diff --git a/arch/arm/mach-k3/Kconfig b/arch/arm/mach-k3/Kconfig
index c7d186149b..35edc6d8ee 100644
--- a/arch/arm/mach-k3/Kconfig
+++ b/arch/arm/mach-k3/Kconfig
@@ -10,6 +10,9 @@ config SOC_K3_AM6
 config SOC_K3_J721E
 	bool "TI's K3 based J721E SoC Family Support"
 
+config SOC_K3_AM642
+	bool "TI's K3 based AM642 SoC Family Support"
+
 endchoice
 
 config SYS_SOC
@@ -19,16 +22,18 @@ config SYS_K3_NON_SECURE_MSRAM_SIZE
 	hex
 	default 0x80000 if SOC_K3_AM6
 	default 0x100000 if SOC_K3_J721E
+	default 0x1c0000 if SOC_K3_AM642
 	help
-	  Describes the total size of the MCU MSRAM. This doesn't
-	  specify the total size of SPL as ROM can use some part
-	  of this RAM. Once ROM gives control to SPL then this
-	  complete size can be usable.
+	  Describes the total size of the MCU or OCMC MSRAM present on
+	  the SoC in use. This doesn't specify the total size of SPL as
+	  ROM can use some part of this RAM. Once ROM gives control to
+	  SPL then this complete size can be usable.
 
 config SYS_K3_MAX_DOWNLODABLE_IMAGE_SIZE
 	hex
 	default 0x58000 if SOC_K3_AM6
 	default 0xc0000 if SOC_K3_J721E
+	default 0x180000 if SOC_K3_AM642
 	help
 	  Describes the maximum size of the image that ROM can download
 	  from any boot media.
@@ -51,6 +56,7 @@ config SYS_K3_BOOT_PARAM_TABLE_INDEX
 	hex
 	default 0x41c7fbfc if SOC_K3_AM6
 	default 0x41cffbfc if SOC_K3_J721E
+	default 0x701bebfc if SOC_K3_AM642
 	help
 	  Address at which ROM stores the value which determines if SPL
 	  is booted up by primary boot media or secondary boot media.
diff --git a/arch/arm/mach-k3/Makefile b/arch/arm/mach-k3/Makefile
index 7572f56925..890d1498d0 100644
--- a/arch/arm/mach-k3/Makefile
+++ b/arch/arm/mach-k3/Makefile
@@ -5,6 +5,7 @@
 
 obj-$(CONFIG_SOC_K3_AM6) += am6_init.o
 obj-$(CONFIG_SOC_K3_J721E) += j721e_init.o
+obj-$(CONFIG_SOC_K3_AM642) += am642_init.o
 obj-$(CONFIG_ARM64) += arm64-mmu.o
 obj-$(CONFIG_CPU_V7R) += r5_mpu.o lowlevel_init.o
 obj-$(CONFIG_TI_SECURE_DEVICE) += security.o
diff --git a/arch/arm/mach-k3/am642_init.c b/arch/arm/mach-k3/am642_init.c
new file mode 100644
index 0000000000..79de049d68
--- /dev/null
+++ b/arch/arm/mach-k3/am642_init.c
@@ -0,0 +1,28 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * AM642: SoC specific initialization
+ *
+ * Copyright (C) 2020-2021 Texas Instruments Incorporated - https://www.ti.com/
+ *	Keerthy <j-keerthy@ti.com>
+ *	Dave Gerlach <d-gerlach@ti.com>
+ */
+
+#include <common.h>
+#include <spl.h>
+#include <asm/io.h>
+#include "common.h"
+
+#if defined(CONFIG_SPL_BUILD)
+
+void board_init_f(ulong dummy)
+{
+#if defined(CONFIG_CPU_V7R)
+	setup_k3_mpu_regions();
+#endif
+
+	/* Init DM early */
+	spl_early_init();
+
+	preloader_console_init();
+}
+#endif