diff --git a/drivers/soc/ti/pruss.c b/drivers/soc/ti/pruss.c
index 461390925d2..5317b8335bd 100644
--- a/drivers/soc/ti/pruss.c
+++ b/drivers/soc/ti/pruss.c
@@ -205,6 +205,7 @@ static int pruss_probe(struct udevice *dev)
 
 static const struct udevice_id pruss_ids[] = {
 	{ .compatible = "ti,am654-icssg"},
+	{ .compatible = "ti,am642-icssg"},
 	{}
 };