diff --git a/drivers/soc/ti/Kconfig b/drivers/soc/ti/Kconfig
index e192fb7..b934bc3 100644
--- a/drivers/soc/ti/Kconfig
+++ b/drivers/soc/ti/Kconfig
@@ -101,6 +101,17 @@ config TI_K3_SOCINFO
 	  platforms to provide information about the SoC family and
 	  variant to user space.
 
+config TI_PRUSS
+	tristate "TI PRU-ICSS Subsystem Platform drivers"
+	depends on SOC_AM33XX
+	select MFD_SYSCON
+	help
+	  TI PRU-ICSS Subsystem platform specific support.
+
+	  Say Y or M here to support the Programmable Realtime Unit (PRU)
+	  processors on various TI SoCs. It's safe to say N here if you're
+	  not interested in the PRU or if you are unsure.
+
 endif # SOC_TI
 
 config TI_SCI_INTA_MSI_DOMAIN
diff --git a/drivers/soc/ti/Makefile b/drivers/soc/ti/Makefile
index 1110e5c..18129aa 100644
--- a/drivers/soc/ti/Makefile
+++ b/drivers/soc/ti/Makefile
@@ -12,3 +12,4 @@ obj-$(CONFIG_TI_SCI_PM_DOMAINS)		+= ti_sci_pm_domains.o
 obj-$(CONFIG_TI_SCI_INTA_MSI_DOMAIN)	+= ti_sci_inta_msi.o
 obj-$(CONFIG_TI_K3_RINGACC)		+= k3-ringacc.o
 obj-$(CONFIG_TI_K3_SOCINFO)		+= k3-socinfo.o
+obj-$(CONFIG_TI_PRUSS)			+= pruss.o
diff --git a/drivers/soc/ti/pruss.c b/drivers/soc/ti/pruss.c
new file mode 100644
index 0000000..c071bb2
--- /dev/null
+++ b/drivers/soc/ti/pruss.c
@@ -0,0 +1,147 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * PRU-ICSS platform driver for various TI SoCs
+ *
+ * Copyright (C) 2014-2020 Texas Instruments Incorporated - http://www.ti.com/
+ * Author(s):
+ *	Suman Anna <s-anna@ti.com>
+ *	Andrew F. Davis <afd@ti.com>
+ */
+
+#include <linux/dma-mapping.h>
+#include <linux/io.h>
+#include <linux/mfd/syscon.h>
+#include <linux/module.h>
+#include <linux/of_address.h>
+#include <linux/of_device.h>
+#include <linux/pm_runtime.h>
+#include <linux/pruss_driver.h>
+
+static int pruss_probe(struct platform_device *pdev)
+{
+	struct device *dev = &pdev->dev;
+	struct device_node *np = dev_of_node(dev);
+	struct device_node *child;
+	struct pruss *pruss;
+	struct resource res;
+	int ret, i, index;
+	const char *mem_names[PRUSS_MEM_MAX] = { "dram0", "dram1", "shrdram2" };
+
+	ret = dma_set_coherent_mask(dev, DMA_BIT_MASK(32));
+	if (ret) {
+		dev_err(dev, "failed to set the DMA coherent mask");
+		return ret;
+	}
+
+	pruss = devm_kzalloc(dev, sizeof(*pruss), GFP_KERNEL);
+	if (!pruss)
+		return -ENOMEM;
+
+	pruss->dev = dev;
+
+	child = of_get_child_by_name(np, "memories");
+	if (!child) {
+		dev_err(dev, "%pOF is missing its 'memories' node\n", child);
+		return -ENODEV;
+	}
+
+	for (i = 0; i < ARRAY_SIZE(mem_names); i++) {
+		index = of_property_match_string(child, "reg-names",
+						 mem_names[i]);
+		if (index < 0) {
+			of_node_put(child);
+			return index;
+		}
+
+		if (of_address_to_resource(child, index, &res)) {
+			of_node_put(child);
+			return -EINVAL;
+		}
+
+		pruss->mem_regions[i].va = devm_ioremap(dev, res.start,
+							resource_size(&res));
+		if (!pruss->mem_regions[i].va) {
+			dev_err(dev, "failed to parse and map memory resource %d %s\n",
+				i, mem_names[i]);
+			of_node_put(child);
+			return -ENOMEM;
+		}
+		pruss->mem_regions[i].pa = res.start;
+		pruss->mem_regions[i].size = resource_size(&res);
+
+		dev_dbg(dev, "memory %8s: pa %pa size 0x%zx va %pK\n",
+			mem_names[i], &pruss->mem_regions[i].pa,
+			pruss->mem_regions[i].size, pruss->mem_regions[i].va);
+	}
+	of_node_put(child);
+
+	platform_set_drvdata(pdev, pruss);
+
+	pm_runtime_enable(dev);
+	ret = pm_runtime_get_sync(dev);
+	if (ret < 0) {
+		dev_err(dev, "couldn't enable module\n");
+		pm_runtime_put_noidle(dev);
+		goto rpm_disable;
+	}
+
+	child = of_get_child_by_name(np, "cfg");
+	if (!child) {
+		dev_err(dev, "%pOF is missing its 'cfg' node\n", child);
+		ret = -ENODEV;
+		goto rpm_put;
+	}
+
+	pruss->cfg_regmap = syscon_node_to_regmap(child);
+	of_node_put(child);
+	if (IS_ERR(pruss->cfg_regmap)) {
+		ret = -ENODEV;
+		goto rpm_put;
+	}
+
+	ret = devm_of_platform_populate(dev);
+	if (ret) {
+		dev_err(dev, "failed to register child devices\n");
+		goto rpm_put;
+	}
+
+	return 0;
+
+rpm_put:
+	pm_runtime_put_sync(dev);
+rpm_disable:
+	pm_runtime_disable(dev);
+	return ret;
+}
+
+static int pruss_remove(struct platform_device *pdev)
+{
+	struct device *dev = &pdev->dev;
+
+	devm_of_platform_depopulate(dev);
+
+	pm_runtime_put_sync(dev);
+	pm_runtime_disable(dev);
+
+	return 0;
+}
+
+static const struct of_device_id pruss_of_match[] = {
+	{ .compatible = "ti,am3356-pruss" },
+	{},
+};
+MODULE_DEVICE_TABLE(of, pruss_of_match);
+
+static struct platform_driver pruss_driver = {
+	.driver = {
+		.name = "pruss",
+		.of_match_table = pruss_of_match,
+	},
+	.probe  = pruss_probe,
+	.remove = pruss_remove,
+};
+module_platform_driver(pruss_driver);
+
+MODULE_AUTHOR("Suman Anna <s-anna@ti.com>");
+MODULE_DESCRIPTION("PRU-ICSS Subsystem Driver");
+MODULE_LICENSE("GPL v2");
diff --git a/include/linux/pruss_driver.h b/include/linux/pruss_driver.h
new file mode 100644
index 0000000..0701fe1
--- /dev/null
+++ b/include/linux/pruss_driver.h
@@ -0,0 +1,48 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+/*
+ * PRU-ICSS sub-system specific definitions
+ *
+ * Copyright (C) 2014-2020 Texas Instruments Incorporated - http://www.ti.com/
+ *	Suman Anna <s-anna@ti.com>
+ */
+
+#ifndef _PRUSS_DRIVER_H_
+#define _PRUSS_DRIVER_H_
+
+#include <linux/types.h>
+
+/*
+ * enum pruss_mem - PRUSS memory range identifiers
+ */
+enum pruss_mem {
+	PRUSS_MEM_DRAM0 = 0,
+	PRUSS_MEM_DRAM1,
+	PRUSS_MEM_SHRD_RAM2,
+	PRUSS_MEM_MAX,
+};
+
+/**
+ * struct pruss_mem_region - PRUSS memory region structure
+ * @va: kernel virtual address of the PRUSS memory region
+ * @pa: physical (bus) address of the PRUSS memory region
+ * @size: size of the PRUSS memory region
+ */
+struct pruss_mem_region {
+	void __iomem *va;
+	phys_addr_t pa;
+	size_t size;
+};
+
+/**
+ * struct pruss - PRUSS parent structure
+ * @dev: pruss device pointer
+ * @cfg_regmap: regmap for config region
+ * @mem_regions: data for each of the PRUSS memory regions
+ */
+struct pruss {
+	struct device *dev;
+	struct regmap *cfg_regmap;
+	struct pruss_mem_region mem_regions[PRUSS_MEM_MAX];
+};
+
+#endif	/* _PRUSS_DRIVER_H_ */
