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diff --git a/arch/arm/boot/dts/stm32mp15xx-dhcom-drc02.dtsi b/arch/arm/boot/dts/stm32mp15xx-dhcom-drc02.dtsi
new file mode 100644
index 000000000..35b1034aa
--- /dev/null
+++ b/arch/arm/boot/dts/stm32mp15xx-dhcom-drc02.dtsi
@@ -0,0 +1,169 @@
+// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+/*
+ * Copyright (C) 2020 Marek Vasut <marex@denx.de>
+ */
+
+#include <dt-bindings/input/input.h>
+#include <dt-bindings/pwm/pwm.h>
+
+/ {
+ aliases {
+ serial0 = &uart4;
+ serial1 = &usart3;
+ serial2 = &uart8;
+ };
+
+ chosen {
+ stdout-path = "serial0:115200n8";
+ };
+};
+
+&adc {
+ status = "disabled";
+};
+
+&dac {
+ status = "disabled";
+};
+
+&gpiob {
+ /*
+ * NOTE: On DRC02, the RS485_RX_En is controlled by a separate
+ * GPIO line, however the STM32 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 = <8 0>;
+ output-low;
+ line-name = "rs485-rx-en";
+ };
+};
+
+&gpiod {
+ gpio-line-names = "", "", "", "",
+ "", "", "DHCOM-B", "",
+ "", "", "", "DRC02-Out1",
+ "DRC02-Out2", "", "", "";
+};
+
+&gpioi {
+ gpio-line-names = "DRC02-In1", "DHCOM-O", "DHCOM-H", "DHCOM-I",
+ "DHCOM-R", "DHCOM-M", "", "",
+ "DRC02-In2", "", "", "",
+ "", "", "", "";
+
+ /*
+ * NOTE: The USB Hub on the DRC02 needs a reset signal to be
+ * pulled high in order to be detected by the USB Controller.
+ * This signal should be handled by USB power sequencing in
+ * order to reset the Hub when USB bus is powered down, but
+ * so far there is no such functionality.
+ */
+ usb-hub-hog {
+ gpio-hog;
+ gpios = <2 0>;
+ output-high;
+ line-name = "usb-hub-reset";
+ };
+};
+
+&i2c2 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&i2c2_pins_a>;
+ i2c-scl-rising-time-ns = <185>;
+ i2c-scl-falling-time-ns = <20>;
+ status = "okay";
+ /* spare dmas for other usage */
+ /delete-property/dmas;
+ /delete-property/dma-names;
+ status = "okay";
+
+ eeprom@50 {
+ compatible = "atmel,24c04";
+ reg = <0x50>;
+ pagesize = <16>;
+ };
+};
+
+&i2c4 {
+ touchscreen@49 {
+ status = "disabled";
+ };
+};
+
+&i2c5 { /* TP7/TP8 */
+ pinctrl-names = "default";
+ pinctrl-0 = <&i2c5_pins_a>;
+ i2c-scl-rising-time-ns = <185>;
+ i2c-scl-falling-time-ns = <20>;
+ status = "okay";
+ /* spare dmas for other usage */
+ /delete-property/dmas;
+ /delete-property/dma-names;
+};
+
+&sdmmc3 {
+ /*
+ * On DRC02, the SoM does not have SDIO WiFi. The pins
+ * are used for on-board microSD slot instead.
+ */
+ /delete-property/broken-cd;
+ cd-gpios = <&gpioi 10 GPIO_ACTIVE_HIGH>;
+ disable-wp;
+};
+
+&spi1 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&spi1_pins_a>;
+ cs-gpios = <&gpioz 3 0>;
+ /* Use PIO for the display */
+ /delete-property/dmas;
+ /delete-property/dma-names;
+ status = "disabled"; /* Enable once there is display driver */
+ /*
+ * Note: PF3/GPIO_A , PD6/GPIO_B , PG0/GPIO_C , PC6/GPIO_E are
+ * also connected to the display board connector.
+ */
+};
+
+&usart3 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&usart3_pins_a>;
+ /delete-property/dmas;
+ /delete-property/dma-names;
+ status = "okay";
+};
+
+/*
+ * Note: PI3 is UART1_RTS and PI5 is UART1_CTS on DRC02 (uart4 of STM32MP1),
+ * however the STM32MP1 pinmux cannot map them to UART4 .
+ */
+
+&uart8 { /* RS485 */
+ linux,rs485-enabled-at-boot-time;
+ pinctrl-names = "default";
+ pinctrl-0 = <&uart8_pins_a>;
+ rts-gpios = <&gpioe 6 GPIO_ACTIVE_HIGH>;
+ /delete-property/dmas;
+ /delete-property/dma-names;
+ status = "okay";
+};
+
+&usbh_ehci {
+ phys = <&usbphyc_port0>;
+ status = "okay";
+};
+
+&usbphyc {
+ status = "okay";
+};
+
+&usbphyc_port0 {
+ phy-supply = <&vdd_usb>;
+};
+
+&usbphyc_port1 {
+ phy-supply = <&vdd_usb>;
+};