diff --git a/tcl/target/microchip/mpfs.cfg b/tcl/target/microchip/mpfs.cfg
new file mode 100644
index 000000000..3a63e3d3b
--- /dev/null
+++ b/tcl/target/microchip/mpfs.cfg
@@ -0,0 +1,75 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Target: MPFS PolarFire SoC-series processors by Microchip Technologies
+#
+# https://www.microchip.com/en-us/products/fpgas-and-plds/system-on-chip-fpgas/polarfire-soc-fpgas
+#
+
+if { [info exists CHIPNAME] } {
+	set _CHIPNAME $CHIPNAME
+} else {
+	set _CHIPNAME mpfs
+}
+
+# Process COREID variable
+if { ![exists COREID] } {
+	set COREID -1
+}
+
+transport select jtag
+
+# PolarFire SoC (MPFS) hart id to name lookup table
+array set hart_names {
+	0	e51
+	1	u54_1
+	2	u54_2
+	3	u54_3
+	4	u54_4
+}
+
+# MPFS devices table
+set mpfs_cpu_tap_info {
+	MPFS025  0x0f8531cf
+	MPFS095  0x0f8181cf
+	MPFS160  0x0f8191cf
+	MPFS250  0x0f81a1cf
+	MPFS460  0x0f81b1cf
+	RTPFS160 0x0f8991cf
+	RTPFS460 0x0f89b1cf
+}
+
+proc expected_ids {tap_list} {
+	set str ""
+	dict for {key value} $tap_list {
+		append str "-expected-id" " " $value " "
+	}
+
+	return $str
+}
+
+set irlen 8
+set expected_ids [expected_ids $mpfs_cpu_tap_info]
+eval jtag newtap $_CHIPNAME cpu -irlen $irlen $expected_ids -ignore-version
+
+if {$COREID == -1} {
+	# Single debug connection to all HART's
+	set _TARGETNAME_0 $_CHIPNAME.$hart_names(0)
+	set _TARGETNAME_1 $_CHIPNAME.$hart_names(1)
+	set _TARGETNAME_2 $_CHIPNAME.$hart_names(2)
+	set _TARGETNAME_3 $_CHIPNAME.$hart_names(3)
+	set _TARGETNAME_4 $_CHIPNAME.$hart_names(4)
+
+	target create $_TARGETNAME_0 riscv -chain-position $_CHIPNAME.cpu -coreid 0 -rtos hwthread
+	target create $_TARGETNAME_1 riscv -chain-position $_CHIPNAME.cpu -coreid 1 -rtos hwthread
+	target create $_TARGETNAME_2 riscv -chain-position $_CHIPNAME.cpu -coreid 2 -rtos hwthread
+	target create $_TARGETNAME_3 riscv -chain-position $_CHIPNAME.cpu -coreid 3 -rtos hwthread
+	target create $_TARGETNAME_4 riscv -chain-position $_CHIPNAME.cpu -coreid 4 -rtos hwthread
+	target smp $_TARGETNAME_0 $_TARGETNAME_1 $_TARGETNAME_2 $_TARGETNAME_3 $_TARGETNAME_4
+} else {
+	# Debug connection to a specific hart
+	set _TARGETNAME_0 $_CHIPNAME.$hart_names($COREID)
+	target create $_TARGETNAME_0 riscv -chain-position $_CHIPNAME.cpu -coreid $COREID
+}
+
+# Only TRSTn supported
+reset_config trst_only