diff --git a/drivers/dma/ti/Makefile b/drivers/dma/ti/Makefile
index 4ea9c62..0391cd3 100644
--- a/drivers/dma/ti/Makefile
+++ b/drivers/dma/ti/Makefile
@@ -5,3 +5,4 @@
 k3-psil-data-y += k3-psil.o
 k3-psil-data-$(CONFIG_SOC_K3_AM6) += k3-psil-am654.o
 k3-psil-data-$(CONFIG_SOC_K3_J721E) += k3-psil-j721e.o
+k3-psil-data-$(CONFIG_SOC_K3_AM642) += k3-psil-am64.o
diff --git a/drivers/dma/ti/k3-psil-am64.c b/drivers/dma/ti/k3-psil-am64.c
new file mode 100644
index 0000000..15742c3
--- /dev/null
+++ b/drivers/dma/ti/k3-psil-am64.c
@@ -0,0 +1,156 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ *  Copyright (C) 2020 Texas Instruments Incorporated - http://www.ti.com
+ *  Author: Peter Ujfalusi <peter.ujfalusi@ti.com>
+ */
+
+#include <linux/kernel.h>
+
+#include "k3-psil-priv.h"
+
+#define PSIL_PDMA_XY_TR(x)					\
+	{							\
+		.thread_id = x,					\
+		.ep_config = {					\
+			.ep_type = PSIL_EP_PDMA_XY,		\
+			.mapped_channel_id = -1,		\
+		},						\
+	}
+
+#define PSIL_PDMA_XY_PKT(x)					\
+	{							\
+		.thread_id = x,					\
+		.ep_config = {					\
+			.ep_type = PSIL_EP_PDMA_XY,		\
+			.mapped_channel_id = -1,		\
+			.pkt_mode = 1,				\
+		},						\
+	}
+
+#define PSIL_ETHERNET(x, ch, flow_base, flow_cnt)		\
+	{							\
+		.thread_id = x,					\
+		.ep_config = {					\
+			.ep_type = PSIL_EP_NATIVE,		\
+			.pkt_mode = 1,				\
+			.needs_epib = 1,			\
+			.psd_size = 16,				\
+			.mapped_channel_id = ch,		\
+			.flow_start = flow_base,		\
+			.flow_num = flow_cnt,			\
+			.default_flow_id = flow_base,		\
+		},						\
+	}
+
+#define PSIL_SAUL(x, ch, flow_base, flow_cnt, default_flow, tx)	\
+	{							\
+		.thread_id = x,					\
+		.ep_config = {					\
+			.ep_type = PSIL_EP_NATIVE,		\
+			.pkt_mode = 1,				\
+			.needs_epib = 1,			\
+			.psd_size = 64,				\
+			.mapped_channel_id = ch,		\
+			.flow_start = flow_base,		\
+			.flow_num = flow_cnt,			\
+			.default_flow_id = default_flow,	\
+			.notdpkt = tx,				\
+		},						\
+	}
+
+/* PSI-L source thread IDs, used for RX (DMA_DEV_TO_MEM) */
+static struct psil_ep am64_src_ep_map[] = {
+	/* SAUL */
+	PSIL_SAUL(0x4000, 17, 32, 8, 32, 0),
+	PSIL_SAUL(0x4001, 18, 32, 8, 33, 0),
+	PSIL_SAUL(0x4002, 19, 40, 8, 40, 0),
+	PSIL_SAUL(0x4003, 20, 40, 8, 41, 0),
+	/* ICSS_G0 */
+	PSIL_ETHERNET(0x4100, 21, 48, 16),
+	PSIL_ETHERNET(0x4101, 22, 64, 16),
+	PSIL_ETHERNET(0x4102, 23, 80, 16),
+	PSIL_ETHERNET(0x4103, 24, 96, 16),
+	/* ICSS_G1 */
+	PSIL_ETHERNET(0x4200, 25, 112, 16),
+	PSIL_ETHERNET(0x4201, 26, 128, 16),
+	PSIL_ETHERNET(0x4202, 27, 144, 16),
+	PSIL_ETHERNET(0x4203, 28, 160, 16),
+	/* PDMA_MAIN0 - SPI0-3 */
+	PSIL_PDMA_XY_PKT(0x4300),
+	PSIL_PDMA_XY_PKT(0x4301),
+	PSIL_PDMA_XY_PKT(0x4302),
+	PSIL_PDMA_XY_PKT(0x4303),
+	PSIL_PDMA_XY_PKT(0x4304),
+	PSIL_PDMA_XY_PKT(0x4305),
+	PSIL_PDMA_XY_PKT(0x4306),
+	PSIL_PDMA_XY_PKT(0x4307),
+	PSIL_PDMA_XY_PKT(0x4308),
+	PSIL_PDMA_XY_PKT(0x4309),
+	PSIL_PDMA_XY_PKT(0x430a),
+	PSIL_PDMA_XY_PKT(0x430b),
+	PSIL_PDMA_XY_PKT(0x430c),
+	PSIL_PDMA_XY_PKT(0x430d),
+	PSIL_PDMA_XY_PKT(0x430e),
+	PSIL_PDMA_XY_PKT(0x430f),
+	/* PDMA_MAIN0 - USART0-1 */
+	PSIL_PDMA_XY_PKT(0x4310),
+	PSIL_PDMA_XY_PKT(0x4311),
+	/* PDMA_MAIN1 - SPI4 */
+	PSIL_PDMA_XY_PKT(0x4400),
+	PSIL_PDMA_XY_PKT(0x4401),
+	PSIL_PDMA_XY_PKT(0x4402),
+	PSIL_PDMA_XY_PKT(0x4403),
+	/* PDMA_MAIN1 - USART2-6 */
+	PSIL_PDMA_XY_PKT(0x4404),
+	PSIL_PDMA_XY_PKT(0x4405),
+	PSIL_PDMA_XY_PKT(0x4406),
+	PSIL_PDMA_XY_PKT(0x4407),
+	PSIL_PDMA_XY_PKT(0x4408),
+	/* PDMA_MAIN1 - ADCs */
+	PSIL_PDMA_XY_TR(0x440f),
+	PSIL_PDMA_XY_TR(0x4410),
+	/* CPSW2 */
+	PSIL_ETHERNET(0x4500, 16, 16, 16),
+};
+
+/* PSI-L destination thread IDs, used for TX (DMA_MEM_TO_DEV) */
+static struct psil_ep am64_dst_ep_map[] = {
+	/* SAUL */
+	PSIL_SAUL(0xc000, 24, 80, 8, 80, 1),
+	PSIL_SAUL(0xc001, 25, 88, 8, 88, 1),
+	/* ICSS_G0 */
+	PSIL_ETHERNET(0xc100, 26, 96, 1),
+	PSIL_ETHERNET(0xc101, 27, 97, 1),
+	PSIL_ETHERNET(0xc102, 28, 98, 1),
+	PSIL_ETHERNET(0xc103, 29, 99, 1),
+	PSIL_ETHERNET(0xc104, 30, 100, 1),
+	PSIL_ETHERNET(0xc105, 31, 101, 1),
+	PSIL_ETHERNET(0xc106, 32, 102, 1),
+	PSIL_ETHERNET(0xc107, 33, 103, 1),
+	/* ICSS_G1 */
+	PSIL_ETHERNET(0xc200, 34, 104, 1),
+	PSIL_ETHERNET(0xc201, 35, 105, 1),
+	PSIL_ETHERNET(0xc202, 36, 106, 1),
+	PSIL_ETHERNET(0xc203, 37, 107, 1),
+	PSIL_ETHERNET(0xc204, 38, 108, 1),
+	PSIL_ETHERNET(0xc205, 39, 109, 1),
+	PSIL_ETHERNET(0xc206, 40, 110, 1),
+	PSIL_ETHERNET(0xc207, 41, 111, 1),
+	/* CPSW2 */
+	PSIL_ETHERNET(0xc500, 16, 16, 8),
+	PSIL_ETHERNET(0xc501, 17, 24, 8),
+	PSIL_ETHERNET(0xc502, 18, 32, 8),
+	PSIL_ETHERNET(0xc503, 19, 40, 8),
+	PSIL_ETHERNET(0xc504, 20, 48, 8),
+	PSIL_ETHERNET(0xc505, 21, 56, 8),
+	PSIL_ETHERNET(0xc506, 22, 64, 8),
+	PSIL_ETHERNET(0xc507, 23, 72, 8),
+};
+
+struct psil_ep_map am64_ep_map = {
+	.name = "am64",
+	.src = am64_src_ep_map,
+	.src_count = ARRAY_SIZE(am64_src_ep_map),
+	.dst = am64_dst_ep_map,
+	.dst_count = ARRAY_SIZE(am64_dst_ep_map),
+};
diff --git a/drivers/dma/ti/k3-psil-priv.h b/drivers/dma/ti/k3-psil-priv.h
index d3a3832..02d1c20 100644
--- a/drivers/dma/ti/k3-psil-priv.h
+++ b/drivers/dma/ti/k3-psil-priv.h
@@ -39,5 +39,6 @@
 /* SoC PSI-L endpoint maps */
 extern struct psil_ep_map am654_ep_map;
 extern struct psil_ep_map j721e_ep_map;
+extern struct psil_ep_map am64_ep_map;
 
 #endif /* K3_PSIL_PRIV_H_ */
diff --git a/drivers/dma/ti/k3-psil.c b/drivers/dma/ti/k3-psil.c
index b5c92b2..e82f807 100644
--- a/drivers/dma/ti/k3-psil.c
+++ b/drivers/dma/ti/k3-psil.c
@@ -20,6 +20,8 @@
 			soc_ep_map = &am654_ep_map;
 		else if (IS_ENABLED(CONFIG_SOC_K3_J721E))
 			soc_ep_map = &j721e_ep_map;
+		else if (IS_ENABLED(CONFIG_SOC_K3_AM642))
+			soc_ep_map = &am64_ep_map;
 	}
 
 	if (thread_id & K3_PSIL_DST_THREAD_ID_OFFSET && soc_ep_map->dst) {