diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
index 88c750a646..c487ff555c 100644
--- a/arch/arm/dts/Makefile
+++ b/arch/arm/dts/Makefile
@@ -348,6 +348,7 @@ dtb-$(CONFIG_TARGET_DRA7XX_EVM) += dra72-evm.dtb dra7-evm.dtb	\
 dtb-$(CONFIG_TARGET_AM57XX_EVM) += am57xx-beagle-x15.dtb \
 	am57xx-beagle-x15-revb1.dtb \
 	am57xx-beagle-x15-revc.dtb \
+	am5729-beagleboneai.dtb \
 	am574x-idk.dtb \
 	am572x-idk.dtb	\
 	am571x-idk.dtb
diff --git a/arch/arm/dts/am5729-beagleboneai.dts b/arch/arm/dts/am5729-beagleboneai.dts
new file mode 100644
index 0000000000..34293034e3
--- /dev/null
+++ b/arch/arm/dts/am5729-beagleboneai.dts
@@ -0,0 +1,576 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2014-2019 Texas Instruments Incorporated - http://www.ti.com/
+ */
+
+/dts-v1/;
+#include "dra74x.dtsi"
+#include "dra74x-mmc-iodelay.dtsi"
+#include <dt-bindings/gpio/gpio.h>
+#include <dt-bindings/interrupt-controller/irq.h>
+#include <dt-bindings/pinctrl/dra.h>
+
+/ {
+	model = "BeagleBoard.org BeagleBone AI";
+	compatible = "beagle,am5729-beagleboneai", "ti,am5728",
+		     "ti,dra742", "ti,dra74", "ti,dra7";
+
+	aliases {
+		rtc0 = &tps659038_rtc;
+		rtc1 = &rtc;
+		display0 = &hdmi_conn;
+	};
+
+	chosen {
+		stdout-path = &uart1;
+	};
+
+	memory at 0 {
+		device_type = "memory";
+		reg = <0x0 0x80000000 0x0 0x40000000>;
+	};
+
+	vdd_adc: gpioregulator-vdd_adc {
+		compatible = "regulator-gpio";
+		regulator-name = "vdd_adc";
+		vin-supply = <&vdd_5v>;
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-always-on;
+		regulator-boot-on;
+		gpios = <&gpio3 27 GPIO_ACTIVE_HIGH>;
+		states = <1800000 0
+			3300000 1>;
+	};
+
+	vdd_5v: fixedregulator-vdd_5v {
+		compatible = "regulator-fixed";
+		regulator-name = "vdd_5v";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		regulator-always-on;
+		regulator-boot-on;
+	};
+
+	vtt_fixed: fixedregulator-vtt {
+		/* TPS51200 */
+		compatible = "regulator-fixed";
+		regulator-name = "vtt_fixed";
+		vin-supply = <&vdd_ddr>;
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-always-on;
+		regulator-boot-on;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		led0 {
+			label = "beaglebone:green:usr0";
+			gpios = <&gpio3 17 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "heartbeat";
+			default-state = "off";
+		};
+
+		led1 {
+			label = "beaglebone:green:usr1";
+			gpios = <&gpio5 5 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "mmc0";
+			default-state = "off";
+		};
+
+		led2 {
+			label = "beaglebone:green:usr2";
+			gpios = <&gpio3 15 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "cpu";
+			default-state = "off";
+		};
+
+		led3 {
+			label = "beaglebone:green:usr3";
+			gpios = <&gpio3 14 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "mmc1";
+			default-state = "off";
+		};
+
+		led4 {
+			label = "beaglebone:green:usr4";
+			gpios = <&gpio3 7 GPIO_ACTIVE_HIGH>;
+			linux,default-trigger = "netdev";
+			default-state = "off";
+		};
+	};
+
+	hdmi_conn: connector at 0 {
+		compatible = "hdmi-connector";
+		label = "hdmi";
+		type = "a";
+
+		port {
+			hdmi_connector_in: endpoint {
+				remote-endpoint = <&hdmi_encoder_out>;
+			};
+		};
+	};
+
+	hdmi_enc: encoder at 0 {
+		/* "ti,tpd12s016" software compatible with "ti,tpd12s015"
+		 *  no need for individual driver
+		 */
+		compatible = "ti,tpd12s015";
+		gpios = <0>,
+			<0>,
+			<&gpio7 12 GPIO_ACTIVE_HIGH>;
+
+		ports {
+			#address-cells = <0x1>;
+			#size-cells = <0x0>;
+
+			port at 0 {
+				reg = <0x0>;
+
+				hdmi_encoder_in: endpoint at 0 {
+					remote-endpoint = <&hdmi_out>;
+				};
+			};
+
+			port at 1 {
+				reg = <0x1>;
+
+				hdmi_encoder_out: endpoint at 0 {
+					remote-endpoint = <&hdmi_connector_in>;
+				};
+			};
+		};
+	};
+
+	emmc_pwrseq: emmc_pwrseq {
+		compatible = "mmc-pwrseq-emmc";
+		reset-gpios = <&gpio5 7 GPIO_ACTIVE_LOW>;
+	};
+
+	brcmf_pwrseq: brcmf_pwrseq {
+		compatible = "mmc-pwrseq-simple";
+		reset-gpios = <&gpio3 22 GPIO_ACTIVE_LOW>,	/* BT-REG-ON */
+				<&gpio3 18 GPIO_ACTIVE_LOW>;	/* WL-REG-ON */
+	};
+
+	extcon_usb1: extcon_usb1 {
+		compatible = "linux,extcon-usb-gpio";
+		ti,enable-id-detection;
+		id-gpio = <&gpio3 13 GPIO_ACTIVE_HIGH>;
+	};
+};
+
+&i2c1 {
+	status = "okay";
+	clock-frequency = <400000>;
+
+	tps659038: tps659038 at 58 {
+		compatible = "ti,tps659038";
+		reg = <0x58>;
+		interrupt-parent = <&gpio6>;
+		interrupts = <16 IRQ_TYPE_LEVEL_LOW>;
+
+		#interrupt-cells = <2>;
+		interrupt-controller;
+
+		ti,system-power-controller;
+		ti,palmas-override-powerhold;
+
+		tps659038_pmic {
+			compatible = "ti,tps659038-pmic";
+
+			smps12-in-supply = <&vdd_5v>;
+			smps3-in-supply = <&vdd_5v>;
+			smps45-in-supply = <&vdd_5v>;
+			smps6-in-supply = <&vdd_5v>;
+			smps7-in-supply = <&vdd_5v>;
+			mps3-in-supply = <&vdd_5v>;
+			smps8-in-supply = <&vdd_5v>;
+			smps9-in-supply = <&vdd_5v>;
+			ldo1-in-supply = <&vdd_5v>;
+			ldo2-in-supply = <&vdd_5v>;
+			ldo3-in-supply = <&vdd_5v>;
+			ldo4-in-supply = <&vdd_5v>;
+			ldo9-in-supply = <&vdd_5v>;
+			ldoln-in-supply = <&vdd_5v>;
+			ldousb-in-supply = <&vdd_5v>;
+			ldortc-in-supply = <&vdd_5v>;
+
+			regulators {
+				vdd_mpu: smps12 {
+					/* VDD_MPU */
+					regulator-name = "smps12";
+					regulator-min-microvolt = <850000>;
+					regulator-max-microvolt = <1250000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_ddr: smps3 {
+					/* VDD_DDR EMIF1 EMIF2 */
+					regulator-name = "smps3";
+					regulator-min-microvolt = <1350000>;
+					regulator-max-microvolt = <1350000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_dspeve: smps45 {
+					/* VDD_DSPEVE on AM572 */
+					regulator-name = "smps45";
+					regulator-min-microvolt = < 850000>;
+					regulator-max-microvolt = <1250000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_gpu: smps6 {
+					/* VDD_GPU */
+					regulator-name = "smps6";
+					regulator-min-microvolt = < 850000>;
+					regulator-max-microvolt = <1250000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_core: smps7 {
+					/* VDD_CORE */
+					regulator-name = "smps7";
+					regulator-min-microvolt = < 850000>;	/*** 1.15V */
+					regulator-max-microvolt = <1150000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_iva: smps8 {
+					/* VDD_IVAHD */				/*** 1.06V */
+					regulator-name = "smps8";
+				};
+
+				vdd_3v3: smps9 {
+					/* VDD_3V3 */
+					regulator-name = "smps9";
+					regulator-min-microvolt = <3300000>;
+					regulator-max-microvolt = <3300000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_sd: ldo1 {
+					/* VDDSHV8 - VSDMMC  */
+					regulator-name = "ldo1";
+					regulator-min-microvolt = <1800000>;
+					regulator-max-microvolt = <3300000>;
+					regulator-boot-on;
+					regulator-always-on;
+				};
+
+				vdd_1v8: ldo2 {
+					/* VDDSH18V */
+					regulator-name = "ldo2";
+					regulator-min-microvolt = <1800000>;
+					regulator-max-microvolt = <1800000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_1v8_phy_ldo3: ldo3 {
+					/* R1.3a 572x V1_8PHY_LDO3: USB, SATA */
+					regulator-name = "ldo3";
+					regulator-min-microvolt = <1800000>;
+					regulator-max-microvolt = <1800000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_1v8_phy_ldo4: ldo4 {
+					/* R1.3a 572x V1_8PHY_LDO4: PCIE, HDMI*/
+					regulator-name = "ldo4";
+					regulator-min-microvolt = <1800000>;
+					regulator-max-microvolt = <1800000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				/* LDO5-8 unused */
+
+				vdd_rtc: ldo9 {
+					/* VDD_RTC  */
+					regulator-name = "ldo9";
+					regulator-min-microvolt = < 840000>;
+					regulator-max-microvolt = <1160000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				vdd_1v8_pll: ldoln {
+					/* VDDA_1V8_PLL */
+					regulator-name = "ldoln";
+					regulator-min-microvolt = <1800000>;
+					regulator-max-microvolt = <1800000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				ldousb_reg: ldousb {
+					/* VDDA_3V_USB: VDDA_USBHS33 */
+					regulator-name = "ldousb";
+					regulator-min-microvolt = <3300000>;
+					regulator-max-microvolt = <3300000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				ldortc_reg: ldortc {
+					/* VDDA_RTC  */
+					regulator-name = "ldortc";
+					regulator-min-microvolt = <1800000>;
+					regulator-max-microvolt = <1800000>;
+					regulator-always-on;
+					regulator-boot-on;
+				};
+
+				regen1: regen1 {
+					/* VDD_3V3_ON */
+					regulator-name = "regen1";
+					regulator-boot-on;
+					regulator-always-on;
+				};
+
+				regen2: regen2 {
+					/* Needed for PMIC internal resource */
+					regulator-name = "regen2";
+					regulator-boot-on;
+					regulator-always-on;
+				};
+			};
+		};
+
+		tps659038_rtc: tps659038_rtc {
+			compatible = "ti,palmas-rtc";
+			interrupt-parent = <&tps659038>;
+			interrupts = <8 IRQ_TYPE_EDGE_FALLING>;
+			wakeup-source;
+		};
+
+		tps659038_pwr_button: tps659038_pwr_button {
+			compatible = "ti,palmas-pwrbutton";
+			interrupt-parent = <&tps659038>;
+			interrupts = <1 IRQ_TYPE_EDGE_FALLING>;
+			wakeup-source;
+			ti,palmas-long-press-seconds = <12>;
+		};
+
+		tps659038_gpio: tps659038_gpio {
+			compatible = "ti,palmas-gpio";
+			gpio-controller;
+			#gpio-cells = <2>;
+		};
+	};
+};
+
+&mcspi3 {
+	status = "okay";
+	ti,pindir-d0-out-d1-in;
+
+	sn65hvs882: sn65hvs882 at 0 {
+		compatible = "pisosr-gpio";
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		reg = <0>;
+		spi-max-frequency = <1000000>;
+		spi-cpol;
+	};
+};
+
+&cpu0 {
+	vdd-supply = <&vdd_mpu>;
+	voltage-tolerance = <1>;
+};
+
+&uart1 {
+	status = "okay";
+};
+
+&davinci_mdio {
+	reset-gpios = <&gpio2 23 GPIO_ACTIVE_LOW>;
+	reset-delay-us = <2>;
+
+	phy0: ethernet-phy at 1 {
+		reg = <4>;
+		eee-broken-100tx;
+		eee-broken-1000t;
+	};
+};
+
+&mac {
+	slaves = <1>;
+	status = "okay";
+};
+
+&cpsw_emac0 {
+	phy-handle = <&phy0>;
+	phy-mode = "rgmii";
+};
+
+&mmc1 {
+	status = "okay";
+	vmmc-supply = <&vdd_3v3>;
+	vqmmc-supply = <&vdd_sd>;
+	bus-width = <4>;
+	cd-gpios = <&gpio6 27 GPIO_ACTIVE_LOW>; /* gpio 219 */
+
+	pinctrl-names = "default";
+	pinctrl-0 = <&mmc1_pins_default>;
+};
+
+&mmc2 {
+	status = "okay";
+	vmmc-supply = <&vdd_1v8>;
+	vqmmc-supply = <&vdd_1v8>;
+	bus-width = <8>;
+	ti,non-removable;
+	non-removable;
+	mmc-pwrseq = <&emmc_pwrseq>;
+
+	ti,needs-special-reset;
+	dmas = <&sdma_xbar 47>, <&sdma_xbar 48>;
+	dma-names = "tx", "rx";
+
+	pinctrl-names = "default", "hs", "ddr_1_8v", "hs200_1_8v";
+	pinctrl-0 = <&mmc2_pins_default>;
+	pinctrl-1 = <&mmc2_pins_hs>;
+	pinctrl-2 = <&mmc2_pins_ddr_rev20>;
+	pinctrl-3 = <&mmc2_pins_hs200>;
+
+};
+
+&mmc4 {
+	/* DS: Default speed (DS) up to 25 MHz, including 1- and 4-bit modes (3.3 V signaling). */
+	/* HS: High speed up to 50 MHz (3.3 V signaling). */
+	/* SDR12: SDR up to 25 MHz (1.8 V signaling). */
+	/* SDR25: SDR up to 50 MHz (1.8 V signaling). */
+	/* SDR50: SDR up to 100 MHz (1.8 V signaling). */
+	/* SDR104: SDR up to 208 MHz (1.8 V signaling) */
+	/* DDR50: DDR up to 50 MHz (1.8 V signaling). */
+	status = "okay";
+
+	ti,needs-special-reset;
+	vmmc-supply = <&vdd_3v3>;
+	cap-power-off-card;
+	keep-power-in-suspend;
+	bus-width = <4>;
+	ti,non-removable;
+	non-removable;
+	no-1-8-v;
+	max-frequency = <24000000>;
+
+	#address-cells = <1>;
+	#size-cells = <0>;
+	mmc-pwrseq = <&brcmf_pwrseq>;
+
+	brcmf: wifi at 1 {
+		status = "okay";
+		reg = <1>;
+		compatible = "brcm,bcm4329-fmac";
+
+		brcm,sd-head-align = <4>;
+		brcm,sd_head_align = <4>;
+		brcm,sd_sgentry_align = <512>;
+
+		interrupt-parent = <&gpio3>;
+		interrupts = <23 IRQ_TYPE_LEVEL_LOW>;
+		interrupt-names = "host-wake";
+	};
+};
+
+&usb2_phy1 {
+	phy-supply = <&ldousb_reg>;
+};
+
+&usb2_phy2 {
+	phy-supply = <&ldousb_reg>;
+};
+
+&usb1 {
+	status = "okay";
+	dr_mode = "otg";
+};
+
+&omap_dwc3_1 {
+	extcon = <&extcon_usb1>;
+};
+
+&usb2 {
+	status = "okay";
+	dr_mode = "host";
+};
+
+&dss {
+	status = "okay";
+	vdda_video-supply = <&vdd_1v8_pll>;
+};
+
+&hdmi {
+	status = "okay";
+	vdda-supply = <&vdd_1v8_phy_ldo4>;
+
+	port {
+		hdmi_out: endpoint {
+			remote-endpoint = <&hdmi_encoder_in>;
+		};
+	};
+};
+
+&bandgap {
+	status = "okay";
+};
+
+&cpu_alert0 {
+	temperature = <55000>; /* milliCelsius */
+};
+
+&cpu_crit {
+	temperature = <85000>; /* milliCelsius */
+};
+
+&gpu_crit {
+	temperature = <85000>; /* milliCelsius */
+};
+
+&core_crit {
+	temperature = <85000>; /* milliCelsius */
+};
+
+&dspeve_crit {
+	temperature = <85000>; /* milliCelsius */
+};
+
+&iva_crit {
+	temperature = <85000>; /* milliCelsius */
+};
+
+&sata {
+	status = "disabled";
+};
+
+&sata_phy {
+	status = "disabled";
+};
+
+/* bluetooth */
+&uart6 {
+	status = "okay";
+};
+
+/* cape header stuff */
+&i2c4 {
+	status = "okay";
+	clock-frequency = <100000>;
+};
+
+#include "omap5-u-boot.dtsi"
