diff --git a/drivers/dma/ti/Makefile b/drivers/dma/ti/Makefile
index acc950bf609c3..d376c117cecf6 100644
--- a/drivers/dma/ti/Makefile
+++ b/drivers/dma/ti/Makefile
@@ -12,6 +12,7 @@ k3-psil-lib-objs := k3-psil.o \
 		    k3-psil-j721s2.o \
 		    k3-psil-am62.o \
 		    k3-psil-am62a.o \
-		    k3-psil-j784s4.o
+		    k3-psil-j784s4.o \
+		    k3-psil-am62p.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-am62p.c b/drivers/dma/ti/k3-psil-am62p.c
new file mode 100644
index 0000000000000..da134ab40a310
--- /dev/null
+++ b/drivers/dma/ti/k3-psil-am62p.c
@@ -0,0 +1,196 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ *  Copyright (C) 2022 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,		\
+			.mapped_channel_id = -1,		\
+			.default_flow_id = -1,			\
+		},						\
+	}
+
+#define PSIL_PDMA_XY_PKT(x)					\
+	{							\
+		.thread_id = x,					\
+		.ep_config = {					\
+			.ep_type = PSIL_EP_PDMA_XY,		\
+			.mapped_channel_id = -1,		\
+			.default_flow_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,				\
+		},						\
+	}
+
+#define PSIL_PDMA_MCASP(x)				\
+	{						\
+		.thread_id = x,				\
+		.ep_config = {				\
+			.ep_type = PSIL_EP_PDMA_XY,	\
+			.pdma_acc32 = 1,		\
+			.pdma_burst = 1,		\
+		},					\
+	}
+
+#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 am62p_src_ep_map[] = {
+	/* SAUL */
+	PSIL_SAUL(0x7504, 20, 35, 8, 35, 0),
+	PSIL_SAUL(0x7505, 21, 35, 8, 36, 0),
+	PSIL_SAUL(0x7506, 22, 43, 8, 43, 0),
+	PSIL_SAUL(0x7507, 23, 43, 8, 44, 0),
+	/* PDMA_MAIN0 - SPI0-2 */
+	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),
+	/* PDMA_MAIN1 - UART0-6 */
+	PSIL_PDMA_XY_PKT(0x4400),
+	PSIL_PDMA_XY_PKT(0x4401),
+	PSIL_PDMA_XY_PKT(0x4402),
+	PSIL_PDMA_XY_PKT(0x4403),
+	PSIL_PDMA_XY_PKT(0x4404),
+	PSIL_PDMA_XY_PKT(0x4405),
+	PSIL_PDMA_XY_PKT(0x4406),
+	/* PDMA_MAIN2 - MCASP0-2 */
+	PSIL_PDMA_MCASP(0x4500),
+	PSIL_PDMA_MCASP(0x4501),
+	PSIL_PDMA_MCASP(0x4502),
+	/* CPSW3G */
+	PSIL_ETHERNET(0x4600, 19, 19, 16),
+	/* CSI2RX */
+	PSIL_CSI2RX(0x5000),
+	PSIL_CSI2RX(0x5001),
+	PSIL_CSI2RX(0x5002),
+	PSIL_CSI2RX(0x5003),
+	PSIL_CSI2RX(0x5004),
+	PSIL_CSI2RX(0x5005),
+	PSIL_CSI2RX(0x5006),
+	PSIL_CSI2RX(0x5007),
+	PSIL_CSI2RX(0x5008),
+	PSIL_CSI2RX(0x5009),
+	PSIL_CSI2RX(0x500a),
+	PSIL_CSI2RX(0x500b),
+	PSIL_CSI2RX(0x500c),
+	PSIL_CSI2RX(0x500d),
+	PSIL_CSI2RX(0x500e),
+	PSIL_CSI2RX(0x500f),
+	PSIL_CSI2RX(0x5010),
+	PSIL_CSI2RX(0x5011),
+	PSIL_CSI2RX(0x5012),
+	PSIL_CSI2RX(0x5013),
+	PSIL_CSI2RX(0x5014),
+	PSIL_CSI2RX(0x5015),
+	PSIL_CSI2RX(0x5016),
+	PSIL_CSI2RX(0x5017),
+	PSIL_CSI2RX(0x5018),
+	PSIL_CSI2RX(0x5019),
+	PSIL_CSI2RX(0x501a),
+	PSIL_CSI2RX(0x501b),
+	PSIL_CSI2RX(0x501c),
+	PSIL_CSI2RX(0x501d),
+	PSIL_CSI2RX(0x501e),
+	PSIL_CSI2RX(0x501f),
+};
+
+/* PSI-L destination thread IDs, used for TX (DMA_MEM_TO_DEV) */
+static struct psil_ep am62p_dst_ep_map[] = {
+	/* SAUL */
+	PSIL_SAUL(0xf500, 27, 83, 8, 83, 1),
+	PSIL_SAUL(0xf501, 28, 91, 8, 91, 1),
+	/* PDMA_MAIN0 - SPI0-2 */
+	PSIL_PDMA_XY_PKT(0xc300),
+	PSIL_PDMA_XY_PKT(0xc301),
+	PSIL_PDMA_XY_PKT(0xc302),
+	PSIL_PDMA_XY_PKT(0xc303),
+	PSIL_PDMA_XY_PKT(0xc304),
+	PSIL_PDMA_XY_PKT(0xc305),
+	PSIL_PDMA_XY_PKT(0xc306),
+	PSIL_PDMA_XY_PKT(0xc307),
+	PSIL_PDMA_XY_PKT(0xc308),
+	PSIL_PDMA_XY_PKT(0xc309),
+	PSIL_PDMA_XY_PKT(0xc30a),
+	PSIL_PDMA_XY_PKT(0xc30b),
+	/* PDMA_MAIN1 - UART0-6 */
+	PSIL_PDMA_XY_PKT(0xc400),
+	PSIL_PDMA_XY_PKT(0xc401),
+	PSIL_PDMA_XY_PKT(0xc402),
+	PSIL_PDMA_XY_PKT(0xc403),
+	PSIL_PDMA_XY_PKT(0xc404),
+	PSIL_PDMA_XY_PKT(0xc405),
+	PSIL_PDMA_XY_PKT(0xc406),
+	/* PDMA_MAIN2 - MCASP0-2 */
+	PSIL_PDMA_MCASP(0xc500),
+	PSIL_PDMA_MCASP(0xc501),
+	PSIL_PDMA_MCASP(0xc502),
+	/* CPSW3G */
+	PSIL_ETHERNET(0xc600, 19, 19, 8),
+	PSIL_ETHERNET(0xc601, 20, 27, 8),
+	PSIL_ETHERNET(0xc602, 21, 35, 8),
+	PSIL_ETHERNET(0xc603, 22, 43, 8),
+	PSIL_ETHERNET(0xc604, 23, 51, 8),
+	PSIL_ETHERNET(0xc605, 24, 59, 8),
+	PSIL_ETHERNET(0xc606, 25, 67, 8),
+	PSIL_ETHERNET(0xc607, 26, 75, 8),
+};
+
+struct psil_ep_map am62p_ep_map = {
+	.name = "am62p",
+	.src = am62p_src_ep_map,
+	.src_count = ARRAY_SIZE(am62p_src_ep_map),
+	.dst = am62p_dst_ep_map,
+	.dst_count = ARRAY_SIZE(am62p_dst_ep_map),
+};
diff --git a/drivers/dma/ti/k3-psil-priv.h b/drivers/dma/ti/k3-psil-priv.h
index c383723d1c8f6..a577be97e3447 100644
--- a/drivers/dma/ti/k3-psil-priv.h
+++ b/drivers/dma/ti/k3-psil-priv.h
@@ -45,5 +45,6 @@ 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;
+extern struct psil_ep_map am62p_ep_map;
 
 #endif /* K3_PSIL_PRIV_H_ */
diff --git a/drivers/dma/ti/k3-psil.c b/drivers/dma/ti/k3-psil.c
index c11389d67a3f0..5c5b367909902 100644
--- a/drivers/dma/ti/k3-psil.c
+++ b/drivers/dma/ti/k3-psil.c
@@ -26,6 +26,7 @@ static const struct soc_device_attribute k3_soc_devices[] = {
 	{ .family = "AM62X", .data = &am62_ep_map },
 	{ .family = "AM62AX", .data = &am62a_ep_map },
 	{ .family = "J784S4", .data = &j784s4_ep_map },
+	{ .family = "AM62PX", .data = &am62p_ep_map },
 	{ /* sentinel */ }
 };
 
diff --git a/drivers/dma/ti/k3-udma.c b/drivers/dma/ti/k3-udma.c
index 30fd2f386f36a..59a8faf6150f8 100644
--- a/drivers/dma/ti/k3-udma.c
+++ b/drivers/dma/ti/k3-udma.c
@@ -4441,6 +4441,7 @@ static const struct soc_device_attribute k3_soc_devices[] = {
 	{ .family = "AM62X", .data = &am64_soc_data },
 	{ .family = "AM62AX", .data = &am64_soc_data },
 	{ .family = "J784S4", .data = &j721e_soc_data },
+	{ .family = "AM62PX", .data = &am64_soc_data },
 	{ /* sentinel */ }
 };
 
