diff --git a/arch/arm/mach-k3/am65x/Makefile b/arch/arm/mach-k3/am65x/Makefile
new file mode 100644
index 0000000..20d5f1d
--- /dev/null
+++ b/arch/arm/mach-k3/am65x/Makefile
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: GPL-2.0+
+#
+# Copyright (C) 2024 Texas Instruments Incorporated - https://www.ti.com/
+#	Andrew Davis <afd@ti.com>
+
+obj-$(CONFIG_OF_SYSTEM_SETUP) += am654_fdt.o
+obj-$(CONFIG_SPL_BUILD) += am654_init.o
diff --git a/arch/arm/mach-k3/am65x/am654_fdt.c b/arch/arm/mach-k3/am65x/am654_fdt.c
new file mode 100644
index 0000000..bcb1520
--- /dev/null
+++ b/arch/arm/mach-k3/am65x/am654_fdt.c
@@ -0,0 +1,13 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright 2023 Toradex - https://www.toradex.com/
+ */
+
+#include <fdt_support.h>
+
+#include "../common_fdt.h"
+
+int ft_system_setup(void *blob, struct bd_info *bd)
+{
+	return fdt_fixup_msmc_ram_k3(blob);
+}
diff --git a/arch/arm/mach-k3/am65x/am654_init.c b/arch/arm/mach-k3/am65x/am654_init.c
new file mode 100644
index 0000000..a4f0380
--- /dev/null
+++ b/arch/arm/mach-k3/am65x/am654_init.c
@@ -0,0 +1,354 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * AM6: SoC specific initialization
+ *
+ * Copyright (C) 2017-2018 Texas Instruments Incorporated - https://www.ti.com/
+ *	Lokesh Vutla <lokeshvutla@ti.com>
+ */
+
+#include <fdt_support.h>
+#include <init.h>
+#include <asm/global_data.h>
+#include <asm/io.h>
+#include <spl.h>
+#include <asm/arch/hardware.h>
+#include <dm.h>
+#include <dm/uclass-internal.h>
+#include <dm/pinctrl.h>
+#include <linux/soc/ti/ti_sci_protocol.h>
+#include <log.h>
+#include <mmc.h>
+#include <stdlib.h>
+
+#include "../sysfw-loader.h"
+#include "../common.h"
+
+DECLARE_GLOBAL_DATA_PTR;
+
+#ifdef CONFIG_K3_LOAD_SYSFW
+struct fwl_data main_cbass_fwls[] = {
+	{ "MMCSD1_CFG", 2057, 1 },
+	{ "MMCSD0_CFG", 2058, 1 },
+	{ "USB3SS0_SLV0", 2176, 2 },
+	{ "PCIE0_SLV", 2336, 8 },
+	{ "PCIE1_SLV", 2337, 8 },
+	{ "PCIE0_CFG", 2688, 1 },
+	{ "PCIE1_CFG", 2689, 1 },
+}, mcu_cbass_fwls[] = {
+	{ "MCU_ARMSS0_CORE0_SLV", 1024, 1 },
+	{ "MCU_ARMSS0_CORE1_SLV", 1028, 1 },
+	{ "MCU_FSS0_S1", 1033, 8 },
+	{ "MCU_FSS0_S0", 1036, 8 },
+	{ "MCU_CPSW0", 1220, 1 },
+};
+#endif
+
+static void ctrl_mmr_unlock(void)
+{
+	/* Unlock all WKUP_CTRL_MMR0 module registers */
+	mmr_unlock(WKUP_CTRL_MMR0_BASE, 0);
+	mmr_unlock(WKUP_CTRL_MMR0_BASE, 1);
+	mmr_unlock(WKUP_CTRL_MMR0_BASE, 2);
+	mmr_unlock(WKUP_CTRL_MMR0_BASE, 3);
+	mmr_unlock(WKUP_CTRL_MMR0_BASE, 6);
+	mmr_unlock(WKUP_CTRL_MMR0_BASE, 7);
+
+	/* Unlock all MCU_CTRL_MMR0 module registers */
+	mmr_unlock(MCU_CTRL_MMR0_BASE, 0);
+	mmr_unlock(MCU_CTRL_MMR0_BASE, 1);
+	mmr_unlock(MCU_CTRL_MMR0_BASE, 2);
+	mmr_unlock(MCU_CTRL_MMR0_BASE, 6);
+
+	/* Unlock all CTRL_MMR0 module registers */
+	mmr_unlock(CTRL_MMR0_BASE, 0);
+	mmr_unlock(CTRL_MMR0_BASE, 1);
+	mmr_unlock(CTRL_MMR0_BASE, 2);
+	mmr_unlock(CTRL_MMR0_BASE, 3);
+	mmr_unlock(CTRL_MMR0_BASE, 6);
+	mmr_unlock(CTRL_MMR0_BASE, 7);
+}
+
+/*
+ * This uninitialized global variable would normal end up in the .bss section,
+ * but the .bss is cleared between writing and reading this variable, so move
+ * it to the .data section.
+ */
+u32 bootindex __section(".data");
+
+static void store_boot_index_from_rom(void)
+{
+	bootindex = *(u32 *)(CONFIG_SYS_K3_BOOT_PARAM_TABLE_INDEX);
+}
+
+#if defined(CONFIG_K3_LOAD_SYSFW) && CONFIG_IS_ENABLED(DM_MMC)
+void k3_mmc_stop_clock(void)
+{
+	if (spl_boot_device() == BOOT_DEVICE_MMC1) {
+		struct mmc *mmc = find_mmc_device(0);
+
+		if (!mmc)
+			return;
+
+		mmc->saved_clock = mmc->clock;
+		mmc_set_clock(mmc, 0, true);
+	}
+}
+
+void k3_mmc_restart_clock(void)
+{
+	if (spl_boot_device() == BOOT_DEVICE_MMC1) {
+		struct mmc *mmc = find_mmc_device(0);
+
+		if (!mmc)
+			return;
+
+		mmc_set_clock(mmc, mmc->saved_clock, false);
+	}
+}
+#else
+void k3_mmc_stop_clock(void) {}
+void k3_mmc_restart_clock(void) {}
+#endif
+#if CONFIG_IS_ENABLED(DFU) || CONFIG_IS_ENABLED(USB_STORAGE)
+#define CTRLMMR_SERDES0_CTRL	0x00104080
+#define PCIE_LANE0		0x1
+static int fixup_usb_boot(void)
+{
+	int ret;
+
+	switch (spl_boot_device()) {
+	case BOOT_DEVICE_USB:
+		/*
+		 * If bootmode is Host bootmode, fixup the dr_mode to host
+		 * before the dwc3 bind takes place
+		 */
+		ret = fdt_find_and_setprop((void *)gd->fdt_blob,
+				"/bus@100000/dwc3@4000000/usb@10000",
+				"dr_mode", "host", 5, 0);
+		if (ret)
+			printf("%s: fdt_find_and_setprop() failed:%d\n", __func__,
+			       ret);
+		fallthrough;
+	case BOOT_DEVICE_DFU:
+		/*
+		 * The serdes mux between PCIe and USB3 needs to be set to PCIe for
+		 * accessing the interface at USB 2.0
+		 */
+		writel(PCIE_LANE0, CTRLMMR_SERDES0_CTRL);
+	default:
+		break;
+	}
+
+	return 0;
+}
+
+int fdtdec_board_setup(const void *fdt_blob)
+{
+	return fixup_usb_boot();
+}
+#endif
+
+static void setup_am654_navss_northbridge(void)
+{
+	/*
+	 * NB0 is bridge to SRAM and NB1 is bridge to DDR.
+	 * To ensure that SRAM transfers are not stalled due to
+	 * delays during DDR refreshes, SRAM traffic should be higher
+	 * priority (threadmap=2) than DDR traffic (threadmap=0).
+	 */
+	writel(0x2, NAVSS0_NBSS_NB0_CFG_BASE + NAVSS_NBSS_THREADMAP);
+	writel(0x0, NAVSS0_NBSS_NB1_CFG_BASE + NAVSS_NBSS_THREADMAP);
+}
+
+void board_init_f(ulong dummy)
+{
+#if defined(CONFIG_K3_LOAD_SYSFW) || defined(CONFIG_K3_AM654_DDRSS)
+	struct udevice *dev;
+	size_t pool_size;
+	void *pool_addr;
+	int ret;
+#endif
+	/*
+	 * Cannot delay this further as there is a chance that
+	 * K3_BOOT_PARAM_TABLE_INDEX can be over written by SPL MALLOC section.
+	 */
+	store_boot_index_from_rom();
+
+	/* Make all control module registers accessible */
+	ctrl_mmr_unlock();
+
+	setup_am654_navss_northbridge();
+
+#ifdef CONFIG_CPU_V7R
+	disable_linefill_optimization();
+	setup_k3_mpu_regions();
+#endif
+
+	/* Init DM early in-order to invoke system controller */
+	spl_early_init();
+
+#ifdef CONFIG_K3_EARLY_CONS
+	/*
+	 * Allow establishing an early console as required for example when
+	 * doing a UART-based boot. Note that this console may not "survive"
+	 * through a SYSFW PM-init step and will need a re-init in some way
+	 * due to changing module clock frequencies.
+	 */
+	early_console_init();
+#endif
+
+#ifdef CONFIG_K3_LOAD_SYSFW
+	/*
+	 * Initialize an early full malloc environment. Do so by allocating a
+	 * new malloc area inside the currently active pre-relocation "first"
+	 * malloc pool of which we use all that's left.
+	 */
+	pool_size = CONFIG_VAL(SYS_MALLOC_F_LEN) - gd->malloc_ptr;
+	pool_addr = malloc(pool_size);
+	if (!pool_addr)
+		panic("ERROR: Can't allocate full malloc pool!\n");
+
+	mem_malloc_init((ulong)pool_addr, (ulong)pool_size);
+	gd->flags |= GD_FLG_FULL_MALLOC_INIT;
+	debug("%s: initialized an early full malloc pool at 0x%08lx of 0x%lx bytes\n",
+	      __func__, (unsigned long)pool_addr, (unsigned long)pool_size);
+	/*
+	 * Process pinctrl for the serial0 a.k.a. WKUP_UART0 module and continue
+	 * regardless of the result of pinctrl. Do this without probing the
+	 * device, but instead by searching the device that would request the
+	 * given sequence number if probed. The UART will be used by the system
+	 * firmware (SYSFW) image for various purposes and SYSFW depends on us
+	 * to initialize its pin settings.
+	 */
+	ret = uclass_find_device_by_seq(UCLASS_SERIAL, 0, &dev);
+	if (!ret)
+		pinctrl_select_state(dev, "default");
+
+	/*
+	 * Load, start up, and configure system controller firmware while
+	 * also populating the SYSFW post-PM configuration callback hook.
+	 */
+	k3_sysfw_loader(false, k3_mmc_stop_clock, k3_mmc_restart_clock);
+
+	/* Prepare console output */
+	preloader_console_init();
+
+	/* Disable ROM configured firewalls right after loading sysfw */
+	remove_fwl_configs(main_cbass_fwls, ARRAY_SIZE(main_cbass_fwls));
+	remove_fwl_configs(mcu_cbass_fwls, ARRAY_SIZE(mcu_cbass_fwls));
+#else
+	/* Prepare console output */
+	preloader_console_init();
+#endif
+
+	/* Output System Firmware version info */
+	k3_sysfw_print_ver();
+
+	/* Perform board detection */
+	do_board_detect();
+
+#if defined(CONFIG_CPU_V7R) && defined(CONFIG_K3_AVS0)
+	ret = uclass_get_device_by_driver(UCLASS_MISC, DM_DRIVER_GET(k3_avs),
+					  &dev);
+	if (ret)
+		printf("AVS init failed: %d\n", ret);
+#endif
+
+#ifdef CONFIG_K3_AM654_DDRSS
+	ret = uclass_get_device(UCLASS_RAM, 0, &dev);
+	if (ret)
+		panic("DRAM init failed: %d\n", ret);
+#endif
+	spl_enable_cache();
+}
+
+u32 spl_mmc_boot_mode(struct mmc *mmc, const u32 boot_device)
+{
+#if defined(CONFIG_SUPPORT_EMMC_BOOT)
+	u32 devstat = readl(CTRLMMR_MAIN_DEVSTAT);
+
+	u32 bootmode = (devstat & CTRLMMR_MAIN_DEVSTAT_BOOTMODE_MASK) >>
+			CTRLMMR_MAIN_DEVSTAT_BOOTMODE_SHIFT;
+
+	/* eMMC boot0 mode is only supported for primary boot */
+	if (bootindex == K3_PRIMARY_BOOTMODE &&
+	    bootmode == BOOT_DEVICE_MMC1)
+		return MMCSD_MODE_EMMCBOOT;
+#endif
+
+	/* Everything else use filesystem if available */
+#if defined(CONFIG_SPL_FS_FAT) || defined(CONFIG_SPL_FS_EXT4)
+	return MMCSD_MODE_FS;
+#else
+	return MMCSD_MODE_RAW;
+#endif
+}
+
+static u32 __get_backup_bootmedia(u32 devstat)
+{
+	u32 bkup_boot = (devstat & CTRLMMR_MAIN_DEVSTAT_BKUP_BOOTMODE_MASK) >>
+			CTRLMMR_MAIN_DEVSTAT_BKUP_BOOTMODE_SHIFT;
+
+	switch (bkup_boot) {
+	case BACKUP_BOOT_DEVICE_USB:
+		return BOOT_DEVICE_USB;
+	case BACKUP_BOOT_DEVICE_UART:
+		return BOOT_DEVICE_UART;
+	case BACKUP_BOOT_DEVICE_ETHERNET:
+		return BOOT_DEVICE_ETHERNET;
+	case BACKUP_BOOT_DEVICE_MMC2:
+	{
+		u32 port = (devstat & CTRLMMR_MAIN_DEVSTAT_BKUP_MMC_PORT_MASK) >>
+			    CTRLMMR_MAIN_DEVSTAT_BKUP_MMC_PORT_SHIFT;
+		if (port == 0x0)
+			return BOOT_DEVICE_MMC1;
+		return BOOT_DEVICE_MMC2;
+	}
+	case BACKUP_BOOT_DEVICE_SPI:
+		return BOOT_DEVICE_SPI;
+	case BACKUP_BOOT_DEVICE_HYPERFLASH:
+		return BOOT_DEVICE_HYPERFLASH;
+	case BACKUP_BOOT_DEVICE_I2C:
+		return BOOT_DEVICE_I2C;
+	};
+
+	return BOOT_DEVICE_RAM;
+}
+
+static u32 __get_primary_bootmedia(u32 devstat)
+{
+	u32 bootmode = (devstat & CTRLMMR_MAIN_DEVSTAT_BOOTMODE_MASK) >>
+			CTRLMMR_MAIN_DEVSTAT_BOOTMODE_SHIFT;
+
+	if (bootmode == BOOT_DEVICE_OSPI || bootmode ==	BOOT_DEVICE_QSPI)
+		bootmode = BOOT_DEVICE_SPI;
+
+	if (bootmode == BOOT_DEVICE_MMC2) {
+		u32 port = (devstat & CTRLMMR_MAIN_DEVSTAT_MMC_PORT_MASK) >>
+			    CTRLMMR_MAIN_DEVSTAT_MMC_PORT_SHIFT;
+		if (port == 0x0)
+			bootmode = BOOT_DEVICE_MMC1;
+	} else if (bootmode == BOOT_DEVICE_MMC1) {
+		u32 port = (devstat & CTRLMMR_MAIN_DEVSTAT_EMMC_PORT_MASK) >>
+			    CTRLMMR_MAIN_DEVSTAT_EMMC_PORT_SHIFT;
+		if (port == 0x1)
+			bootmode = BOOT_DEVICE_MMC2;
+	} else if (bootmode == BOOT_DEVICE_DFU) {
+		u32 mode = (devstat & CTRLMMR_MAIN_DEVSTAT_USB_MODE_MASK) >>
+			    CTRLMMR_MAIN_DEVSTAT_USB_MODE_SHIFT;
+		if (mode == 0x2)
+			bootmode = BOOT_DEVICE_USB;
+	}
+
+	return bootmode;
+}
+
+u32 spl_boot_device(void)
+{
+	u32 devstat = readl(CTRLMMR_MAIN_DEVSTAT);
+
+	if (bootindex == K3_PRIMARY_BOOTMODE)
+		return __get_primary_bootmedia(devstat);
+	else
+		return __get_backup_bootmedia(devstat);
+}