diff --git a/tcl/board/rpi4b.cfg b/tcl/board/rpi4b.cfg
new file mode 100644
index 000000000..5b046af7b
--- /dev/null
+++ b/tcl/board/rpi4b.cfg
@@ -0,0 +1,13 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+# This is the Raspberry Pi 4 model B board with BCM2711 chip
+# https://www.raspberrypi.org/documentation/hardware/raspberrypi/bcm2711/README.md
+#
+# Enable JTAG GPIO on Raspberry Pi boards
+# https://www.raspberrypi.org/documentation/configuration/config-txt/gpio.md
+
+source [find target/bcm2711.cfg]
+transport select jtag
+
+# Raspberry Pi boards only expose Test Reset (TRST) pin, no System Reset (SRST)
+reset_config trst_only