diff --git a/configs/am64x_evm_a53_defconfig b/configs/am64x_evm_a53_defconfig
index 8894ac1702..fbce9e9674 100644
--- a/configs/am64x_evm_a53_defconfig
+++ b/configs/am64x_evm_a53_defconfig
@@ -23,6 +23,7 @@ CONFIG_DEFAULT_DEVICE_TREE="k3-am642-evm"
 CONFIG_DISTRO_DEFAULTS=y
 # CONFIG_SYS_MALLOC_CLEAR_ON_INIT is not set
 CONFIG_SPL_LOAD_FIT=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x81000000
 CONFIG_BOOTCOMMAND="run findfdt; run envboot; run init_${boot}; run get_kern_${boot}; run get_fdt_${boot}; run run_kern"
 CONFIG_BOARD_LATE_INIT=y
 CONFIG_SPL_SYS_MALLOC_SIMPLE=y
@@ -30,12 +31,17 @@ CONFIG_SPL_STACK_R=y
 CONFIG_SPL_SEPARATE_BSS=y
 CONFIG_SPL_DMA=y
 CONFIG_SPL_I2C_SUPPORT=y
+CONFIG_SPL_ENV_SUPPORT=y
 CONFIG_SPL_DM_MAILBOX=y
 CONFIG_SPL_DM_SPI_FLASH=y
 CONFIG_SPL_POWER_DOMAIN=y
 CONFIG_SPL_RAM_SUPPORT=y
 CONFIG_SPL_RAM_DEVICE=y
 CONFIG_SPL_SPI_LOAD=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_STORAGE=y
+CONFIG_SPL_USB_GADGET=y
+CONFIG_SPL_DFU=y
 CONFIG_SPL_YMODEM_SUPPORT=y
 CONFIG_CMD_ASKENV=y
 CONFIG_CMD_I2C=y
@@ -102,3 +108,36 @@ CONFIG_TIMER=y
 CONFIG_SPL_TIMER=y
 CONFIG_OMAP_TIMER=y
 CONFIG_FS_FAT_MAX_CLUSTSIZE=16384
+CONFIG_CMD_DFU=y
+CONFIG_CMD_DM=y
+CONFIG_CMD_USB=y
+CONFIG_DFU=y
+CONFIG_DFU_OVER_USB=y
+# CONFIG_DFU_TFTP is not set
+CONFIG_DFU_MMC=y
+CONFIG_DFU_RAM=y
+CONFIG_DFU_SF=y
+# CONFIG_DFU_VIRT is not set
+CONFIG_SYS_DFU_DATA_BUF_SIZE=0x40000
+CONFIG_SYS_DFU_MAX_FILE_SIZE=0x800000
+CONFIG_USB=y
+CONFIG_DM_USB=y
+CONFIG_DM_USB_GADGET=y
+CONFIG_SPL_DM_USB_GADGET=y
+CONFIG_USB_HOST=y
+CONFIG_USB_XHCI_HCD=y
+CONFIG_USB_CDNS3=y
+CONFIG_USB_CDNS3_GADGET=y
+CONFIG_SPL_USB_CDNS3_GADGET=y
+CONFIG_USB_CDNS3_HOST=y
+CONFIG_SPL_USB_CDNS3_HOST=y
+CONFIG_USB_CDNS3_TI=y
+CONFIG_USB_STORAGE=y
+CONFIG_USB_GADGET=y
+CONFIG_USB_GADGET_MANUFACTURER="Texas Instruments"
+CONFIG_USB_GADGET_VENDOR_NUM=0x0451
+CONFIG_USB_GADGET_PRODUCT_NUM=0x6165
+CONFIG_USB_GADGET_VBUS_DRAW=2
+CONFIG_USB_GADGET_DUALSPEED=y
+CONFIG_USB_GADGET_DOWNLOAD=y
+CONFIG_USB_FUNCTION_MASS_STORAGE=y
diff --git a/configs/am64x_evm_r5_defconfig b/configs/am64x_evm_r5_defconfig
index de0c814222..3e9b5650c6 100644
--- a/configs/am64x_evm_r5_defconfig
+++ b/configs/am64x_evm_r5_defconfig
@@ -23,6 +23,7 @@ CONFIG_SPL_SPI_FLASH_SUPPORT=y
 CONFIG_SPL_SPI_SUPPORT=y
 CONFIG_DEFAULT_DEVICE_TREE="k3-am642-r5-evm"
 CONFIG_SPL_LOAD_FIT=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x80080000
 # CONFIG_DISPLAY_CPUINFO is not set
 CONFIG_SPL_SIZE_LIMIT_SUBTRACT_GD=y
 CONFIG_SPL_SIZE_LIMIT_SUBTRACT_MALLOC=y
@@ -31,19 +32,30 @@ CONFIG_SPL_SYS_MALLOC_SIMPLE=y
 CONFIG_SPL_STACK_R=y
 CONFIG_SPL_SEPARATE_BSS=y
 CONFIG_SPL_EARLY_BSS=y
+CONFIG_SPL_BOARD_INIT=y
+CONFIG_SPL_ENV_SUPPORT=y
 CONFIG_SPL_I2C_SUPPORT=y
 CONFIG_SPL_DM_MAILBOX=y
 CONFIG_SPL_DM_SPI_FLASH=y
 CONFIG_SPL_DM_RESET=y
 CONFIG_SPL_POWER_SUPPORT=y
 CONFIG_SPL_POWER_DOMAIN=y
+CONFIG_SPL_RAM_SUPPORT=y
+CONFIG_SPL_RAM_DEVICE=y
 CONFIG_SPL_REMOTEPROC=y
 CONFIG_SPL_SPI_LOAD=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_STORAGE=y
+CONFIG_SPL_USB_GADGET=y
+CONFIG_SPL_DFU=y
 CONFIG_SPL_YMODEM_SUPPORT=y
 CONFIG_HUSH_PARSER=y
 CONFIG_CMD_ASKENV=y
+CONFIG_CMD_DFU=y
 CONFIG_CMD_MMC=y
 CONFIG_CMD_REMOTEPROC=y
+CONFIG_CMD_USB=y
+CONFIG_CMD_USB_MASS_STORAGE=y
 # CONFIG_CMD_SETEXPR is not set
 CONFIG_CMD_TIME=y
 CONFIG_CMD_FAT=y
@@ -52,8 +64,6 @@ CONFIG_SPL_OF_CONTROL=y
 CONFIG_SPL_MULTI_DTB_FIT=y
 CONFIG_SPL_OF_LIST="k3-am642-r5-evm k3-am642-r5-sk"
 CONFIG_SPL_MULTI_DTB_FIT_NO_COMPRESSION=y
-CONFIG_ENV_IS_IN_FAT=y
-CONFIG_ENV_FAT_DEVICE_AND_PART="1:1"
 CONFIG_SYS_RELOC_GD_ENV_ADDR=y
 CONFIG_DM=y
 CONFIG_SPL_DM=y
@@ -64,6 +74,10 @@ CONFIG_SPL_OF_TRANSLATE=y
 CONFIG_CLK=y
 CONFIG_SPL_CLK=y
 CONFIG_CLK_TI_SCI=y
+CONFIG_DFU_MMC=y
+CONFIG_DFU_RAM=y
+CONFIG_DFU_SF=y
+CONFIG_SYS_DFU_DATA_BUF_SIZE=0x5000
 CONFIG_TI_SCI_PROTOCOL=y
 CONFIG_DA8XX_GPIO=y
 CONFIG_DM_I2C=y
@@ -101,4 +115,22 @@ CONFIG_CADENCE_QSPI=y
 CONFIG_TIMER=y
 CONFIG_SPL_TIMER=y
 CONFIG_OMAP_TIMER=y
+CONFIG_USB=y
+CONFIG_DM_USB=y
+CONFIG_SPL_DM_USB=y
+CONFIG_DM_USB_GADGET=y
+CONFIG_SPL_DM_USB_GADGET=y
+CONFIG_USB_XHCI_HCD=y
+CONFIG_USB_CDNS3=y
+CONFIG_USB_CDNS3_GADGET=y
+CONFIG_SPL_USB_CDNS3_GADGET=y
+CONFIG_USB_CDNS3_HOST=y
+CONFIG_SPL_USB_CDNS3_HOST=y
+CONFIG_USB_CDNS3_TI=y
+CONFIG_USB_STORAGE=y
+CONFIG_USB_GADGET=y
+CONFIG_USB_GADGET_MANUFACTURER="Texas Instruments"
+CONFIG_USB_GADGET_VENDOR_NUM=0x0451
+CONFIG_USB_GADGET_PRODUCT_NUM=0x6165
+CONFIG_USB_GADGET_DOWNLOAD=y
 CONFIG_FS_FAT_MAX_CLUSTSIZE=16384
diff --git a/include/configs/am64x_evm.h b/include/configs/am64x_evm.h
index 7c9bdc2d7d..c2c2bf0677 100644
--- a/include/configs/am64x_evm.h
+++ b/include/configs/am64x_evm.h
@@ -13,6 +13,7 @@
 #include <config_distro_bootcmd.h>
 #include <environment/ti/mmc.h>
 #include <asm/arch/am64_hardware.h>
+#include <environment/ti/k3_dfu.h>
 
 /* DDR Configuration */
 #define CONFIG_SYS_SDRAM_BASE1		0x880000000
@@ -95,16 +96,25 @@
 		"${bootdir}/${name_fit}\0"				\
 	"partitions=" PARTS_DEFAULT
 
+#define EXTRA_ENV_DFUARGS \
+	DFU_ALT_INFO_MMC \
+	DFU_ALT_INFO_EMMC \
+	DFU_ALT_INFO_RAM \
+	DFU_ALT_INFO_OSPI
+
 /* Incorporate settings into the U-Boot environment */
 #define CONFIG_EXTRA_ENV_SETTINGS					\
 	DEFAULT_LINUX_BOOT_ENV						\
 	DEFAULT_MMC_TI_ARGS						\
 	EXTRA_ENV_AM642_BOARD_SETTINGS					\
-	EXTRA_ENV_AM642_BOARD_SETTINGS_MMC
+	EXTRA_ENV_AM642_BOARD_SETTINGS_MMC				\
+	EXTRA_ENV_DFUARGS
 
 /* Now for the remaining common defines */
 #include <configs/ti_armv7_common.h>
 
+#define CONFIG_SYS_USB_FAT_BOOT_PARTITION 1
+
 /* MMC ENV related defines */
 #ifdef CONFIG_ENV_IS_IN_MMC
 #define CONFIG_SYS_MMC_ENV_DEV		0