLUP | MUX_MODE0)	/* (C16) I2C0_SCL.I2C0_SCL */
+		>;
+	};
+};
+
+&i2c0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2c0_pins>;
+
+	status = "okay";
+	clock-frequency = <400000>;
+
+	tps: tps@24 {
+		reg = <0x24>;
+	};
+};
+
+/include/ "tps65217.dtsi"
+
+&tps {
+	interrupts = <7>; /* NMI */
+	interrupt-parent = <&intc>;
+
+	ti,pmic-shutdown-controller;
+
+	pwrbutton {
+		interrupts = <2>;
+		status = "okay";
+	};
+
+	regulators {
+		dcdc1_reg: regulator@0 {
+			regulator-name = "vdds_dpr";
+			regulator-always-on;
+		};
+
+		dcdc2_reg: regulator@1 {
+			/* VDD_MPU voltage limits 0.95V - 1.26V with +/-4% tolerance */
+			regulator-name = "vdd_mpu";
+			regulator-min-microvolt = <925000>;
+			regulator-max-microvolt = <1351500>;
+			regulator-boot-on;
+			regulator-always-on;
+		};
+
+		dcdc3_reg: regulator@2 {
+			/* VDD_CORE voltage limits 0.95V - 1.1V with +/-4% tolerance */
+			regulator-name = "vdd_core";
+			regulator-min-microvolt = <925000>;
+			regulator-max-microvolt = <1150000>;
+			regulator-boot-on;
+			regulator-always-on;
+		};
+
+		ldo1_reg: regulator@3 {
+			regulator-name = "vio,vrtc,vdds";
+			regulator-always-on;
+		};
+
+		ldo2_reg: regulator@4 {
+			regulator-name = "vdd_3v3aux";
+			regulator-always-on;
+		};
+
+		ldo3_reg: regulator@5 {
+			regulator-name = "vdd_1v8";
+			regulator-min-microvolt = <1800000>;
+			regulator-max-microvolt = <1800000>;
+			regulator-always-on;
+		};
+
+		ldo4_reg: regulator@6 {
+			regulator-name = "vdd_3v3a";
+			regulator-always-on;
+		};
+	};
+};
+
+&aes {
+	status = "okay";
+};
+
+&sham {
+	status = "okay";
+};
diff --git a/arch/arm/boot/dts/am335x-pocketbeagle.dts b/arch/arm/boot/dts/am335x-pocketbeagle.dts
new file mode 100644
index 000000000000..62fe5cab9fae
--- /dev/null
+++ b/arch/arm/boot/dts/am335x-pocketbeagle.dts
@@ -0,0 +1,237 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2012 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ * Author: Robert Nelson <robertcnelson@gmail.com>
+ */
+/dts-v1/;
+
+#include "am33xx.dtsi"
+#include "am335x-osd335x-common.dtsi"
+
+/ {
+	model = "TI AM335x PocketBeagle";
+	compatible = "ti,am335x-pocketbeagle", "ti,am335x-bone", "ti,am33xx";
+
+	chosen {
+		stdout-path = &uart0;
+	};
+
+	leds {
+		pinctrl-names = "default";
+		pinctrl-0 = <&usr_leds_pins>;
+
+		compatible = "gpio-leds";
+
+		usr0 {
+			label = "beaglebone:green:usr0";
+			gpios = <&gpio1 21 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "heartbeat";
+			default-state = "off";
+		};
+
+		usr1 {
+			label = "beaglebone:green:usr1";
+			gpios = <&gpio1 22 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "mmc0";
+			default-state = "off";
+		};
+
+		usr2 {
+			label = "beaglebone:green:usr2";
+			gpios = <&gpio1 23 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "cpu0";
+			default-state = "off";
+		};
+
+		usr3 {
+			label = "beaglebone:green:usr3";
+			gpios = <&gpio1 24 GPIO_ACTIVE_HIGH>;
+			default-state = "off";
+		};
+	};
+
+	vmmcsd_fixed: fixedregulator0 {
+		compatible = "regulator-fixed";
+		regulator-name = "vmmcsd_fixed";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+	};
+};
+
+&am33xx_pinmux {
+	i2c2_pins: pinmux-i2c2-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x97c, PIN_INPUT_PULLUP | MUX_MODE3)	/* (D17) uart1_rtsn.I2C2_SCL */
+			AM33XX_IOPAD(0x978, PIN_INPUT_PULLUP | MUX_MODE3)	/* (D18) uart1_ctsn.I2C2_SDA */
+		>;
+	};
+
+	ehrpwm0_pins: pinmux-ehrpwm0-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x990, PIN_OUTPUT_PULLDOWN | MUX_MODE1)	/* (A13) mcasp0_aclkx.ehrpwm0A */
+		>;
+	};
+
+	ehrpwm1_pins: pinmux-ehrpwm1-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x848, PIN_OUTPUT_PULLDOWN | MUX_MODE6)	/* (U14) gpmc_a2.ehrpwm1A */
+		>;
+	};
+
+	mmc0_pins: pinmux-mmc0-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x960, PIN_INPUT | MUX_MODE7)		/* (C15) spi0_cs1.gpio0[6] */
+			AM33XX_IOPAD(0x8fc, PIN_INPUT_PULLUP | MUX_MODE0)	/* (G16) mmc0_dat0.mmc0_dat0 */
+			AM33XX_IOPAD(0x8f8, PIN_INPUT_PULLUP | MUX_MODE0)	/* (G15) mmc0_dat1.mmc0_dat1 */
+			AM33XX_IOPAD(0x8f4, PIN_INPUT_PULLUP | MUX_MODE0)	/* (F18) mmc0_dat2.mmc0_dat2 */
+			AM33XX_IOPAD(0x8f0, PIN_INPUT_PULLUP | MUX_MODE0)	/* (F17) mmc0_dat3.mmc0_dat3 */
+			AM33XX_IOPAD(0x904, PIN_INPUT_PULLUP | MUX_MODE0)	/* (G18) mmc0_cmd.mmc0_cmd */
+			AM33XX_IOPAD(0x900, PIN_INPUT_PULLUP | MUX_MODE0)	/* (G17) mmc0_clk.mmc0_clk */
+			AM33XX_IOPAD(0x9a0, PIN_INPUT | MUX_MODE4)		/* (B12) mcasp0_aclkr.mmc0_sdwp */
+		>;
+	};
+
+	spi0_pins: pinmux-spi0-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x950, PIN_INPUT_PULLUP | MUX_MODE0)	/* (A17) spi0_sclk.spi0_sclk */
+			AM33XX_IOPAD(0x954, PIN_INPUT_PULLUP | MUX_MODE0)	/* (B17) spi0_d0.spi0_d0 */
+			AM33XX_IOPAD(0x958, PIN_INPUT_PULLUP | MUX_MODE0)	/* (B16) spi0_d1.spi0_d1 */
+			AM33XX_IOPAD(0x95c, PIN_INPUT_PULLUP | MUX_MODE0)	/* (A16) spi0_cs0.spi0_cs0 */
+		>;
+	};
+
+	spi1_pins: pinmux-spi1-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x964, PIN_INPUT_PULLUP | MUX_MODE4)	/* (C18) eCAP0_in_PWM0_out.spi1_sclk */
+			AM33XX_IOPAD(0x968, PIN_INPUT_PULLUP | MUX_MODE4)	/* (E18) uart0_ctsn.spi1_d0 */
+			AM33XX_IOPAD(0x96c, PIN_INPUT_PULLUP | MUX_MODE4)	/* (E17) uart0_rtsn.spi1_d1 */
+			AM33XX_IOPAD(0x9b0, PIN_INPUT_PULLUP | MUX_MODE4)	/* (A15) xdma_event_intr0.spi1_cs1 */
+		>;
+	};
+
+	usr_leds_pins: pinmux-usr-leds-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x854, PIN_OUTPUT | MUX_MODE7)		/* (V15) gpmc_a5.gpio1[21] - USR_LED_0 */
+			AM33XX_IOPAD(0x858, PIN_OUTPUT | MUX_MODE7)		/* (U15) gpmc_a6.gpio1[22] - USR_LED_1 */
+			AM33XX_IOPAD(0x85c, PIN_OUTPUT | MUX_MODE7)		/* (T15) gpmc_a7.gpio1[23] - USR_LED_2 */
+			AM33XX_IOPAD(0x860, PIN_OUTPUT | MUX_MODE7)		/* (V16) gpmc_a8.gpio1[24] - USR_LED_3 */
+		>;
+	};
+
+	uart0_pins: pinmux-uart0-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x970, PIN_INPUT_PULLUP | MUX_MODE0)	/* (E15) uart0_rxd.uart0_rxd */
+			AM33XX_IOPAD(0x974, PIN_OUTPUT_PULLDOWN | MUX_MODE0)	/* (E16) uart0_txd.uart0_txd */
+		>;
+	};
+
+	uart4_pins: pinmux-uart4-pins {
+		pinctrl-single,pins = <
+			AM33XX_IOPAD(0x870, PIN_INPUT_PULLUP | MUX_MODE6)	/* (T17) gpmc_wait0.uart4_rxd */
+			AM33XX_IOPAD(0x874, PIN_OUTPUT_PULLDOWN | MUX_MODE6)	/* (U17) gpmc_wpn.uart4_txd */
+		>;
+	};
+};
+
+&epwmss0 {
+	status = "okay";
+};
+
+&ehrpwm0 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&ehrpwm0_pins>;
+};
+
+&epwmss1 {
+	status = "okay";
+};
+
+&ehrpwm1 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&ehrpwm1_pins>;
+};
+
+&i2c0 {
+	eeprom: eeprom@50 {
+		compatible = "atmel,24c256";
+		reg = <0x50>;
+	};
+};
+
+&i2c2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2c2_pins>;
+
+	status = "okay";
+	clock-frequency = <400000>;
+};
+
+&mmc1 {
+	status = "okay";
+	vmmc-supply = <&vmmcsd_fixed>;
+	bus-width = <4>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&mmc0_pins>;
+	cd-gpios = <&gpio0 6 GPIO_ACTIVE_LOW>;
+};
+
+&rtc {
+	system-power-controller;
+};
+
+&tscadc {
+	status = "okay";
+	adc {
+		ti,adc-channels = <0 1 2 3 4 5 6 7>;
+		ti,chan-step-avg = <16 16 16 16 16 16 16 16>;
+		ti,chan-step-opendelay = <0x98 0x98 0x98 0x98 0x98 0x98 0x98 0x98>;
+		ti,chan-step-sampledelay = <0x0 0x0 0x0 0x0 0x0 0x0 0x0 0x0>;
+	};
+};
+
+&uart0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart0_pins>;
+
+	status = "okay";
+};
+
+&uart4 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart4_pins>;
+
+	status = "okay";
+};
+
+&usb {
+	status = "okay";
+};
+
+&usb_ctrl_mod {
+	status = "okay";
+};
+
+&usb0_phy {
+	status = "okay";
+};
+
+&usb0 {
+	status = "okay";
+	dr_mode = "otg";
+};
+
+&usb1_phy {
+	status = "okay";
+};
+
+&usb1 {
+	status = "okay";
+	dr_mode = "host";
+};
+
+&cppi41dma  {
+	status = "okay";
+};
