diff --git a/config/boards/beaglebone-ai64.conf b/config/boards/beaglebone-ai64.conf
index 21dfb07c62d4..d83d71476e70 100644
--- a/config/boards/beaglebone-ai64.conf
+++ b/config/boards/beaglebone-ai64.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="BeagleBone AI-64"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="Grippy98"
+BOOT_SOC="j721e"
 BOOTCONFIG="j721e_beagleboneai64_a72_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-j721e-beagleboneai64.dts"
diff --git a/config/boards/beagleplay.conf b/config/boards/beagleplay.conf
index 982f6275b094..6a82c71fbce1 100644
--- a/config/boards/beagleplay.conf
+++ b/config/boards/beagleplay.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="BeaglePlay"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="Grippy98"
+BOOT_SOC="am62"
 BOOTCONFIG="am62x_beagleplay_a53_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-am625-beagleplay.dts"
diff --git a/config/boards/beagley-ai.conf b/config/boards/beagley-ai.conf
index 46efa15d9c75..45db99a9c414 100644
--- a/config/boards/beagley-ai.conf
+++ b/config/boards/beagley-ai.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="BeagleY-AI"
 BOARDFAMILY="k3-beagle"
 BOARD_MAINTAINER="Grippy98"
+BOOT_SOC="j722s"
 BOOTCONFIG="am67a_beagley_ai_a53_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="k3-am67a-beagley-ai.dts"
diff --git a/config/boards/pocketbeagle2.conf b/config/boards/pocketbeagle2.conf
index 44552a0a2fcb..7bf3a0ab196e 100644
--- a/config/boards/pocketbeagle2.conf
+++ b/config/boards/pocketbeagle2.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="PocketBeagle 2"
 BOARDFAMILY="k3-beagle"
 BOARD_MAINTAINER="Grippy98"
+BOOT_SOC="am62"
 BOOTCONFIG="am6232_pocketbeagle2_a53_defconfig"
 BOOTFS_TYPE="fat"
 TIBOOT3_BOOTCONFIG="am6232_pocketbeagle2_r5_defconfig"
diff --git a/config/boards/sk-am62b.conf b/config/boards/sk-am62b.conf
index 8b50628f320a..96a030386c42 100644
--- a/config/boards/sk-am62b.conf
+++ b/config/boards/sk-am62b.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="SK-AM62B"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="jonaswood01"
+BOOT_SOC="am62"
 BOOTCONFIG="am62x_evm_a53_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-am625-sk.dts"
diff --git a/config/boards/sk-am62p.conf b/config/boards/sk-am62p.conf
index 004a670bbea5..b2cf7d7018b6 100644
--- a/config/boards/sk-am62p.conf
+++ b/config/boards/sk-am62p.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="SK-AM62P"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="jonaswood01"
+BOOT_SOC="am62p"
 BOOTCONFIG="am62px_evm_a53_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-am62p5-sk.dts"
diff --git a/config/boards/sk-am64b.conf b/config/boards/sk-am64b.conf
index 504ec55569d2..67ca011e4768 100644
--- a/config/boards/sk-am64b.conf
+++ b/config/boards/sk-am64b.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="SK-AM64B"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="jonaswood01"
+BOOT_SOC="am64"
 BOOTCONFIG="am64x_evm_a53_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-am642-sk.dts"
diff --git a/config/boards/sk-am68.conf b/config/boards/sk-am68.conf
index e3ba844a6cfb..3f8adac0f9f0 100644
--- a/config/boards/sk-am68.conf
+++ b/config/boards/sk-am68.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="SK-AM68"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="glneo"
+BOOT_SOC="j721s2"
 BOOTCONFIG="j721s2_evm_a72_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-am68-sk-base-board.dts"
diff --git a/config/boards/sk-am69.conf b/config/boards/sk-am69.conf
index 5caba5f4529a..e34de73c6495 100644
--- a/config/boards/sk-am69.conf
+++ b/config/boards/sk-am69.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="SK-AM69"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="glneo"
+BOOT_SOC="j784s4"
 BOOTCONFIG="am69_sk_a72_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-am69-sk.dts"
diff --git a/config/boards/sk-tda4vm.conf b/config/boards/sk-tda4vm.conf
index 45d871c8ef8d..39dbf0080518 100644
--- a/config/boards/sk-tda4vm.conf
+++ b/config/boards/sk-tda4vm.conf
@@ -3,6 +3,7 @@
 BOARD_NAME="SK-TDA4VM"
 BOARDFAMILY="k3"
 BOARD_MAINTAINER="glneo"
+BOOT_SOC="j721e"
 BOOTCONFIG="j721e_evm_a72_defconfig"
 BOOTFS_TYPE="fat"
 BOOT_FDT_FILE="ti/k3-j721e-sk.dts"
diff --git a/config/boards/tmds62levm.conf b/config/boards/tmds62levm.conf
new file mode 100644
index 000000000000..517c855aef18
--- /dev/null
+++ b/config/boards/tmds62levm.conf
@@ -0,0 +1,20 @@
+# Texas Instruments AM62L dual core 2GB 2xGBE OSPI HDMI
+
+BOARD_NAME="TMDS62LEVM"
+BOARDFAMILY="k3"
+BOARD_MAINTAINER="jonaswood01"
+BOOT_SOC="am62l"
+BOOTCONFIG="am62lx_evm_defconfig"
+BOOTFS_TYPE="fat"
+BOOT_FDT_FILE="ti/k3-am62l3-evm.dts"
+TIBOOT3_FILE="tiboot3.bin"
+DEFAULT_CONSOLE="serial"
+KERNEL_TARGET="vendor,vendor-rt,vendor-edge"
+KERNEL_TEST_TARGET="vendor"
+SERIALCON="ttyS2"
+ATF_BOARD="am62l"
+EXTRA_ATF_TARGETS="build/k3/am62l/release/bl1.bin:bl1.bin"
+OPTEE_ARGS="CFG_TEE_CORE_LOG_LEVEL=1"
+OPTEE_PLATFORM="k3-am62lx"
+EXTRA_BOOT_ARGS="BL1=bl1.bin"
+CC33XX_SUPPORT="yes"
diff --git a/config/kernel/linux-k3-beagle-edge.config b/config/kernel/linux-k3-beagle-edge.config
index eb8a498d34ba..95176fc8cda5 100644
--- a/config/kernel/linux-k3-beagle-edge.config
+++ b/config/kernel/linux-k3-beagle-edge.config
@@ -927,6 +927,7 @@ CONFIG_DMADEVICES=y
 CONFIG_BCM_SBA_RAID=m
 CONFIG_DW_EDMA=m
 CONFIG_TI_K3_UDMA=y
+CONFIG_TI_K3_UDMA_AM62L=y
 CONFIG_TI_K3_UDMA_GLUE_LAYER=y
 CONFIG_DMABUF_HEAPS=y
 CONFIG_DMABUF_HEAPS_SYSTEM=y
diff --git a/config/kernel/linux-k3-beagle-vendor-rt.config b/config/kernel/linux-k3-beagle-vendor-rt.config
index a6353f278878..35c102ef7aad 100644
--- a/config/kernel/linux-k3-beagle-vendor-rt.config
+++ b/config/kernel/linux-k3-beagle-vendor-rt.config
@@ -891,6 +891,7 @@ CONFIG_DMADEVICES=y
 CONFIG_BCM_SBA_RAID=m
 CONFIG_DW_EDMA=m
 CONFIG_TI_K3_UDMA=y
+CONFIG_TI_K3_UDMA_AM62L=y
 CONFIG_TI_K3_UDMA_GLUE_LAYER=y
 CONFIG_VFIO=y
 CONFIG_VFIO_PCI=y
diff --git a/config/kernel/linux-k3-beagle-vendor.config b/config/kernel/linux-k3-beagle-vendor.config
index 1bf029b3fc0d..bb464f6250d0 100644
--- a/config/kernel/linux-k3-beagle-vendor.config
+++ b/config/kernel/linux-k3-beagle-vendor.config
@@ -892,6 +892,7 @@ CONFIG_DMADEVICES=y
 CONFIG_BCM_SBA_RAID=m
 CONFIG_DW_EDMA=m
 CONFIG_TI_K3_UDMA=y
+CONFIG_TI_K3_UDMA_AM62L=y
 CONFIG_TI_K3_UDMA_GLUE_LAYER=y
 CONFIG_VFIO=y
 CONFIG_VFIO_PCI=y
diff --git a/config/kernel/linux-k3-edge.config b/config/kernel/linux-k3-edge.config
index eb8a498d34ba..95176fc8cda5 100644
--- a/config/kernel/linux-k3-edge.config
+++ b/config/kernel/linux-k3-edge.config
@@ -927,6 +927,7 @@ CONFIG_DMADEVICES=y
 CONFIG_BCM_SBA_RAID=m
 CONFIG_DW_EDMA=m
 CONFIG_TI_K3_UDMA=y
+CONFIG_TI_K3_UDMA_AM62L=y
 CONFIG_TI_K3_UDMA_GLUE_LAYER=y
 CONFIG_DMABUF_HEAPS=y
 CONFIG_DMABUF_HEAPS_SYSTEM=y
diff --git a/config/kernel/linux-k3-vendor-edge.config b/config/kernel/linux-k3-vendor-edge.config
index eb8a498d34ba..95176fc8cda5 100644
--- a/config/kernel/linux-k3-vendor-edge.config
+++ b/config/kernel/linux-k3-vendor-edge.config
@@ -927,6 +927,7 @@ CONFIG_DMADEVICES=y
 CONFIG_BCM_SBA_RAID=m
 CONFIG_DW_EDMA=m
 CONFIG_TI_K3_UDMA=y
+CONFIG_TI_K3_UDMA_AM62L=y
 CONFIG_TI_K3_UDMA_GLUE_LAYER=y
 CONFIG_DMABUF_HEAPS=y
 CONFIG_DMABUF_HEAPS_SYSTEM=y
diff --git a/config/kernel/linux-k3-vendor.config b/config/kernel/linux-k3-vendor.config
index deaf18e9b579..93c31c80d043 100644
--- a/config/kernel/linux-k3-vendor.config
+++ b/config/kernel/linux-k3-vendor.config
@@ -909,6 +909,7 @@ CONFIG_RTC_DRV_TI_K3=m
 CONFIG_DMADEVICES=y
 CONFIG_BCM_SBA_RAID=m
 CONFIG_TI_K3_UDMA=y
+CONFIG_TI_K3_UDMA_AM62L=y
 CONFIG_TI_K3_UDMA_GLUE_LAYER=y
 CONFIG_DMABUF_HEAPS=y
 CONFIG_DMABUF_HEAPS_SYSTEM=y
diff --git a/config/sources/families/include/k3_common.inc b/config/sources/families/include/k3_common.inc
index c68597d01c54..3745ce4a182e 100644
--- a/config/sources/families/include/k3_common.inc
+++ b/config/sources/families/include/k3_common.inc
@@ -42,9 +42,9 @@ case "${BRANCH}" in
 esac
 
 ATF_PLAT="k3"
-ATF_TARGET_MAP="PLAT=$ATF_PLAT TARGET_BOARD=$ATF_BOARD ${SPD_OPTEED} ${ATF_K3_USART_OFFSET} bl31;;build/$ATF_PLAT/$ATF_BOARD/release/bl31.bin:bl31.bin"
+ATF_TARGET_MAP="PLAT=$ATF_PLAT TARGET_BOARD=$ATF_BOARD ${SPD_OPTEED} ${ATF_K3_USART_OFFSET} all;;build/$ATF_PLAT/$ATF_BOARD/release/bl31.bin:bl31.bin ${EXTRA_ATF_TARGETS}"
 
-UBOOT_TARGET_MAP="BL31=bl31.bin TEE=${SRC}/cache/sources/optee-os/out/arm-plat-k3/core/tee-raw.bin BINMAN_INDIRS=${SRC}/cache/sources/ti-linux-firmware all;;tiboot3.bin ${SYSFW_FILE:+sysfw.itb} tispl.bin u-boot.img"
+UBOOT_TARGET_MAP="BL31=bl31.bin ${EXTRA_BOOT_ARGS} TEE=${SRC}/cache/sources/optee-os/out/arm-plat-k3/core/tee-raw.bin BINMAN_INDIRS=${SRC}/cache/sources/ti-linux-firmware all;;tiboot3.bin ${SYSFW_FILE:+sysfw.itb} tispl.bin u-boot.img"
 
 # To match what our current SDK produces
 BOOT_FS_LABEL="boot"
@@ -59,12 +59,12 @@ function compile_k3_bootgen() {
 	# Source code checkout
 	(fetch_from_repo "https://github.com/TexasInstruments/ti-linux-firmware" "ti-linux-firmware" ${TI_LINUX_FIRMWARE_BRANCH})
 
-	pushd ${SRC}/cache/sources/u-boot-worktree/${BOOTDIR}/${BOOTBRANCH##*:} || exit
-
-	run_host_command_logged make -j$(nproc) CROSS_COMPILE=arm-linux-gnueabi- ARCH=arm O=build-r5 ${TIBOOT3_BOOTCONFIG}
-	run_host_command_logged make -j$(nproc) CROSS_COMPILE=arm-linux-gnueabi- ARCH=arm O=build-r5 BINMAN_INDIRS=${SRC}/cache/sources/ti-linux-firmware
-
-	popd
+	if [[ "${BOOT_SOC}" != "am62l" ]]; then
+		pushd ${SRC}/cache/sources/u-boot-worktree/${BOOTDIR}/${BOOTBRANCH##*:} || exit
+		run_host_command_logged make -j$(nproc) CROSS_COMPILE=arm-linux-gnueabi- ARCH=arm O=build-r5 ${TIBOOT3_BOOTCONFIG}
+		run_host_command_logged make -j$(nproc) CROSS_COMPILE=arm-linux-gnueabi- ARCH=arm O=build-r5 BINMAN_INDIRS=${SRC}/cache/sources/ti-linux-firmware
+		popd
+	fi
 }
 
 function compile_k3_optee() {
@@ -79,8 +79,10 @@ function pre_config_uboot_target__build_first_stage() {
 	compile_k3_optee
 	compile_k3_bootgen
 
-	cp ${SRC}/cache/sources/u-boot-worktree/${BOOTDIR}/${BOOTBRANCH##*:}/build-r5/${TIBOOT3_FILE} tiboot3.bin
-	cp ${SRC}/cache/sources/u-boot-worktree/${BOOTDIR}/${BOOTBRANCH##*:}/build-r5/${SYSFW_FILE} sysfw.itb || true
+	if [[ "${BOOT_SOC}" != "am62l" ]]; then
+		cp ${SRC}/cache/sources/u-boot-worktree/${BOOTDIR}/${BOOTBRANCH##*:}/build-r5/${TIBOOT3_FILE} tiboot3.bin
+		cp ${SRC}/cache/sources/u-boot-worktree/${BOOTDIR}/${BOOTBRANCH##*:}/build-r5/${SYSFW_FILE} sysfw.itb || true
+	fi
 }
 
 function post_uboot_custom_postprocess__update_uboot_names() {
diff --git a/config/sources/families/k3.conf b/config/sources/families/k3.conf
index 8601a71589eb..33b47db780b5 100644
--- a/config/sources/families/k3.conf
+++ b/config/sources/families/k3.conf
@@ -44,3 +44,17 @@ case "${BRANCH}" in
 		;;
 
 esac
+
+case "${BOOT_SOC}" in
+
+	am62l)				# update commit sha with each update of "vendor"/"vendor-rt" until 62L ATF in upstream
+
+		declare -g ATFSOURCE="https://github.com/TexasInstruments/arm-trusted-firmware"
+		if [[ "${BRANCH}" == "vendor" || "${BRANCH}" == "vendor-rt" ]]; then
+			declare -g ATFBRANCH="commit:6c8ef67293770a59afe86f8e98cfa39d01614ab8"
+		elif [[ "${BRANCH}" == "vendor-edge" ]]; then
+			declare -g ATFBRANCH="branch:ti-master"
+		fi
+		;;
+
+esac