diff --git a/tcl/target/ti_k3.cfg b/tcl/target/ti_k3.cfg
index dbf8962cb..2feffb92e 100644
--- a/tcl/target/ti_k3.cfg
+++ b/tcl/target/ti_k3.cfg
@@ -6,6 +6,8 @@
 #  Has 4 R5 Cores, M4F and an M3
 # * AM263: https://www.ti.com/lit/pdf/spruj17
 #  Has 4 R5 Cores and an M3
+# * AM263P: https://www.ti.com/lit/pdf/spruj55
+#  Has 4 R5 Cores and an M4F
 # * AM273: https://www.ti.com/lit/pdf/spruiu0
 #  Has 2 R5 Cores and an M3
 # * AM625: https://www.ti.com/lit/pdf/spruiv7a
@@ -87,6 +89,7 @@ set _powerap_sprec_reset 0xf0
 
 # Set configuration overrides for each SOC
 switch $_soc {
+	am263p -
 	am263 {
 		set _K3_DAP_TAPID 0x2bb7d02f
 
@@ -104,6 +107,10 @@ switch $_soc {
 		set _r5_ap_num 5
 
 		set _power_ap_num 7
+
+		if { "$_soc" == "am263p" } {
+			set _K3_DAP_TAPID 0x1bb9502f
+		}
 	}
 	am273 {
 		set _K3_DAP_TAPID 0x1bb6a02f