boards: Add support for DFRobot Beetle RP2350

Tested with the commands mentioned in index.rst

Product photo from
https://www.dfrobot.com/product-2913.html

Signed-off-by: Jonas Berg <jonas.s.t.berg@gmail.com>

boards/dfrobot/beetle_rp2350/Kconfig.beetle_rp2350

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+# Copyright (c) 2026 Jonas Berg
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_BEETLE_RP2350
+	select SOC_RP2350A_HAZARD3 if BOARD_BEETLE_RP2350_RP2350A_HAZARD3
+	select SOC_RP2350A_M33 if BOARD_BEETLE_RP2350_RP2350A_M33

boards/dfrobot/beetle_rp2350/Kconfig.defconfig

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+# Copyright (c) 2025 Stephano Cetola
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_BEETLE_RP2350
+
+config USB_SELF_POWERED
+	default n
+
+endif # BOARD_BEETLE_RP2350

boards/dfrobot/beetle_rp2350/beetle_rp2350-pinctrl.dtsi

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+/*
+ * Copyright (c) 2026 Jonas Berg
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2350a-pinctrl.h>
+
+&pinctrl {
+	adc_default: adc_default {
+		group1 {
+			pinmux = <ADC_CH0_P26>, <ADC_CH1_P27>;
+			input-enable;
+		};
+	};
+
+	i2c0_default: i2c0_default {
+		group1 {
+			pinmux = <I2C0_SDA_P4>, <I2C0_SCL_P5>;
+			input-enable;
+		};
+	};
+
+	spi0_default: spi0_default {
+		group1 {
+			pinmux = <SPI0_TX_P19>, <SPI0_SCK_P18>;
+		};
+
+		group2 {
+			pinmux = <SPI0_RX_P16>;
+			input-enable;
+		};
+	};
+
+	uart0_default: uart0_default {
+		group1 {
+			pinmux = <UART0_TX_P0>;
+		};
+
+		group2 {
+			pinmux = <UART0_RX_P1>;
+			input-enable;
+		};
+	};
+};

boards/dfrobot/beetle_rp2350/beetle_rp2350.dtsi

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+/*
+ * Copyright (c) 2025 Stephano Cetola
+ * Copyright (c) 2026 Jonas Berg
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <freq.h>
+
+#include <zephyr/dt-bindings/i2c/i2c.h>
+#include <zephyr/dt-bindings/input/input-event-codes.h>
+#include <zephyr/dt-bindings/led/led.h>
+#include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2350a-pinctrl.h>
+#include "beetle_rp2350-pinctrl.dtsi"
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+	};
+
+	aliases {
+		led0 = &red_led;
+		watchdog0 = &wdt0;
+	};
+
+	zephyr,user {
+		io-channels = <&adc 0>, <&adc 1>, <&adc 2>, <&adc 3>;
+	};
+
+	leds: leds {
+		compatible = "gpio-leds";
+
+		red_led: red_led {
+			gpios = <&gpio0 25 GPIO_ACTIVE_HIGH>;
+			label = "User LED";
+		};
+	};
+};
+
+&flash0 {
+	reg = <0x10000000 DT_SIZE_M(2)>;
+};
+
+&gpio0 {
+	status = "okay";
+};
+
+&uart0 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&uart0_default>;
+	pinctrl-names = "default";
+};
+
+&i2c0 {
+	status = "okay";
+	pinctrl-0 = <&i2c0_default>;
+	pinctrl-names = "default";
+	clock-frequency = <I2C_BITRATE_STANDARD>;
+};
+
+&spi0 {
+	pinctrl-0 = <&spi0_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&adc {
+	status = "okay";
+	pinctrl-0 = <&adc_default>;
+	pinctrl-names = "default";
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	channel@0 {
+		reg = <0>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+
+	channel@1 {
+		reg = <1>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+
+	channel@2 {
+		reg = <2>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+
+	channel@3 {
+		reg = <3>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};
+
+&timer0 {
+	status = "okay";
+};
+
+&wdt0 {
+	status = "okay";
+};
+
+zephyr_udc0: &usbd {
+	status = "okay";
+};

boards/dfrobot/beetle_rp2350/beetle_rp2350_rp2350a_hazard3.dts

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+/*
+ * Copyright (c) 2026 Jonas Berg
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <raspberrypi/rpi_pico/rp2350a.dtsi>
+#include <riscv/raspberrypi/hazard3.dtsi>
+
+#include "beetle_rp2350.dtsi"

boards/dfrobot/beetle_rp2350/beetle_rp2350_rp2350a_hazard3.yaml

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+identifier: beetle_rp2350/rp2350a/hazard3
+name: DFRobot Beetle RP2350 (Hazard3)
+type: mcu
+arch: riscv
+flash: 2048
+ram: 520
+toolchain:
+  - zephyr
+supported:
+  - adc
+  - clock
+  - counter
+  - dma
+  - flash
+  - gpio
+  - hwinfo
+  - i2c
+  - pwm
+  - spi
+  - uart
+  - usbd
+  - watchdog

boards/dfrobot/beetle_rp2350/beetle_rp2350_rp2350a_hazard3_defconfig

@@ -0,0 +1,13 @@
+# Copyright (c) 2026 Jonas Berg
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_BUILD_OUTPUT_HEX=y
+CONFIG_BUILD_OUTPUT_UF2=y
+CONFIG_CLOCK_CONTROL=y
+CONFIG_CONSOLE=y
+CONFIG_GPIO=y
+CONFIG_RESET=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_USE_DT_CODE_PARTITION=y

boards/dfrobot/beetle_rp2350/beetle_rp2350_rp2350a_m33.dts

@@ -0,0 +1,12 @@
+/*
+ * Copyright (c) 2026 Jonas Berg
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <raspberrypi/rpi_pico/rp2350a.dtsi>
+#include <raspberrypi/rpi_pico/m33.dtsi>
+
+#include "beetle_rp2350.dtsi"

boards/dfrobot/beetle_rp2350/beetle_rp2350_rp2350a_m33.yaml

@@ -0,0 +1,23 @@
+identifier: beetle_rp2350/rp2350a/m33
+name: DFRobot Beetle RP2350 (Cortex M33)
+type: mcu
+arch: arm
+flash: 2048
+ram: 520
+toolchain:
+  - zephyr
+  - gnuarmemb
+supported:
+  - adc
+  - clock
+  - counter
+  - dma
+  - flash
+  - gpio
+  - hwinfo
+  - i2c
+  - pwm
+  - spi
+  - uart
+  - usbd
+  - watchdog

boards/dfrobot/beetle_rp2350/beetle_rp2350_rp2350a_m33_defconfig

@@ -0,0 +1,13 @@
+# Copyright (c) 2026 Jonas Berg
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_BUILD_OUTPUT_HEX=y
+CONFIG_BUILD_OUTPUT_UF2=y
+CONFIG_CLOCK_CONTROL=y
+CONFIG_CONSOLE=y
+CONFIG_GPIO=y
+CONFIG_RESET=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_USE_DT_CODE_PARTITION=y

boards/dfrobot/beetle_rp2350/board.cmake

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+# SPDX-License-Identifier: Apache-2.0
+# Adapted from boards/raspberrypi/rpi_pico2/board.cmake
+
+if("${RPI_PICO_DEBUG_ADAPTER}" STREQUAL "")
+  set(RPI_PICO_DEBUG_ADAPTER "cmsis-dap")
+endif()
+
+board_runner_args(openocd --cmd-pre-init "source [find interface/${RPI_PICO_DEBUG_ADAPTER}.cfg]")
+if(CONFIG_ARM)
+  board_runner_args(openocd --cmd-pre-init "source [find target/rp2350.cfg]")
+else()
+  board_runner_args(openocd --cmd-pre-init "source [find target/rp2350-riscv.cfg]")
+endif()
+
+# The adapter speed is expected to be set by interface configuration.
+# The Raspberry Pi's OpenOCD fork doesn't, so match their documentation at
+# https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html#debugging-with-swd
+board_runner_args(openocd --cmd-pre-init "set_adapter_speed_if_not_set 5000")
+board_runner_args(probe-rs "--chip=RP235x")
+board_runner_args(jlink "--device=RP2350_M33_0")
+board_runner_args(uf2 "--board-id=RP2350")
+
+# Default runner should be listed first
+include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/probe-rs.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

boards/dfrobot/beetle_rp2350/board.yml

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+board:
+  name: beetle_rp2350
+  full_name: Beetle RP2350
+  vendor: dfrobot
+  socs:
+  - name: rp2350a

boards/dfrobot/beetle_rp2350/doc/index.rst

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+.. zephyr:board:: beetle_rp2350
+
+Overview
+********
+
+The `DFRobot Beetle RP2350`_ board is based on the RP2350A microcontroller from Raspberry Pi Ltd.
+The board has two 8-pin headers and a USB type C connector.
+
+
+Hardware
+********
+
+- Microcontroller Raspberry Pi RP2350A, with a max frequency of 150 MHz
+- Dual ARM Cortex M33 cores, and dual RISC-V Hazard3 cores.
+- 520 kByte SRAM
+- 2 Mbyte QSPI flash
+- 9 GPIO pins
+- 2 ADC pins
+- I2C
+- UART
+- SPI
+- USB type C connector
+- Lithium battery charger
+- Reset and boot buttons
+- User LED
+
+
+Default Zephyr Peripheral Mapping
+=================================
+
++---------------+--------+------------+
+| Description   | Pin    | Comments   |
++===============+========+============+
+| User LED      | GPIO25 | Alias led0 |
++---------------+--------+------------+
+
+
+GPIO header:
+
++-------+--------+-----------------+
+| Label | Pin    | Default pin mux |
++=======+========+=================+
+| 0     | GPIO0  | UART0 TX        |
++-------+--------+-----------------+
+| 1     | GPIO1  | UART0 RX        |
++-------+--------+-----------------+
+| 4     | GPIO4  | I2C0 SDA        |
++-------+--------+-----------------+
+| 5     | GPIO5  | I2C0 SCL        |
++-------+--------+-----------------+
+| 8     | GPIO8  |                 |
++-------+--------+-----------------+
+| 9     | GPIO9  |                 |
++-------+--------+-----------------+
+| 16    | GPIO16 | SPI0 MISO       |
++-------+--------+-----------------+
+| 18    | GPIO18 | SPI0 SCK        |
++-------+--------+-----------------+
+| 19    | GPIO19 | SPI0 MOSI       |
++-------+--------+-----------------+
+| 26    | GPIO26 | ADC0            |
++-------+--------+-----------------+
+| 27    | GPIO27 | ADC1            |
++-------+--------+-----------------+
+
+See also `pinout`_ and `schematic`_.
+
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+
+Programming and Debugging
+*************************
+
+.. zephyr:board-supported-runners::
+
+By default programming is done via the USB connector. Press and hold the BOOT button, and then
+press the RST button, and the device will appear as a USB mass storage unit.
+Building your application will result in a :file:`build/zephyr/zephyr.uf2` file.
+Drag and drop the file to the USB mass storage unit, and the board will be reprogrammed.
+
+It is also possible to program and debug the board via the SWDIO and SWCLK pins in the DEBUG
+connector. You must solder a 3-pin or 4-pin header to the back of the board in order to use
+this feature. A separate programming hardware tool is required, and for example
+the :command:`openocd` software is used. You might need to use Raspberry Pi's forked
+version of OpenOCD. Typically the ``OPENOCD`` and ``OPENOCD_DEFAULT_PATH`` values should be
+set when building, and the ``--runner openocd`` argument should be used when flashing.
+For more details on programming RP2040-based and RP2350-based boards,
+see :ref:`rpi_pico_programming_and_debugging`.
+
+
+Flashing the M33 core
+=====================
+
+To run the :zephyr:code-sample:`blinky` sample:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky/
+   :board: beetle_rp2350/rp2350a/m33
+   :goals: build flash
+
+Try also the :zephyr:code-sample:`hello_world` and
+:zephyr:code-sample:`adc_dt` samples.
+
+Use the shell to control the GPIO pins:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/sensor/sensor_shell
+   :board: beetle_rp2350/rp2350a/m33
+   :gen-args: -DCONFIG_GPIO=y -DCONFIG_GPIO_SHELL=y
+   :goals: build flash
+
+To set one of the GPIO pins high, use these commands in the shell:
+
+.. code-block:: shell
+
+    gpio conf gpio0 8 o
+    gpio set gpio0 8 1
+
+
+Flashing the Hazard3 core
+=========================
+
+The RP2350A microcontroller has two ARM M33 cores and two RISC-V Hazard3 cores.
+To flash one of the Hazard3 cores, use the board argument ``beetle_rp2350/rp2350a/hazard3``.
+The sample :zephyr:code-sample:`blinky` has been verified for this core.
+Use the USB mass storage programming method described above.
+
+
+References
+**********
+
+.. target-notes::
+
+.. _DFRobot Beetle RP2350:
+    https://www.dfrobot.com/product-2913.html
+
+.. _pinout:
+    https://wiki.dfrobot.com/SKU_DFR1188_Beetle_RP2350#target_4
+
+.. _schematic:
+    https://dfimg.dfrobot.com/5d57611a3416442fa39bffca/wiki/f18e5f3a683e6d8a9c8582ac6f89b023.pdf

boards/dfrobot/beetle_rp2350/support/openocd.cfg

@@ -0,0 +1,11 @@
+# Copyright (c) 2022 Tokita, Hiroshi <tokita.hiroshi@gmail.com>
+# SPDX-License-Identifier: Apache-2.0
+
+# Checking and set 'adapter speed'.
+# Set the adapter speed, if unset, and given as an argument.
+proc set_adapter_speed_if_not_set { speed } {
+	puts "checking adapter speed..."
+	if { [catch {adapter speed} ret] } {
+		adapter speed $speed
+	}
+}