diff --git a/tcl/board/ti_am625_swd_native.cfg b/tcl/board/ti_am625_swd_native.cfg
new file mode 100644
index 000000000..dc4b20579
--- /dev/null
+++ b/tcl/board/ti_am625_swd_native.cfg
@@ -0,0 +1,22 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+# Copyright (C) 2022-2023 Texas Instruments Incorporated - http://www.ti.com/
+#
+# Texas Instruments am625
+# Link: https://www.ti.com/product/AM625
+#
+# This configuration file is used as a self hosted debug configuration that
+# works on every AM625 platform based on firewall configuration permitted
+# in the system.
+#
+# In this system openOCD runs on one of the CPUs inside AM625 and provides
+# network ports that can then be used to debug the microcontrollers on the
+# SoC - either self hosted IDE OR remotely.
+
+# We are using dmem, which uses dapdirect_swd transport
+adapter driver dmem
+
+if { ![info exists SOC] } {
+	set SOC am625
+}
+
+source [find target/ti_k3.cfg]
diff --git a/tcl/target/ti_k3.cfg b/tcl/target/ti_k3.cfg
index 99b5b51a3..ef1f1569a 100644
--- a/tcl/target/ti_k3.cfg
+++ b/tcl/target/ti_k3.cfg
@@ -120,6 +120,16 @@ switch $_soc {
 		# M4 processor
 		set _gp_mcu_cores 1
 		set _gp_mcu_ap_unlock_offsets {0xf0 0x7c}
+
+		# Setup DMEM access descriptions
+		# DAPBUS (Debugger) description
+		set _dmem_base_address 0x740002000
+		set _dmem_ap_address_offset 0x100
+		set _dmem_max_aps 10
+		# Emulated AP description
+		set _dmem_emu_base_address 0x760000000
+		set _dmem_emu_base_address_map_to 0x1d500000
+		set _dmem_emu_ap_list 1
 	}
 	am62a7 {
 		set _CHIPNAME am62a7
@@ -329,3 +339,22 @@ if { $_gp_mcu_cores != 0 } {
 		halt 1000
 	}
 }
+
+# In case of DMEM access, configure the dmem adapter with offsets from above.
+if { 0 == [string compare [adapter name] dmem ] } {
+	if { [info exists _dmem_base_address] } {
+		# DAPBUS (Debugger) description
+		dmem base_address $_dmem_base_address
+		dmem ap_address_offset $_dmem_ap_address_offset
+		dmem max_aps $_dmem_max_aps
+
+		# The following are the details of APs to be emulated for direct address access.
+		# Debug Config (Debugger) description
+		dmem emu_base_address_range $_dmem_emu_base_address $_dmem_emu_base_address_map_to
+		dmem emu_ap_list $_dmem_emu_ap_list
+		# We are going local bus, so speed is really dummy here.
+		adapter speed 2500
+	} else {
+		puts "ERROR: ${SOC} data is missing to support dmem access!"
+	}
+}