diff --git a/drivers/gpu/drm/panfrost/TODO b/drivers/gpu/drm/panfrost/TODO
index c2e44add37d8..64129bf73933 100644
--- a/drivers/gpu/drm/panfrost/TODO
+++ b/drivers/gpu/drm/panfrost/TODO
@@ -14,8 +14,6 @@
   The hard part is handling when more address spaces are needed than what
   the h/w provides.
 
-- Support pinning pages on demand (GPU page faults).
-
 - Support userspace controlled GPU virtual addresses. Needed for Vulkan. (Tomeu)
 
 - Support for madvise and a shrinker.
diff --git a/drivers/gpu/drm/panfrost/panfrost_drv.c b/drivers/gpu/drm/panfrost/panfrost_drv.c
index 7ebd82d8d570..a7126b5f8e5d 100644
--- a/drivers/gpu/drm/panfrost/panfrost_drv.c
+++ b/drivers/gpu/drm/panfrost/panfrost_drv.c
@@ -50,7 +50,12 @@ static int panfrost_ioctl_create_bo(struct drm_device *dev, void *data,
 	struct drm_panfrost_create_bo *args = data;
 
 	if (!args->size || args->pad ||
-	    (args->flags & ~PANFROST_BO_NOEXEC))
+	    (args->flags & ~(PANFROST_BO_NOEXEC | PANFROST_BO_HEAP)))
+		return -EINVAL;
+
+	/* Heaps should never be executable */
+	if ((args->flags & PANFROST_BO_HEAP) &&
+	    !(args->flags & PANFROST_BO_NOEXEC))
 		return -EINVAL;
 
 	bo = panfrost_gem_create_with_handle(file, dev, args->size, args->flags,
@@ -265,6 +270,10 @@ static int panfrost_ioctl_mmap_bo(struct drm_device *dev, void *data,
 		return -ENOENT;
 	}
 
+	/* Don't allow mmapping of heap objects as pages are not pinned. */
+	if (to_panfrost_bo(gem_obj)->is_heap)
+		return -EINVAL;
+
 	ret = drm_gem_create_mmap_offset(gem_obj);
 	if (ret == 0)
 		args->offset = drm_vma_node_offset_addr(&gem_obj->vma_node);
diff --git a/drivers/gpu/drm/panfrost/panfrost_gem.c b/drivers/gpu/drm/panfrost/panfrost_gem.c
index 63731f6c5223..f3d5f61714ae 100644
--- a/drivers/gpu/drm/panfrost/panfrost_gem.c
+++ b/drivers/gpu/drm/panfrost/panfrost_gem.c
@@ -27,13 +27,35 @@ static void panfrost_gem_free_object(struct drm_gem_object *obj)
 		drm_mm_remove_node(&bo->node);
 	spin_unlock(&pfdev->mm_lock);
 
+	if (bo->sgts) {
+		int i;
+		int n_sgt = bo->base.base.size / SZ_2M;
+
+		for (i = 0; i < n_sgt; i++) {
+			if (bo->sgts[i].sgl) {
+				dma_unmap_sg(pfdev->dev, bo->sgts[i].sgl,
+					     bo->sgts[i].nents, DMA_BIDIRECTIONAL);
+				sg_free_table(&bo->sgts[i]);
+			}
+		}
+		kfree(bo->sgts);
+	}
+
 	drm_gem_shmem_free_object(obj);
 }
 
+static int panfrost_gem_pin(struct drm_gem_object *obj)
+{
+	if (to_panfrost_bo(obj)->is_heap)
+		return -EINVAL;
+
+	return drm_gem_shmem_pin(obj);
+}
+
 static const struct drm_gem_object_funcs panfrost_gem_funcs = {
 	.free = panfrost_gem_free_object,
 	.print_info = drm_gem_shmem_print_info,
-	.pin = drm_gem_shmem_pin,
+	.pin = panfrost_gem_pin,
 	.unpin = drm_gem_shmem_unpin,
 	.get_sg_table = drm_gem_shmem_get_sg_table,
 	.vmap = drm_gem_shmem_vmap,
@@ -87,7 +109,10 @@ static int panfrost_gem_map(struct panfrost_device *pfdev, struct panfrost_gem_o
 	if (ret)
 		return ret;
 
-	return panfrost_mmu_map(bo);
+	if (!bo->is_heap)
+		ret = panfrost_mmu_map(bo);
+
+	return ret;
 }
 
 struct panfrost_gem_object *
@@ -101,7 +126,11 @@ panfrost_gem_create_with_handle(struct drm_file *file_priv,
 	struct drm_gem_shmem_object *shmem;
 	struct panfrost_gem_object *bo;
 
-	size = roundup(size, PAGE_SIZE);
+	/* Round up heap allocations to 2MB to keep fault handling simple */
+	if (flags & PANFROST_BO_HEAP)
+		size = roundup(size, SZ_2M);
+	else
+		size = roundup(size, PAGE_SIZE);
 
 	shmem = drm_gem_shmem_create_with_handle(file_priv, dev, size, handle);
 	if (IS_ERR(shmem))
@@ -109,6 +138,7 @@ panfrost_gem_create_with_handle(struct drm_file *file_priv,
 
 	bo = to_panfrost_bo(&shmem->base);
 	bo->noexec = !!(flags & PANFROST_BO_NOEXEC);
+	bo->is_heap = !!(flags & PANFROST_BO_HEAP);
 
 	ret = panfrost_gem_map(pfdev, bo);
 	if (ret)
diff --git a/drivers/gpu/drm/panfrost/panfrost_gem.h b/drivers/gpu/drm/panfrost/panfrost_gem.h
index 132f02399b7b..b628c9b67784 100644
--- a/drivers/gpu/drm/panfrost/panfrost_gem.h
+++ b/drivers/gpu/drm/panfrost/panfrost_gem.h
@@ -9,10 +9,12 @@
 
 struct panfrost_gem_object {
 	struct drm_gem_shmem_object base;
+	struct sg_table *sgts;
 
 	struct drm_mm_node node;
 	bool is_mapped		:1;
 	bool noexec		:1;
+	bool is_heap		:1;
 };
 
 static inline
@@ -21,6 +23,12 @@ struct  panfrost_gem_object *to_panfrost_bo(struct drm_gem_object *obj)
 	return container_of(to_drm_gem_shmem_obj(obj), struct panfrost_gem_object, base);
 }
 
+static inline
+struct  panfrost_gem_object *drm_mm_node_to_panfrost_bo(struct drm_mm_node *node)
+{
+	return container_of(node, struct panfrost_gem_object, node);
+}
+
 struct drm_gem_object *panfrost_gem_create_object(struct drm_device *dev, size_t size);
 
 struct panfrost_gem_object *
diff --git a/drivers/gpu/drm/panfrost/panfrost_mmu.c b/drivers/gpu/drm/panfrost/panfrost_mmu.c
index 7d44328b280f..aa83bf46360b 100644
--- a/drivers/gpu/drm/panfrost/panfrost_mmu.c
+++ b/drivers/gpu/drm/panfrost/panfrost_mmu.c
@@ -2,6 +2,7 @@
 /* Copyright 2019 Linaro, Ltd, Rob Herring <robh@kernel.org> */
 #include <linux/bitfield.h>
 #include <linux/delay.h>
+#include <linux/dma-mapping.h>
 #include <linux/interrupt.h>
 #include <linux/io.h>
 #include <linux/iopoll.h>
@@ -9,6 +10,7 @@
 #include <linux/iommu.h>
 #include <linux/platform_device.h>
 #include <linux/pm_runtime.h>
+#include <linux/shmem_fs.h>
 #include <linux/sizes.h>
 
 #include "panfrost_device.h"
@@ -235,12 +237,12 @@ void panfrost_mmu_unmap(struct panfrost_gem_object *bo)
 		size_t unmapped_page;
 		size_t pgsize = get_pgsize(iova, len - unmapped_len);
 
-		unmapped_page = ops->unmap(ops, iova, pgsize);
-		if (!unmapped_page)
-			break;
-
-		iova += unmapped_page;
-		unmapped_len += unmapped_page;
+		if (ops->iova_to_phys(ops, iova)) {
+			unmapped_page = ops->unmap(ops, iova, pgsize);
+			WARN_ON(unmapped_page != pgsize);
+		}
+		iova += pgsize;
+		unmapped_len += pgsize;
 	}
 
 	mmu_hw_do_operation(pfdev, 0, bo->node.start << PAGE_SHIFT,
@@ -276,6 +278,105 @@ static const struct iommu_gather_ops mmu_tlb_ops = {
 	.tlb_sync	= mmu_tlb_sync_context,
 };
 
+static struct drm_mm_node *addr_to_drm_mm_node(struct panfrost_device *pfdev, int as, u64 addr)
+{
+	struct drm_mm_node *node;
+	u64 offset = addr >> PAGE_SHIFT;
+
+	drm_mm_for_each_node(node, &pfdev->mm) {
+		if (offset >= node->start && offset < (node->start + node->size))
+			return node;
+	}
+	return NULL;
+}
+
+#define NUM_FAULT_PAGES (SZ_2M / PAGE_SIZE)
+
+int panfrost_mmu_map_fault_addr(struct panfrost_device *pfdev, int as, u64 addr)
+{
+	int ret, i;
+	struct drm_mm_node *node;
+	struct panfrost_gem_object *bo;
+	struct address_space *mapping;
+	pgoff_t page_offset;
+	struct sg_table *sgt;
+	struct page **pages;
+
+	node = addr_to_drm_mm_node(pfdev, as, addr);
+	if (!node)
+		return -ENOENT;
+
+	bo = drm_mm_node_to_panfrost_bo(node);
+	if (!bo->is_heap) {
+		dev_WARN(pfdev->dev, "matching BO is not heap type (GPU VA = %llx)",
+			 node->start << PAGE_SHIFT);
+		return -EINVAL;
+	}
+	/* Assume 2MB alignment and size multiple */
+	addr &= ~((u64)SZ_2M - 1);
+	page_offset = addr >> PAGE_SHIFT;
+	page_offset -= node->start;
+
+	mutex_lock(&bo->base.pages_lock);
+
+	if (!bo->base.pages) {
+		bo->sgts = kvmalloc_array(bo->base.base.size / SZ_2M,
+				     sizeof(struct sg_table), GFP_KERNEL | __GFP_ZERO);
+		if (!bo->sgts)
+			return -ENOMEM;
+
+		pages = kvmalloc_array(bo->base.base.size >> PAGE_SHIFT,
+				       sizeof(struct page *), GFP_KERNEL | __GFP_ZERO);
+		if (!pages) {
+			kfree(bo->sgts);
+			bo->sgts = NULL;
+			return -ENOMEM;
+		}
+		bo->base.pages = pages;
+		bo->base.pages_use_count = 1;
+	} else
+		pages = bo->base.pages;
+
+	mapping = bo->base.base.filp->f_mapping;
+	mapping_set_unevictable(mapping);
+
+	for (i = page_offset; i < page_offset + NUM_FAULT_PAGES; i++) {
+		pages[i] = shmem_read_mapping_page(mapping, i);
+		if (IS_ERR(pages[i])) {
+			mutex_unlock(&bo->base.pages_lock);
+			ret = PTR_ERR(pages[i]);
+			goto err_pages;
+		}
+	}
+
+	mutex_unlock(&bo->base.pages_lock);
+
+	sgt = &bo->sgts[page_offset / (SZ_2M / PAGE_SIZE)];
+	ret = sg_alloc_table_from_pages(sgt, pages + page_offset,
+					NUM_FAULT_PAGES, 0, SZ_2M, GFP_KERNEL);
+	if (ret)
+		goto err_pages;
+
+	if (!dma_map_sg(pfdev->dev, sgt->sgl, sgt->nents, DMA_BIDIRECTIONAL)) {
+		ret = -EINVAL;
+		goto err_map;
+	}
+
+	mmu_map_sg(pfdev, addr, IOMMU_WRITE | IOMMU_READ | IOMMU_NOEXEC, sgt);
+
+	bo->is_mapped = true;
+
+	dev_dbg(pfdev->dev, "mapped page fault @ %llx", addr);
+
+	return 0;
+
+err_map:
+	sg_free_table(sgt);
+err_pages:
+	drm_gem_shmem_put_pages(&bo->base);
+	return ret;
+}
+
 static const char *access_type_name(struct panfrost_device *pfdev,
 		u32 fault_status)
 {
@@ -312,9 +413,7 @@ static irqreturn_t panfrost_mmu_irq_handler_thread(int irq, void *data)
 {
 	struct panfrost_device *pfdev = data;
 	u32 status = mmu_read(pfdev, MMU_INT_RAWSTAT);
-	int i;
-
-	dev_err(pfdev->dev, "mmu irq status=%x\n", status);
+	int i, ret;
 
 	for (i = 0; status; i++) {
 		u32 mask = BIT(i) | BIT(i + 16);
@@ -336,6 +435,18 @@ static irqreturn_t panfrost_mmu_irq_handler_thread(int irq, void *data)
 		access_type = (fault_status >> 8) & 0x3;
 		source_id = (fault_status >> 16);
 
+		/* Page fault only */
+		if ((status & mask) == BIT(i)) {
+			WARN_ON(exception_type < 0xC1 || exception_type > 0xC4);
+
+			ret = panfrost_mmu_map_fault_addr(pfdev, i, addr);
+			if (!ret) {
+				mmu_write(pfdev, MMU_INT_CLEAR, BIT(i));
+				status &= ~mask;
+				continue;
+			}
+		}
+
 		/* terminal fault, print info about the fault */
 		dev_err(pfdev->dev,
 			"Unhandled Page fault in AS%d at VA 0x%016llX\n"
diff --git a/include/uapi/drm/panfrost_drm.h b/include/uapi/drm/panfrost_drm.h
index 17fb5d200f7a..9150dd75aad8 100644
--- a/include/uapi/drm/panfrost_drm.h
+++ b/include/uapi/drm/panfrost_drm.h
@@ -83,6 +83,7 @@ struct drm_panfrost_wait_bo {
 };
 
 #define PANFROST_BO_NOEXEC	1
+#define PANFROST_BO_HEAP	2
 
 /**
  * struct drm_panfrost_create_bo - ioctl argument for creating Panfrost BOs.
