diff --git a/tcl/target/ti_k3.cfg b/tcl/target/ti_k3.cfg
index 2feffb92e..0dee74e5e 100644
--- a/tcl/target/ti_k3.cfg
+++ b/tcl/target/ti_k3.cfg
@@ -4,6 +4,8 @@
 # Texas Instruments K3 devices:
 # * AM243: https://www.ti.com/lit/pdf/spruim2
 #  Has 4 R5 Cores, M4F and an M3
+# * AM261: https://www.ti.com/lit/pdf/sprujb6
+#  Has 2 R5 Cores and an M4F
 # * AM263: https://www.ti.com/lit/pdf/spruj17
 #  Has 4 R5 Cores and an M3
 # * AM263P: https://www.ti.com/lit/pdf/spruj55
@@ -89,6 +91,7 @@ set _powerap_sprec_reset 0xf0
 
 # Set configuration overrides for each SOC
 switch $_soc {
+	am261 -
 	am263p -
 	am263 {
 		set _K3_DAP_TAPID 0x2bb7d02f
@@ -111,6 +114,10 @@ switch $_soc {
 		if { "$_soc" == "am263p" } {
 			set _K3_DAP_TAPID 0x1bb9502f
 		}
+		if { "$_soc" == "am261" } {
+			set _K3_DAP_TAPID 0x1bba602f
+			set _r5_cores 2
+		}
 	}
 	am273 {
 		set _K3_DAP_TAPID 0x1bb6a02f