diff --git a/drivers/dma/ti/Makefile b/drivers/dma/ti/Makefile
index bd1e07fda559..acc950bf609c 100644
--- a/drivers/dma/ti/Makefile
+++ b/drivers/dma/ti/Makefile
@@ -11,6 +11,7 @@ k3-psil-lib-objs := k3-psil.o \
 		    k3-psil-am64.o \
 		    k3-psil-j721s2.o \
 		    k3-psil-am62.o \
-		    k3-psil-am62a.o
+		    k3-psil-am62a.o \
+		    k3-psil-j784s4.o
 obj-$(CONFIG_TI_K3_PSIL) += k3-psil-lib.o
 obj-$(CONFIG_TI_DMA_CROSSBAR) += dma-crossbar.o
diff --git a/drivers/dma/ti/k3-psil-j784s4.c b/drivers/dma/ti/k3-psil-j784s4.c
new file mode 100644
index 000000000000..12bfa2478f92
--- /dev/null
+++ b/drivers/dma/ti/k3-psil-j784s4.c
@@ -0,0 +1,354 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ *  Copyright (C) 2021 Texas Instruments Incorporated - https://www.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,	\
+		},					\
+	}
+
+#define PSIL_PDMA_XY_PKT(x)				\
+	{						\
+		.thread_id = x,				\
+		.ep_config = {				\
+			.ep_type = PSIL_EP_PDMA_XY,	\
+			.pkt_mode = 1,			\
+		},					\
+	}
+
+#define PSIL_PDMA_MCASP(x)				\
+	{						\
+		.thread_id = x,				\
+		.ep_config = {				\
+			.ep_type = PSIL_EP_PDMA_XY,	\
+			.pdma_acc32 = 1,		\
+			.pdma_burst = 1,		\
+		},					\
+	}
+
+#define PSIL_ETHERNET(x)				\
+	{						\
+		.thread_id = x,				\
+		.ep_config = {				\
+			.ep_type = PSIL_EP_NATIVE,	\
+			.pkt_mode = 1,			\
+			.needs_epib = 1,		\
+			.psd_size = 16,			\
+		},					\
+	}
+
+#define PSIL_SA2UL(x, tx)				\
+	{						\
+		.thread_id = x,				\
+		.ep_config = {				\
+			.ep_type = PSIL_EP_NATIVE,	\
+			.pkt_mode = 1,			\
+			.needs_epib = 1,		\
+			.psd_size = 64,			\
+			.notdpkt = tx,			\
+		},					\
+	}
+
+#define PSIL_CSI2RX(x)					\
+	{						\
+		.thread_id = x,				\
+		.ep_config = {				\
+			.ep_type = PSIL_EP_NATIVE,	\
+		},					\
+	}
+
+/* PSI-L source thread IDs, used for RX (DMA_DEV_TO_MEM) */
+static struct psil_ep j784s4_src_ep_map[] = {
+	/* PDMA_MCASP - McASP0-4 */
+	PSIL_PDMA_MCASP(0x4400),
+	PSIL_PDMA_MCASP(0x4401),
+	PSIL_PDMA_MCASP(0x4402),
+	PSIL_PDMA_MCASP(0x4403),
+	PSIL_PDMA_MCASP(0x4404),
+	/* PDMA_SPI_G0 - SPI0-3 */
+	PSIL_PDMA_XY_PKT(0x4600),
+	PSIL_PDMA_XY_PKT(0x4601),
+	PSIL_PDMA_XY_PKT(0x4602),
+	PSIL_PDMA_XY_PKT(0x4603),
+	PSIL_PDMA_XY_PKT(0x4604),
+	PSIL_PDMA_XY_PKT(0x4605),
+	PSIL_PDMA_XY_PKT(0x4606),
+	PSIL_PDMA_XY_PKT(0x4607),
+	PSIL_PDMA_XY_PKT(0x4608),
+	PSIL_PDMA_XY_PKT(0x4609),
+	PSIL_PDMA_XY_PKT(0x460a),
+	PSIL_PDMA_XY_PKT(0x460b),
+	PSIL_PDMA_XY_PKT(0x460c),
+	PSIL_PDMA_XY_PKT(0x460d),
+	PSIL_PDMA_XY_PKT(0x460e),
+	PSIL_PDMA_XY_PKT(0x460f),
+	/* PDMA_SPI_G1 - SPI4-7 */
+	PSIL_PDMA_XY_PKT(0x4620),
+	PSIL_PDMA_XY_PKT(0x4621),
+	PSIL_PDMA_XY_PKT(0x4622),
+	PSIL_PDMA_XY_PKT(0x4623),
+	PSIL_PDMA_XY_PKT(0x4624),
+	PSIL_PDMA_XY_PKT(0x4625),
+	PSIL_PDMA_XY_PKT(0x4626),
+	PSIL_PDMA_XY_PKT(0x4627),
+	PSIL_PDMA_XY_PKT(0x4628),
+	PSIL_PDMA_XY_PKT(0x4629),
+	PSIL_PDMA_XY_PKT(0x462a),
+	PSIL_PDMA_XY_PKT(0x462b),
+	PSIL_PDMA_XY_PKT(0x462c),
+	PSIL_PDMA_XY_PKT(0x462d),
+	PSIL_PDMA_XY_PKT(0x462e),
+	PSIL_PDMA_XY_PKT(0x462f),
+	/* MAIN_CPSW2G */
+	PSIL_ETHERNET(0x4640),
+	/* PDMA_USART_G0 - UART0-1 */
+	PSIL_PDMA_XY_PKT(0x4700),
+	PSIL_PDMA_XY_PKT(0x4701),
+	/* PDMA_USART_G1 - UART2-3 */
+	PSIL_PDMA_XY_PKT(0x4702),
+	PSIL_PDMA_XY_PKT(0x4703),
+	/* PDMA_USART_G2 - UART4-9 */
+	PSIL_PDMA_XY_PKT(0x4704),
+	PSIL_PDMA_XY_PKT(0x4705),
+	PSIL_PDMA_XY_PKT(0x4706),
+	PSIL_PDMA_XY_PKT(0x4707),
+	PSIL_PDMA_XY_PKT(0x4708),
+	PSIL_PDMA_XY_PKT(0x4709),
+	/* CSI2RX */
+	PSIL_CSI2RX(0x4900),
+	PSIL_CSI2RX(0x4901),
+	PSIL_CSI2RX(0x4902),
+	PSIL_CSI2RX(0x4903),
+	PSIL_CSI2RX(0x4940),
+	PSIL_CSI2RX(0x4941),
+	PSIL_CSI2RX(0x4942),
+	PSIL_CSI2RX(0x4943),
+	PSIL_CSI2RX(0x4944),
+	PSIL_CSI2RX(0x4945),
+	PSIL_CSI2RX(0x4946),
+	PSIL_CSI2RX(0x4947),
+	PSIL_CSI2RX(0x4948),
+	PSIL_CSI2RX(0x4949),
+	PSIL_CSI2RX(0x494a),
+	PSIL_CSI2RX(0x494b),
+	PSIL_CSI2RX(0x494c),
+	PSIL_CSI2RX(0x494d),
+	PSIL_CSI2RX(0x494e),
+	PSIL_CSI2RX(0x494f),
+	PSIL_CSI2RX(0x4950),
+	PSIL_CSI2RX(0x4951),
+	PSIL_CSI2RX(0x4952),
+	PSIL_CSI2RX(0x4953),
+	PSIL_CSI2RX(0x4954),
+	PSIL_CSI2RX(0x4955),
+	PSIL_CSI2RX(0x4956),
+	PSIL_CSI2RX(0x4957),
+	PSIL_CSI2RX(0x4958),
+	PSIL_CSI2RX(0x4959),
+	PSIL_CSI2RX(0x495a),
+	PSIL_CSI2RX(0x495b),
+	PSIL_CSI2RX(0x495c),
+	PSIL_CSI2RX(0x495d),
+	PSIL_CSI2RX(0x495e),
+	PSIL_CSI2RX(0x495f),
+	PSIL_CSI2RX(0x4960),
+	PSIL_CSI2RX(0x4961),
+	PSIL_CSI2RX(0x4962),
+	PSIL_CSI2RX(0x4963),
+	PSIL_CSI2RX(0x4964),
+	PSIL_CSI2RX(0x4965),
+	PSIL_CSI2RX(0x4966),
+	PSIL_CSI2RX(0x4967),
+	PSIL_CSI2RX(0x4968),
+	PSIL_CSI2RX(0x4969),
+	PSIL_CSI2RX(0x496a),
+	PSIL_CSI2RX(0x496b),
+	PSIL_CSI2RX(0x496c),
+	PSIL_CSI2RX(0x496d),
+	PSIL_CSI2RX(0x496e),
+	PSIL_CSI2RX(0x496f),
+	PSIL_CSI2RX(0x4970),
+	PSIL_CSI2RX(0x4971),
+	PSIL_CSI2RX(0x4972),
+	PSIL_CSI2RX(0x4973),
+	PSIL_CSI2RX(0x4974),
+	PSIL_CSI2RX(0x4975),
+	PSIL_CSI2RX(0x4976),
+	PSIL_CSI2RX(0x4977),
+	PSIL_CSI2RX(0x4978),
+	PSIL_CSI2RX(0x4979),
+	PSIL_CSI2RX(0x497a),
+	PSIL_CSI2RX(0x497b),
+	PSIL_CSI2RX(0x497c),
+	PSIL_CSI2RX(0x497d),
+	PSIL_CSI2RX(0x497e),
+	PSIL_CSI2RX(0x497f),
+	PSIL_CSI2RX(0x4980),
+	PSIL_CSI2RX(0x4981),
+	PSIL_CSI2RX(0x4982),
+	PSIL_CSI2RX(0x4983),
+	PSIL_CSI2RX(0x4984),
+	PSIL_CSI2RX(0x4985),
+	PSIL_CSI2RX(0x4986),
+	PSIL_CSI2RX(0x4987),
+	PSIL_CSI2RX(0x4988),
+	PSIL_CSI2RX(0x4989),
+	PSIL_CSI2RX(0x498a),
+	PSIL_CSI2RX(0x498b),
+	PSIL_CSI2RX(0x498c),
+	PSIL_CSI2RX(0x498d),
+	PSIL_CSI2RX(0x498e),
+	PSIL_CSI2RX(0x498f),
+	PSIL_CSI2RX(0x4990),
+	PSIL_CSI2RX(0x4991),
+	PSIL_CSI2RX(0x4992),
+	PSIL_CSI2RX(0x4993),
+	PSIL_CSI2RX(0x4994),
+	PSIL_CSI2RX(0x4995),
+	PSIL_CSI2RX(0x4996),
+	PSIL_CSI2RX(0x4997),
+	PSIL_CSI2RX(0x4998),
+	PSIL_CSI2RX(0x4999),
+	PSIL_CSI2RX(0x499a),
+	PSIL_CSI2RX(0x499b),
+	PSIL_CSI2RX(0x499c),
+	PSIL_CSI2RX(0x499d),
+	PSIL_CSI2RX(0x499e),
+	PSIL_CSI2RX(0x499f),
+	/* MAIN_CPSW9G */
+	PSIL_ETHERNET(0x4a00),
+	/* MAIN-SA2UL */
+	PSIL_SA2UL(0x4a40, 0),
+	PSIL_SA2UL(0x4a41, 0),
+	PSIL_SA2UL(0x4a42, 0),
+	PSIL_SA2UL(0x4a43, 0),
+	/* MCU_CPSW0 */
+	PSIL_ETHERNET(0x7000),
+	/* MCU_PDMA0 (MCU_PDMA_MISC_G0) - SPI0 */
+	PSIL_PDMA_XY_PKT(0x7100),
+	PSIL_PDMA_XY_PKT(0x7101),
+	PSIL_PDMA_XY_PKT(0x7102),
+	PSIL_PDMA_XY_PKT(0x7103),
+	/* MCU_PDMA1 (MCU_PDMA_MISC_G1) - SPI1-2 */
+	PSIL_PDMA_XY_PKT(0x7200),
+	PSIL_PDMA_XY_PKT(0x7201),
+	PSIL_PDMA_XY_PKT(0x7202),
+	PSIL_PDMA_XY_PKT(0x7203),
+	PSIL_PDMA_XY_PKT(0x7204),
+	PSIL_PDMA_XY_PKT(0x7205),
+	PSIL_PDMA_XY_PKT(0x7206),
+	PSIL_PDMA_XY_PKT(0x7207),
+	/* MCU_PDMA2 (MCU_PDMA_MISC_G2) - UART0 */
+	PSIL_PDMA_XY_PKT(0x7300),
+	/* MCU_PDMA_ADC - ADC0-1 */
+	PSIL_PDMA_XY_TR(0x7400),
+	PSIL_PDMA_XY_TR(0x7401),
+	PSIL_PDMA_XY_TR(0x7402),
+	PSIL_PDMA_XY_TR(0x7403),
+	/* MCU_SA2UL */
+	PSIL_SA2UL(0x7500, 0),
+	PSIL_SA2UL(0x7501, 0),
+	PSIL_SA2UL(0x7502, 0),
+	PSIL_SA2UL(0x7503, 0),
+};
+
+/* PSI-L destination thread IDs, used for TX (DMA_MEM_TO_DEV) */
+static struct psil_ep j784s4_dst_ep_map[] = {
+	/* MAIN_CPSW2G */
+	PSIL_ETHERNET(0xc640),
+	PSIL_ETHERNET(0xc641),
+	PSIL_ETHERNET(0xc642),
+	PSIL_ETHERNET(0xc643),
+	PSIL_ETHERNET(0xc644),
+	PSIL_ETHERNET(0xc645),
+	PSIL_ETHERNET(0xc646),
+	PSIL_ETHERNET(0xc647),
+	/* MAIN_CPSW9G */
+	PSIL_ETHERNET(0xca00),
+	PSIL_ETHERNET(0xca01),
+	PSIL_ETHERNET(0xca02),
+	PSIL_ETHERNET(0xca03),
+	PSIL_ETHERNET(0xca04),
+	PSIL_ETHERNET(0xca05),
+	PSIL_ETHERNET(0xca06),
+	PSIL_ETHERNET(0xca07),
+	/* MAIN-SA2UL */
+	PSIL_SA2UL(0xca40, 1),
+	PSIL_SA2UL(0xca41, 1),
+	/* PDMA_SPI_G0 - SPI0-3 */
+	PSIL_PDMA_XY_PKT(0xc600),
+	PSIL_PDMA_XY_PKT(0xc601),
+	PSIL_PDMA_XY_PKT(0xc602),
+	PSIL_PDMA_XY_PKT(0xc603),
+	PSIL_PDMA_XY_PKT(0xc604),
+	PSIL_PDMA_XY_PKT(0xc605),
+	PSIL_PDMA_XY_PKT(0xc606),
+	PSIL_PDMA_XY_PKT(0xc607),
+	PSIL_PDMA_XY_PKT(0xc608),
+	PSIL_PDMA_XY_PKT(0xc609),
+	PSIL_PDMA_XY_PKT(0xc60a),
+	PSIL_PDMA_XY_PKT(0xc60b),
+	PSIL_PDMA_XY_PKT(0xc60c),
+	PSIL_PDMA_XY_PKT(0xc60d),
+	PSIL_PDMA_XY_PKT(0xc60e),
+	PSIL_PDMA_XY_PKT(0xc60f),
+	/* PDMA_SPI_G1 - SPI4-7 */
+	PSIL_PDMA_XY_PKT(0xc620),
+	PSIL_PDMA_XY_PKT(0xc621),
+	PSIL_PDMA_XY_PKT(0xc622),
+	PSIL_PDMA_XY_PKT(0xc623),
+	PSIL_PDMA_XY_PKT(0xc624),
+	PSIL_PDMA_XY_PKT(0xc625),
+	PSIL_PDMA_XY_PKT(0xc626),
+	PSIL_PDMA_XY_PKT(0xc627),
+	PSIL_PDMA_XY_PKT(0xc628),
+	PSIL_PDMA_XY_PKT(0xc629),
+	PSIL_PDMA_XY_PKT(0xc62a),
+	PSIL_PDMA_XY_PKT(0xc62b),
+	PSIL_PDMA_XY_PKT(0xc62c),
+	PSIL_PDMA_XY_PKT(0xc62d),
+	PSIL_PDMA_XY_PKT(0xc62e),
+	PSIL_PDMA_XY_PKT(0xc62f),
+	/* MCU_CPSW0 */
+	PSIL_ETHERNET(0xf000),
+	PSIL_ETHERNET(0xf001),
+	PSIL_ETHERNET(0xf002),
+	PSIL_ETHERNET(0xf003),
+	PSIL_ETHERNET(0xf004),
+	PSIL_ETHERNET(0xf005),
+	PSIL_ETHERNET(0xf006),
+	PSIL_ETHERNET(0xf007),
+	/* MCU_PDMA_MISC_G0 - SPI0 */
+	PSIL_PDMA_XY_PKT(0xf100),
+	PSIL_PDMA_XY_PKT(0xf101),
+	PSIL_PDMA_XY_PKT(0xf102),
+	PSIL_PDMA_XY_PKT(0xf103),
+	/* MCU_PDMA_MISC_G1 - SPI1-2 */
+	PSIL_PDMA_XY_PKT(0xf200),
+	PSIL_PDMA_XY_PKT(0xf201),
+	PSIL_PDMA_XY_PKT(0xf202),
+	PSIL_PDMA_XY_PKT(0xf203),
+	PSIL_PDMA_XY_PKT(0xf204),
+	PSIL_PDMA_XY_PKT(0xf205),
+	PSIL_PDMA_XY_PKT(0xf206),
+	PSIL_PDMA_XY_PKT(0xf207),
+	/* MCU_SA2UL */
+	PSIL_SA2UL(0xf500, 1),
+	PSIL_SA2UL(0xf501, 1),
+};
+
+struct psil_ep_map j784s4_ep_map = {
+	.name = "j784s4",
+	.src = j784s4_src_ep_map,
+	.src_count = ARRAY_SIZE(j784s4_src_ep_map),
+	.dst = j784s4_dst_ep_map,
+	.dst_count = ARRAY_SIZE(j784s4_dst_ep_map),
+};
diff --git a/drivers/dma/ti/k3-psil-priv.h b/drivers/dma/ti/k3-psil-priv.h
index abd650bb7600..c383723d1c8f 100644
--- a/drivers/dma/ti/k3-psil-priv.h
+++ b/drivers/dma/ti/k3-psil-priv.h
@@ -44,5 +44,6 @@ extern struct psil_ep_map am64_ep_map;
 extern struct psil_ep_map j721s2_ep_map;
 extern struct psil_ep_map am62_ep_map;
 extern struct psil_ep_map am62a_ep_map;
+extern struct psil_ep_map j784s4_ep_map;
 
 #endif /* K3_PSIL_PRIV_H_ */
diff --git a/drivers/dma/ti/k3-psil.c b/drivers/dma/ti/k3-psil.c
index 2da6988a0e7b..c11389d67a3f 100644
--- a/drivers/dma/ti/k3-psil.c
+++ b/drivers/dma/ti/k3-psil.c
@@ -25,6 +25,7 @@ static const struct soc_device_attribute k3_soc_devices[] = {
 	{ .family = "J721S2", .data = &j721s2_ep_map },
 	{ .family = "AM62X", .data = &am62_ep_map },
 	{ .family = "AM62AX", .data = &am62a_ep_map },
+	{ .family = "J784S4", .data = &j784s4_ep_map },
 	{ /* sentinel */ }
 };
 
diff --git a/drivers/dma/ti/k3-udma.c b/drivers/dma/ti/k3-udma.c
index 7e23a6fdef95..158568b96026 100644
--- a/drivers/dma/ti/k3-udma.c
+++ b/drivers/dma/ti/k3-udma.c
@@ -4412,6 +4412,7 @@ static const struct soc_device_attribute k3_soc_devices[] = {
 	{ .family = "J721S2", .data = &j721e_soc_data},
 	{ .family = "AM62X", .data = &am64_soc_data },
 	{ .family = "AM62AX", .data = &am64_soc_data },
+	{ .family = "J784S4", .data = &j721e_soc_data },
 	{ /* sentinel */ }
 };
 
