diff --git a/tcl/target/renesas_r7s72100.cfg b/tcl/target/renesas_r7s72100.cfg
new file mode 100644
index 000000000..f9466fc2f
--- /dev/null
+++ b/tcl/target/renesas_r7s72100.cfg
@@ -0,0 +1,25 @@
+# Renesas R-Car RZ/A1H
+# https://www.renesas.com/eu/en/products/microcontrollers-microprocessors/rz/rza/rza1h.html
+
+if { [info exists DAP_TAPID] } {
+	set _DAP_TAPID $DAP_TAPID
+} else {
+	set _DAP_TAPID 0x4ba00477
+}
+
+if { [info exists CHIPNAME] } {
+	set _CHIPNAME $CHIPNAME
+} else {
+	set _CHIPNAME r7s72100
+}
+
+jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x01 -irmask 0x0f -expected-id $_DAP_TAPID
+
+# Configuring only one core using DAP.
+# Base addresses of cores:
+#  core 0  -  0x80030000
+set _TARGETNAME $_CHIPNAME.ca9
+dap create ${_CHIPNAME}.dap -chain-position $_CHIPNAME.cpu
+target create ${_TARGETNAME} cortex_a -dap ${_CHIPNAME}.dap -coreid 0 -dbgbase 0x80030000
+
+targets ${_TARGETNAME}