diff --git a/DEVELOPERS b/DEVELOPERS
index bc026da4aa..cf1cb8808b 100644
--- a/DEVELOPERS
+++ b/DEVELOPERS
@@ -128,6 +128,9 @@ F:	package/dcron/
 F:	package/libxmlrpc/
 F:	package/python-docopt/
 
+N:	Anand Gadiyar <gadiyar@ti.com>
+F:	boot/ti-k3-r5-loader/
+
 N:	André Zwing <nerv@dawncrow.de>
 F:	package/libkrb5/
 F:	package/openal/
@@ -3045,6 +3048,9 @@ F:	package/python-pyusb/
 N:	Wojciech Niziński <niziak@spox.org>
 F:	package/fwup/
 
+N:	Xuanhao Shi <X15000177@gmail.com>
+F:	boot/ti-k3-r5-loader/
+
 N:	Yair Ben Avraham <yairba@protonmail.com>
 F:	package/casync/
 F:	package/gloox/
diff --git a/boot/Config.in b/boot/Config.in
index 40472ae07d..ce17b2df6b 100644
--- a/boot/Config.in
+++ b/boot/Config.in
@@ -22,6 +22,7 @@ source "boot/s500-bootloader/Config.in"
 source "boot/shim/Config.in"
 source "boot/sun20i-d1-spl/Config.in"
 source "boot/syslinux/Config.in"
+source "boot/ti-k3-r5-loader/Config.in"
 source "boot/uboot/Config.in"
 source "boot/vexpress-firmware/Config.in"
 
diff --git a/boot/ti-k3-r5-loader/Config.in b/boot/ti-k3-r5-loader/Config.in
new file mode 100644
index 0000000000..bb6140f8a6
--- /dev/null
+++ b/boot/ti-k3-r5-loader/Config.in
@@ -0,0 +1,32 @@
+config BR2_TARGET_TI_K3_R5_LOADER
+	bool "ti-k3-r5-loader"
+	help
+	  Separate U-Boot build for R5 cores on TI's k3 boards.
+	  Usually used to build tiboot3.bin with k3-image-gen.
+
+if BR2_TARGET_TI_K3_R5_LOADER
+choice
+	prompt "K3 R5 Loader configuration"
+	default BR2_TARGET_TI_K3_R5_LOADER_USE_DEFCONFIG
+
+config BR2_TARGET_TI_K3_R5_LOADER_USE_DEFCONFIG
+	bool "Using an in-tree board defconfig file"
+
+config BR2_TARGET_TI_K3_R5_LOADER_USE_CUSTOM_CONFIG
+	bool "Using a custom board (def)config file"
+
+endchoice
+
+config BR2_TARGET_TI_K3_R5_LOADER_BOARD_DEFCONFIG
+	string "Board defconfig"
+	depends on BR2_TARGET_TI_K3_R5_LOADER_USE_DEFCONFIG
+	help
+	  Name of the board for which TI K3 R5 Loader should be
+	  built, without the _defconfig suffix.
+
+config BR2_TARGET_TI_K3_R5_LOADER_CUSTOM_CONFIG_FILE
+	string "Configuration file path"
+	depends on BR2_TARGET_TI_K3_R5_LOADER_USE_CUSTOM_CONFIG
+	help
+	  Path to the TI K3 R5 Loader configuration file.
+endif
diff --git a/boot/ti-k3-r5-loader/ti-k3-r5-loader.hash b/boot/ti-k3-r5-loader/ti-k3-r5-loader.hash
new file mode 100644
index 0000000000..fb6ce7c2a6
--- /dev/null
+++ b/boot/ti-k3-r5-loader/ti-k3-r5-loader.hash
@@ -0,0 +1,2 @@
+# Locally computed:
+sha256  6d69d5e4635cb3fa7852bf15f88ca342ef7740196e71961d3572deb58ba44bea  u-boot-2022.10-rc1.tar.bz2
diff --git a/boot/ti-k3-r5-loader/ti-k3-r5-loader.mk b/boot/ti-k3-r5-loader/ti-k3-r5-loader.mk
new file mode 100644
index 0000000000..535c9b999b
--- /dev/null
+++ b/boot/ti-k3-r5-loader/ti-k3-r5-loader.mk
@@ -0,0 +1,49 @@
+################################################################################
+#
+# ti-k3-r5-loader.mk
+#
+################################################################################
+
+TI_K3_R5_LOADER_VERSION = 2022.10
+TI_K3_R5_LOADER_SITE = https://ftp.denx.de/pub/u-boot
+TI_K3_R5_LOADER_SOURCE = u-boot-$(TI_K3_R5_LOADER_VERSION).tar.bz2
+TI_K3_R5_LOADER_LICENSE = GPL-2.0+
+TI_K3_R5_LOADER_LICENSE_FILES = Licenses/gpl-2.0.txt
+TI_K3_R5_LOADER_CPE_ID_VENDOR = denx
+TI_K3_R5_LOADER_CPE_ID_PRODUCT = u-boot
+TI_K3_R5_LOADER_INSTALL_IMAGES = YES
+TI_K3_R5_LOADER_DEPENDENCIES = \
+	host-pkgconf \
+	$(BR2_MAKE_HOST_DEPENDENCY) \
+	host-arm-gnu-toolchain \
+	host-openssl
+
+TI_K3_R5_LOADER_MAKE = $(BR2_MAKE)
+TI_K3_R5_LOADER_MAKE_ENV = $(TARGET_MAKE_ENV)
+TI_K3_R5_LOADER_KCONFIG_DEPENDENCIES = \
+	host-arm-gnu-toolchain \
+	$(BR2_MAKE_HOST_DEPENDENCY) \
+	$(BR2_BISON_HOST_DEPENDENCY) \
+	$(BR2_FLEX_HOST_DEPENDENCY)
+
+TI_K3_R5_LOADER_BOARD = $(call qstrip,$(BR2_TARGET_TI_K3_R5_LOADER_BOARD))
+ifeq ($(BR2_TARGET_TI_K3_R5_LOADER_USE_DEFCONFIG),y)
+TI_K3_R5_LOADER_KCONFIG_DEFCONFIG = $(call qstrip,$(BR2_TARGET_TI_K3_R5_LOADER_BOARD_DEFCONFIG))_defconfig
+else ifeq ($(BR2_TARGET_TI_K3_R5_LOADER_USE_CUSTOM_CONFIG),y)
+TI_K3_R5_LOADER_KCONFIG_FILE = $(call qstrip,$(BR2_TARGET_TI_K3_R5_LOADER_CUSTOM_CONFIG_FILE))
+endif # BR2_TARGET_TI_K3_R5_LOADER_USE_DEFCONFIG
+TI_K3_R5_LOADER_MAKE_OPTS += \
+	CROSS_COMPILE=$(HOST_DIR)/bin/arm-none-eabi- \
+	ARCH=arm \
+	HOSTCC="$(HOSTCC) $(subst -I/,-isystem /,$(subst -I /,-isystem /,$(HOST_CFLAGS)))" \
+	HOSTLDFLAGS="$(HOST_LDFLAGS)"
+
+define TI_K3_R5_LOADER_BUILD_CMDS
+	$(TARGET_CONFIGURE_OPTS) $(TI_K3_R5_LOADER_MAKE) -C $(@D) $(TI_K3_R5_LOADER_MAKE_OPTS)
+endef
+
+define TI_K3_R5_LOADER_INSTALL_IMAGES_CMDS
+	cp $(@D)/spl/u-boot-spl.bin $(BINARIES_DIR)/r5-u-boot-spl.bin
+endef
+
+$(eval $(kconfig-package))
