diff --git a/drivers/remoteproc/xlnx_r5_remoteproc.c b/drivers/remoteproc/xlnx_r5_remoteproc.c
index feca6de68da2..4eb62eb545c2 100644
--- a/drivers/remoteproc/xlnx_r5_remoteproc.c
+++ b/drivers/remoteproc/xlnx_r5_remoteproc.c
@@ -39,15 +39,19 @@ enum zynqmp_r5_cluster_mode {
  * struct mem_bank_data - Memory Bank description
  *
  * @addr: Start address of memory bank
+ * @da: device address for this tcm bank
  * @size: Size of Memory bank
  * @pm_domain_id: Power-domains id of memory bank for firmware to turn on/off
+ * @pm_domain_id2: second core's corresponding TCM's pm_domain_id
  * @bank_name: name of the bank for remoteproc framework
  */
 struct mem_bank_data {
-	phys_addr_t addr;
-	size_t size;
+	u32 addr;
+	u32 da;
+	u32 size;
 	u32 pm_domain_id;
-	char *bank_name;
+	u32 pm_domain_id2;
+	char bank_name[32];
 };
 
 /**
@@ -75,11 +79,17 @@ struct mbox_info {
  * Hardcoded TCM bank values. This will be removed once TCM bindings are
  * accepted for system-dt specifications and upstreamed in linux kernel
  */
-static const struct mem_bank_data zynqmp_tcm_banks[] = {
-	{0xffe00000UL, 0x10000UL, PD_R5_0_ATCM, "atcm0"}, /* TCM 64KB each */
-	{0xffe20000UL, 0x10000UL, PD_R5_0_BTCM, "btcm0"},
-	{0xffe90000UL, 0x10000UL, PD_R5_1_ATCM, "atcm1"},
-	{0xffeb0000UL, 0x10000UL, PD_R5_1_BTCM, "btcm1"},
+static const struct mem_bank_data zynqmp_tcm_banks_split[] = {
+	{0xffe00000, 0x0, 0x10000, PD_R5_0_ATCM, 0, "atcm0"}, /* TCM 64KB each */
+	{0xffe20000, 0x20000, 0x10000, PD_R5_0_BTCM, 0, "btcm0"},
+	{0xffe90000, 0x0, 0x10000, PD_R5_1_ATCM, 0, "atcm1"},
+	{0xffeb0000, 0x20000, 0x10000, PD_R5_1_BTCM, 0, "btcm1"},
+};
+
+/* TCM 128KB each */
+static const struct mem_bank_data zynqmp_tcm_banks_lockstep[] = {
+	{0xffe00000, 0x0, 0x20000, PD_R5_0_ATCM, PD_R5_1_ATCM, "atcm0"},
+	{0xffe20000, 0x20000, 0x20000, PD_R5_0_BTCM, PD_R5_1_BTCM, "btcm0"},
 };
 
 /**
@@ -422,6 +432,7 @@ static int zynqmp_r5_mem_region_unmap(struct rproc *rproc,
 				      struct rproc_mem_entry *mem)
 {
 	iounmap((void __iomem *)mem->va);
+
 	return 0;
 }
 
@@ -526,30 +537,6 @@ static int tcm_mem_map(struct rproc *rproc,
 	/* clear TCMs */
 	memset_io(va, 0, mem->len);
 
-	/*
-	 * The R5s expect their TCM banks to be at address 0x0 and 0x2000,
-	 * while on the Linux side they are at 0xffexxxxx.
-	 *
-	 * Zero out the high 12 bits of the address. This will give
-	 * expected values for TCM Banks 0A and 0B (0x0 and 0x20000).
-	 */
-	mem->da &= 0x000fffff;
-
-	/*
-	 * TCM Banks 1A and 1B still have to be translated.
-	 *
-	 * Below handle these two banks' absolute addresses (0xffe90000 and
-	 * 0xffeb0000) and convert to the expected relative addresses
-	 * (0x0 and 0x20000).
-	 */
-	if (mem->da == 0x90000 || mem->da == 0xB0000)
-		mem->da -= 0x90000;
-
-	/* if translated TCM bank address is not valid report error */
-	if (mem->da != 0x0 && mem->da != 0x20000) {
-		dev_err(&rproc->dev, "invalid TCM address: %x\n", mem->da);
-		return -EINVAL;
-	}
 	return 0;
 }
 
@@ -571,6 +558,7 @@ static int add_tcm_carveout_split_mode(struct rproc *rproc)
 	u32 pm_domain_id;
 	size_t bank_size;
 	char *bank_name;
+	u32 da;
 
 	r5_core = rproc->priv;
 	dev = r5_core->dev;
@@ -586,6 +574,7 @@ static int add_tcm_carveout_split_mode(struct rproc *rproc)
 		bank_name = r5_core->tcm_banks[i]->bank_name;
 		bank_size = r5_core->tcm_banks[i]->size;
 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+		da = r5_core->tcm_banks[i]->da;
 
 		ret = zynqmp_pm_request_node(pm_domain_id,
 					     ZYNQMP_PM_CAPABILITY_ACCESS, 0,
@@ -599,7 +588,7 @@ static int add_tcm_carveout_split_mode(struct rproc *rproc)
 			bank_name, bank_addr, bank_size);
 
 		rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr,
-						 bank_size, bank_addr,
+						 bank_size, da,
 						 tcm_mem_map, tcm_mem_unmap,
 						 bank_name);
 		if (!rproc_mem) {
@@ -632,14 +621,14 @@ static int add_tcm_carveout_split_mode(struct rproc *rproc)
  */
 static int add_tcm_carveout_lockstep_mode(struct rproc *rproc)
 {
+	u32 pm_domain_id, da, pm_domain_id2;
 	struct rproc_mem_entry *rproc_mem;
 	struct zynqmp_r5_core *r5_core;
 	int i, num_banks, ret;
-	phys_addr_t bank_addr;
-	size_t bank_size = 0;
+	u32 bank_size = 0;
 	struct device *dev;
-	u32 pm_domain_id;
 	char *bank_name;
+	u32 bank_addr;
 
 	r5_core = rproc->priv;
 	dev = r5_core->dev;
@@ -653,12 +642,16 @@ static int add_tcm_carveout_lockstep_mode(struct rproc *rproc)
 	 * So, Enable each TCM block individually, but add their size
 	 * to create contiguous memory region.
 	 */
-	bank_addr = r5_core->tcm_banks[0]->addr;
-	bank_name = r5_core->tcm_banks[0]->bank_name;
-
 	for (i = 0; i < num_banks; i++) {
-		bank_size += r5_core->tcm_banks[i]->size;
+		bank_addr = r5_core->tcm_banks[i]->addr;
+		bank_name = r5_core->tcm_banks[i]->bank_name;
+		bank_size = r5_core->tcm_banks[i]->size;
 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+		pm_domain_id2 = r5_core->tcm_banks[i]->pm_domain_id2;
+		da = r5_core->tcm_banks[i]->da;
+
+		dev_dbg(dev, "TCM %s addr=0x%x, size=0x%x",
+			bank_name, bank_addr, bank_size);
 
 		/* Turn on each TCM bank individually */
 		ret = zynqmp_pm_request_node(pm_domain_id,
@@ -668,23 +661,28 @@ static int add_tcm_carveout_lockstep_mode(struct rproc *rproc)
 			dev_err(dev, "failed to turn on TCM 0x%x", pm_domain_id);
 			goto release_tcm_lockstep;
 		}
-	}
 
-	dev_dbg(dev, "TCM add carveout lockstep mode %s addr=0x%llx, size=0x%lx",
-		bank_name, bank_addr, bank_size);
-
-	/* Register TCM address range, TCM map and unmap functions */
-	rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr,
-					 bank_size, bank_addr,
-					 tcm_mem_map, tcm_mem_unmap,
-					 bank_name);
-	if (!rproc_mem) {
-		ret = -ENOMEM;
-		goto release_tcm_lockstep;
-	}
+		/* Turn on each TCM bank individually */
+		ret = zynqmp_pm_request_node(pm_domain_id2,
+					     ZYNQMP_PM_CAPABILITY_ACCESS, 0,
+					     ZYNQMP_PM_REQUEST_ACK_BLOCKING);
+		if (ret < 0) {
+			dev_err(dev, "failed to turn on TCM 0x%x", pm_domain_id2);
+			goto release_tcm_lockstep;
+		}
 
-	/* If registration is success, add carveouts */
-	rproc_add_carveout(rproc, rproc_mem);
+		/* Register TCM address range, TCM map and unmap functions */
+		rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr,
+						 bank_size, da,
+						 tcm_mem_map, tcm_mem_unmap,
+						 bank_name);
+		if (!rproc_mem) {
+			ret = -ENOMEM;
+			goto release_tcm_lockstep;
+		}
+
+		rproc_add_carveout(rproc, rproc_mem);
+	}
 
 	return 0;
 
@@ -693,7 +691,12 @@ static int add_tcm_carveout_lockstep_mode(struct rproc *rproc)
 	for (i--; i >= 0; i--) {
 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
 		zynqmp_pm_release_node(pm_domain_id);
+		if (pm_domain_id2) {
+			pm_domain_id2 = r5_core->tcm_banks[i]->pm_domain_id2;
+			zynqmp_pm_release_node(pm_domain_id2);
+		}
 	}
+
 	return ret;
 }
 
@@ -800,17 +803,23 @@ static int zynqmp_r5_rproc_prepare(struct rproc *rproc)
  */
 static int zynqmp_r5_rproc_unprepare(struct rproc *rproc)
 {
+	u32 pm_domain_id, pm_domain_id2;
 	struct zynqmp_r5_core *r5_core;
-	u32 pm_domain_id;
 	int i;
 
 	r5_core = rproc->priv;
 
 	for (i = 0; i < r5_core->tcm_bank_count; i++) {
 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+		pm_domain_id2 = r5_core->tcm_banks[i]->pm_domain_id2;
 		if (zynqmp_pm_release_node(pm_domain_id))
 			dev_warn(r5_core->dev,
 				 "can't turn off TCM bank 0x%x", pm_domain_id);
+		if (pm_domain_id2 && zynqmp_pm_release_node(pm_domain_id2))
+			dev_warn(r5_core->dev,
+				 "can't turn off TCM bank 0x%x", pm_domain_id2);
+		dev_dbg(r5_core->dev, "pm_domain_id=%d, pm_domain_id2=%d\n",
+			pm_domain_id, pm_domain_id2);
 	}
 
 	return 0;
@@ -883,6 +892,137 @@ static struct zynqmp_r5_core *zynqmp_r5_add_rproc_core(struct device *cdev)
 	return ERR_PTR(ret);
 }
 
+static int zynqmp_r5_get_tcm_node_from_dt(struct zynqmp_r5_cluster *cluster)
+{
+	int i, j, tcm_bank_count, ret = -EINVAL;
+	struct zynqmp_r5_core *r5_core;
+	struct of_phandle_args out_arg;
+	struct platform_device *cpdev;
+	struct resource *res = NULL;
+	u64 abs_addr = 0, size = 0;
+	struct mem_bank_data *tcm;
+	struct device_node *np, *np1 = NULL;
+	struct device *dev;
+
+	for (i = 0; i < cluster->core_count; i++) {
+		r5_core = cluster->r5_cores[i];
+		dev = r5_core->dev;
+		np = dev_of_node(dev);
+
+		/* we have address cell 2 and size cell as 2 */
+		ret = of_property_count_elems_of_size(np, "reg",
+						      4 * sizeof(u32));
+		if (ret <= 0) {
+			ret = -EINVAL;
+			goto fail_tcm;
+		}
+
+		tcm_bank_count = ret;
+
+		r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,
+						  sizeof(struct mem_bank_data *),
+						  GFP_KERNEL);
+		if (!r5_core->tcm_banks) {
+			ret = -ENOMEM;
+			goto fail_tcm;
+		}
+
+		r5_core->tcm_bank_count = tcm_bank_count;
+		for (j = 0; j < tcm_bank_count; j++) {
+			tcm = kzalloc(sizeof(struct mem_bank_data *), GFP_KERNEL);
+			if (!tcm) {
+				ret = -ENOMEM;
+				goto fail_tcm;
+			}
+
+			r5_core->tcm_banks[j] = tcm;
+			/* get tcm address without translation */
+			ret = of_property_read_reg(np, j, &abs_addr, &size);
+			if (ret) {
+				dev_err(dev, "failed to get reg property\n");
+				goto fail_tcm;
+			}
+
+			/*
+			 * remote processor can address only 32 bits
+			 * so convert 64-bits into 32-bits. This will discard
+			 * any unwanted upper 32-bits.
+			 */
+			tcm->da = (u32)abs_addr;
+			tcm->size = (u32)size;
+
+			cpdev = to_platform_device(dev);
+			res = platform_get_resource(cpdev, IORESOURCE_MEM, j);
+			if (!res) {
+				dev_err(dev, "failed to get tcm resource\n");
+				ret = -EINVAL;
+				goto fail_tcm;
+			}
+
+			tcm->addr = (u32)res->start;
+			res = devm_request_mem_region(dev, tcm->addr, tcm->size, res->name);
+			if (!res) {
+				dev_err(dev, "failed to request tcm resource\n");
+				ret = -EINVAL;
+				goto fail_tcm;
+			}
+
+			memcpy(tcm->bank_name, res->name, ARRAY_SIZE(tcm->bank_name));
+			np = of_node_get(dev_of_node(dev));
+			/*
+			 * In dt power-domains are described in this order:
+			 * <RPU core>, <atcm>,  <btcm>
+			 * parse power domains for tcm accordingly
+			 */
+			of_parse_phandle_with_args(np, "power-domains",
+						   "#power-domain-cells",
+						   j + 1, &out_arg);
+			tcm->pm_domain_id = out_arg.args[0];
+			of_node_put(out_arg.np);
+
+			dev_dbg(dev, "TCM: %s, dma=0x%x, da=0x%x, size=0x%x\n",
+				tcm->bank_name, tcm->addr, tcm->da, tcm->size);
+			dev_dbg(dev, "tcm pm domain id %d\n", tcm->pm_domain_id);
+
+			if (cluster->mode == SPLIT_MODE)
+				continue;
+
+			/* Turn on core-1's TCM as well */
+			np1 = of_get_next_child(dev_of_node(cluster->dev),
+						r5_core->np);
+			if (!np1) {
+				of_node_put(np1);
+				np1 = NULL;
+				goto fail_tcm;
+			}
+
+			of_parse_phandle_with_args(np1, "power-domains",
+						   "#power-domain-cells",
+						   j + 1, &out_arg);
+			tcm->pm_domain_id2 = out_arg.args[0];
+			of_node_put(out_arg.np);
+			dev_dbg(dev, "tcm pm domain id %d\n", tcm->pm_domain_id2);
+		}
+	}
+
+	return 0;
+
+fail_tcm:
+	while (i >= 0) {
+		r5_core = cluster->r5_cores[i];
+		for (j = 0; j < r5_core->tcm_bank_count; j++) {
+			if (!r5_core->tcm_banks)
+				continue;
+			tcm = r5_core->tcm_banks[j];
+			kfree(tcm);
+		}
+		kfree(r5_core->tcm_banks);
+		i--;
+	}
+
+	return ret;
+}
+
 /**
  * zynqmp_r5_get_tcm_node()
  * Ideally this function should parse tcm node and store information
@@ -895,12 +1035,20 @@ static struct zynqmp_r5_core *zynqmp_r5_add_rproc_core(struct device *cdev)
  */
 static int zynqmp_r5_get_tcm_node(struct zynqmp_r5_cluster *cluster)
 {
+	const struct mem_bank_data *zynqmp_tcm_banks;
 	struct device *dev = cluster->dev;
 	struct zynqmp_r5_core *r5_core;
 	int tcm_bank_count, tcm_node;
 	int i, j;
 
-	tcm_bank_count = ARRAY_SIZE(zynqmp_tcm_banks);
+	if (cluster->mode == SPLIT_MODE) {
+		zynqmp_tcm_banks = zynqmp_tcm_banks_split;
+		tcm_bank_count = ARRAY_SIZE(zynqmp_tcm_banks_split);
+	} else {
+		zynqmp_tcm_banks = zynqmp_tcm_banks_lockstep;
+		tcm_bank_count = ARRAY_SIZE(zynqmp_tcm_banks_lockstep);
+	}
+
 
 	/* count per core tcm banks */
 	tcm_bank_count = tcm_bank_count / cluster->core_count;
@@ -951,10 +1099,25 @@ static int zynqmp_r5_core_init(struct zynqmp_r5_cluster *cluster,
 			       enum rpu_tcm_comb tcm_mode)
 {
 	struct device *dev = cluster->dev;
+	struct device_node *np;
 	struct zynqmp_r5_core *r5_core;
 	int ret, i;
 
-	ret = zynqmp_r5_get_tcm_node(cluster);
+	/*
+	 * try to get tcm nodes from dt but if fail, use hardcode addresses only
+	 * for zynqmp platform. New platforms must use dt bindings for TCM.
+	 */
+	ret = zynqmp_r5_get_tcm_node_from_dt(cluster);
+	if (ret) {
+		np = of_get_compatible_child(dev_of_node(dev), "xlnx,zynqmp-r5f");
+		if (np) {
+			ret = zynqmp_r5_get_tcm_node(cluster);
+		} else {
+			dev_err(dev, "tcm not found\n");
+			return -EINVAL;
+		}
+	}
+
 	if (ret < 0) {
 		dev_err(dev, "can't get tcm node, err %d\n", ret);
 		return ret;
