Boards

From catalog/boards.json. 18 boards, 8 validated on hardware with an ExecuTorch on Zephyr bring-up repository. Others are expected to work but have not been run on hardware. Photos and console captures are below the table.

Board	Zephyr target	SoC and CPU	RAM	Flash	PSRAM	Flash method	Sensors	Validated
Arduino UNO Q Arduino captures	`arduino_uno_q/stm32u585xx`	STM32U585 + Qualcomm QRB2210 cortex-m33, 160 MHz	786 KiB	2 MiB	none	`openocd-adb` adb forward tcp:3333 and arduino-debug on the Linux side, then gdb load.	led-matrix-13x8, qwiic-i2c, adc	2026-10-11 eoinjordan/executorch-zephyr-arduino-uno-q
Arducam Pico4ML-BLE Arducam captures	`rpi_pico`	RP2040 cortex-m0plus, 133 MHz	264 KiB	2 MiB	none	`uf2` Hold BOOTSEL while plugging in, or open the CDC port at 1200 baud, then copy zephyr.uf2 to RPI-RP2.	camera-hm01b0, display-st7735, imu-icm42602, pdm-mic	2026-10-11 eoinjordan/executorch-zephyr-arducam-pico4ML-BLE
Seeed XIAO ESP32S3 Sense Seeed Studio	`xiao_esp32s3/esp32s3/procpu/sense`	ESP32-S3 xtensa-lx7, 240 MHz	512 KiB	8 MiB	8 MiB	`esptool`	camera-ov2640, pdm-mic, microsd	2026-10-09 eoinjordan/executorch-zephyr-xiao-esp32s3
M5Stack ATOM Echo M5Stack	`m5stack_atom_lite/esp32/procpu`	ESP32-PICO-D4 xtensa-lx6, 240 MHz	520 KiB	4 MiB	none	`esptool`	pdm-mic-spm1423, speaker-ns4168, rgb-led, button	2026-10-12 eoinjordan/executorch-zephyr-m5stack-atom-echo
ESP32-DevKitC Espressif captures	`esp32_devkitc/esp32/procpu`	ESP32 xtensa-lx6, 240 MHz	520 KiB	4 MiB	none	`esptool`	none listed	2026-10-12 eoinjordan/executorch-zephyr-esp32-devkitc
BBC micro:bit v2 Micro:bit Educational Foundation captures	`bbc_microbit_v2`	nRF52833 cortex-m4f, 64 MHz	128 KiB	512 KiB	none	`daplink` Copy zephyr.hex to the MICROBIT drive.	led-matrix-5x5, accelerometer, mic, buttons	2026-10-11 eoinjordan/executorch-zephyr-microbit-v2
Nordic Thingy:91 Nordic Semiconductor captures	`thingy91/nrf9160`	nRF9160 cortex-m33, 64 MHz	256 KiB	1 MiB	none	`mcuboot-smp-v1` Hold SW3 while switching on, then upload zephyr.signed.bin over SMP v1 on the first CDC port.	accelerometer, environment-bme680, lte-m	2026-10-11 eoinjordan/executorch-zephyr-thingy91
Arduino Nicla Vision Arduino photo	`arduino_nicla_vision/stm32h747xx/m7`	STM32H747 cortex-m7, 480 MHz	1 MiB	2 MiB	none	`dfu` Double-tap reset for the DFU bootloader.	camera-gc2145, tof, imu, pdm-mic	not yet
Arduino Opta Arduino	`arduino_opta/stm32h747xx/m7`	STM32H747 cortex-m7, 480 MHz	1 MiB	2 MiB	none	`dfu`	analog-inputs, relays	not yet
Nordic nRF7002 DK Nordic Semiconductor	`nrf7002dk/nrf5340/cpuapp`	nRF5340 cortex-m33, 128 MHz	512 KiB	1 MiB	none	`jlink`	wifi-nrf7002	not yet
NXP FRDM-MCXN947 NXP	`frdm_mcxn947/mcxn947/cpu0`	MCX N947 cortex-m33, 150 MHz, eiq-neutron	512 KiB	2 MiB	none	`linkserver`	camera-header	not yet
TI LAUNCHXL-CC1352P1 Texas Instruments	`cc1352p1_launchxl`	CC1352P1 cortex-m4f, 48 MHz	80 KiB	352 KiB	none	`openocd` XDS110; the stock OpenOCD needs the cJTAG to JTAG switch to work, UniFlash otherwise.	none listed	not yet
Espressif ESP32-S3-EYE Espressif	`esp32s3_eye/esp32s3/procpu`	ESP32-S3 xtensa-lx7, 240 MHz	512 KiB	8 MiB	8 MiB	`esptool`	camera-ov2640, lcd-st7789, mic, accelerometer	not yet
Espressif ESP32-C3-DevKitM Espressif	`esp32c3_devkitm`	ESP32-C3 riscv-rv32imc, 160 MHz	400 KiB	4 MiB	none	`esptool`	none listed	not yet
M5StickC Plus M5Stack	`m5stickc_plus/esp32/procpu`	ESP32-PICO-D4 xtensa-lx6, 240 MHz	520 KiB	4 MiB	none	`esptool`	lcd-st7789v2, imu-mpu6886, pdm-mic-spm1423, ir-led, buttons	not yet
Sipeed Tang Nano 20K (LiteX VexRiscv) Sipeed	`tang_nano_20k`	Gowin GW2AR-18C FPGA with a LiteX VexRiscv soft core and 8 MB SDRAM riscv-rv32, 48 MHz	7680 KiB	8 MiB	none	`fpga-litex` Build the SoC in eoinjordan/executorch-zephyr-tang-nano-20k (gateware/), then run scripts/boot.py: it loads the bitstream into the FPGA and boots zephyr.bin from the LiteX BIOS over the UART.	display-rgb-480x272, buttons, leds	2026-11-10 eoinjordan/executorch-zephyr-tang-nano-20k
Arm Corstone-300 FVP Arm	`mps3/corstone300/fvp`	Cortex-M55 + Ethos-U55 cortex-m55, ethos-u55-128	4 MiB	4 MiB	none	`fvp` west build -t run	none listed	not yet
Native simulator Zephyr	`native_sim`	host host	64 MiB	64 MiB	none	`run` Linux host or the Zephyr CI container; west build -t run	none listed	not yet

Photos and console captures

Console captures are from my boards, with the numbers they printed. Photos of the Pico4ML-BLE are mine; the others are from Wikimedia Commons under the licence given with each one.

Arduino UNO Q `arduino_uno_q/stm32u585xx`

AnomalyNet on the STM32U585 (Cortex-M33), 5544 bytes of model in flash. The self-test matches PyTorch to 3.3e-06 and one inference takes 1621 us; verdicts go to the Linux side as JSON lines. eoinjordan/executorch-zephyr-arduino-uno-q

JSON verdicts from the UNO Q scrolling during a simulated heater spike — JSON verdicts during a simulated heater spike: p_anomaly goes to 1.000 and back.

Console of the Arduino UNO Q: ExecuTorch self-test pass and JSON lines with infer_us 1621 — LPUART1 read over adb on the Linux side, 2026-10-11.

Arducam Pico4ML-BLE `rpi_pico`

TinyDigitNet on the RP2040 (Cortex-M0+ at 133 MHz, no FPU), reading hand-written digits with the HM01B0 camera. The self-test predicts 7 at 100 %, matches PyTorch to 3.3e-06 and takes 767987 us. eoinjordan/executorch-zephyr-arducam-pico4ML-BLE

Pico4ML-BLE held over a notebook page of hand-written digits, its screen showing the camera crop and the digit — A frame from my video of the board reading digits from a notebook page.

Pointing the camera at digits; the screen shows the 28x28 crop, the digit and the confidence.

Console of the Pico4ML-BLE: self-test predicted 7, SELF-TEST PASS, camera ready, first JSON line — USB console up to the first camera frame.

ESP32-DevKitC `esp32_devkitc/esp32/procpu`

TinyDigitNet on the ESP32 (Xtensa LX6), run on the esp32_devkitc target on an M5Stack ATOM Echo. It matches PyTorch to 2.86e-06 and takes 243475 us on average over 10 runs. eoinjordan/executorch-zephyr-esp32-devkitc

Console of the ESP32 run: ten logits, predicted 7, SELF-TEST PASS, 243475 us average — COM3, 2026-10-12.

BBC micro:bit v2 `bbc_microbit_v2`

AnomalyNet on the nRF52833 (Cortex-M4F at 64 MHz). It matches PyTorch to 1.91e-06 and takes 4314 us on average over 10 runs; the build uses 178 KB of 512 KB flash and 67 KB of 128 KB RAM. eoinjordan/executorch-zephyr-microbit-v2

A BBC micro:bit v2 board — A BBC micro:bit v2. Photo: SimonWaldherr, CC BY 4.0, via Wikimedia Commons.

Console of the micro:bit v2: predicted 1, SELF-TEST PASS, 4314 us average, JSON heartbeat lines — DAPLink serial on COM14, 2026-10-11.

Nordic Thingy:91 `thingy91/nrf9160`

AnomalyNet on the nRF9160 (Cortex-M33 at 64 MHz). It matches PyTorch to 1.91e-06 and takes 3969 us on average over 10 runs. eoinjordan/executorch-zephyr-thingy91

Console of the Thingy:91: predicted 1, SELF-TEST PASS, 3969 us average, JSON heartbeat lines — Bridge CDC port COM16, 2026-10-11.

Sipeed Tang Nano 20K `litex_vexriscv`

A LiteX SoC with a VexRiscv RISC-V core at 48 MHz in the Gowin GW2AR-18C FPGA, with 8 MiB of SDRAM. Zephyr 4.4 boots from the LiteX BIOS over serial and ExecuTorch runs TinyDigitNet in soft float: SELF-TEST PASS, 3.34e-06 from PyTorch, 2956766 us on average over 10 runs. Not in catalog/boards.json yet.

--============= Liftoff! ===============--

*** Booting Zephyr OS build 684c9e8f32e4 ***

ExecuTorch on tang_nano_20k/litex_vexriscv (Zephyr 4.4.0)
model: 62888 bytes, method pool 131072 B, temp pool 16384 B
I [executorch:main.cpp:118 init()] planned buffer 0: 52928 bytes
I [executorch:main.cpp:148 init()] method 'forward' loaded; pool used 59584 / 131072 bytes
  logit[0] =   -1.2525
  logit[1] =   -2.3244
  logit[2] =    4.0803
  logit[3] =    2.5802
  logit[4] =   -5.6759
  logit[5] =   -5.8199
  logit[6] =   -7.9416
  logit[7] =   10.5990  <-- argmax
  logit[8] =   -2.2308
  logit[9] =   -0.1515
self-test: predicted 7, expected 7, max |device - pytorch| = 3.34e-06, 2956822 us
SELF-TEST PASS
inference: 2956766 us average over 10 runs at 48 MHz

Serial console, 2026-11-10. Full boot log.

Arduino Nicla Vision `arduino_nicla_vision/stm32h747xx/m7`

Not yet run on hardware. eoinjordan/executorch-zephyr-arduino-nicla-vision

An Arduino Nicla Vision board — An Arduino Nicla Vision. Photo: Thomas Amberg, CC BY-SA 2.0, via Wikimedia Commons.

Boards

Photos and console captures

Arduino UNO Q arduino_uno_q/stm32u585xx

Arducam Pico4ML-BLE rpi_pico

ESP32-DevKitC esp32_devkitc/esp32/procpu

BBC micro:bit v2 bbc_microbit_v2

Nordic Thingy:91 thingy91/nrf9160

Sipeed Tang Nano 20K litex_vexriscv

Arduino Nicla Vision arduino_nicla_vision/stm32h747xx/m7