diff --git a/tcl/board/ti_j721e_swd_native.cfg b/tcl/board/ti_j721e_swd_native.cfg
new file mode 100644
index 000000000..3041c3c34
--- /dev/null
+++ b/tcl/board/ti_j721e_swd_native.cfg
@@ -0,0 +1,21 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+# Copyright (C) 2022-2023 Texas Instruments Incorporated - http://www.ti.com/
+#
+# Texas Instruments TDA4VM/J721E
+# Link: https://www.ti.com/product/TDA4VM
+#
+# This configuration file is used as a self hosted debug configuration that
+# works on every TDA4VM platform based on firewall configuration permitted
+# in the system.
+#
+# In this system openOCD runs on one of the CPUs inside TDA4VM 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 j721e
+}
+source [find target/ti_k3.cfg]
diff --git a/tcl/target/ti_k3.cfg b/tcl/target/ti_k3.cfg
index ef1f1569a..f0881cdff 100644
--- a/tcl/target/ti_k3.cfg
+++ b/tcl/target/ti_k3.cfg
@@ -161,6 +161,16 @@ switch $_soc {
 
 		# J721E has 3 clusters of 2 R5 cores each.
 		set _r5_cores 6
+
+		# Setup DMEM access descriptions
+		# DAPBUS (Debugger) description
+		set _dmem_base_address 0x4c40002000
+		set _dmem_ap_address_offset 0x100
+		set _dmem_max_aps 8
+		# Emulated AP description
+		set _dmem_emu_base_address 0x4c60000000
+		set _dmem_emu_base_address_map_to 0x1d600000
+		set _dmem_emu_ap_list 1
 	}
 	j7200 {
 		set _CHIPNAME j7200