Developed and delivered a new Direct Memory Access capability using SWD emulation for TI AM64x and J784s4 platforms within the espressif/openocd-esp32 repository. This work involved creating TCL configuration files and setting up memory-mapped IO parameters to enable direct memory operations over SWD, streamlining hardware bring-up and debugging processes. Leveraging skills in configuration management, embedded systems, and hardware interfacing, the developer implemented and validated the feature through formal code reviews and CI testing. The addition of SWD-based DMA support improved the efficiency and robustness of TI board debugging, providing enhanced control and flexibility for developers working with these platforms.