diff --git a/drivers/remoteproc/xlnx_r5_remoteproc.c b/drivers/remoteproc/xlnx_r5_remoteproc.c
index 4395edea9a64..36d73dcd93f0 100644
--- a/drivers/remoteproc/xlnx_r5_remoteproc.c
+++ b/drivers/remoteproc/xlnx_r5_remoteproc.c
@@ -74,8 +74,8 @@ 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
+ * Hardcoded TCM bank values. This will stay in driver to maintain backward
+ * compatibility with device-tree that does not have TCM information.
  */
 static const struct mem_bank_data zynqmp_tcm_banks_split[] = {
 	{0xffe00000UL, 0x0, 0x10000UL, PD_R5_0_ATCM, "atcm0"}, /* TCM 64KB each */
@@ -878,6 +878,139 @@ 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)
+{
+	struct of_phandle_args out_args;
+	int tcm_reg_per_r5, tcm_pd_idx;
+	struct zynqmp_r5_core *r5_core;
+	int i, j, tcm_bank_count, ret;
+	struct platform_device *cpdev;
+	struct mem_bank_data *tcm;
+	struct device_node *np;
+	struct resource *res;
+	u64 abs_addr, size;
+	struct device *dev;
+
+	for (i = 0; i < cluster->core_count; i++) {
+		r5_core = cluster->r5_cores[i];
+		dev = r5_core->dev;
+		np = of_node_get(dev_of_node(dev));
+		tcm_pd_idx = 1;
+
+		/* we have address cell 2 and size cell as 2 */
+		tcm_reg_per_r5 = of_property_count_elems_of_size(np, "reg",
+								 4 * sizeof(u32));
+		if (tcm_reg_per_r5 <= 0) {
+			dev_err(dev, "can't get reg property err %d\n", tcm_reg_per_r5);
+			return -EINVAL;
+		}
+
+		/*
+		 * In lockstep mode, r5 core 0 will use r5 core 1 TCM
+		 * power domains as well. so allocate twice of per core TCM
+		 */
+		if (cluster->mode == LOCKSTEP_MODE)
+			tcm_bank_count = tcm_reg_per_r5 * 2;
+		else
+			tcm_bank_count = tcm_reg_per_r5;
+
+		r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,
+						  sizeof(struct mem_bank_data *),
+						  GFP_KERNEL);
+		if (!r5_core->tcm_banks)
+			ret = -ENOMEM;
+
+		r5_core->tcm_bank_count = tcm_bank_count;
+		for (j = 0; j < tcm_bank_count; j++) {
+			tcm = devm_kzalloc(dev, sizeof(struct mem_bank_data),
+					   GFP_KERNEL);
+			if (!tcm)
+				return -ENOMEM;
+
+			r5_core->tcm_banks[j] = tcm;
+
+			/*
+			 * In lockstep mode, get second core's TCM power domains id
+			 * after first core TCM parsing is done as
+			 */
+			if (j == tcm_reg_per_r5) {
+				/* dec first core node */
+				of_node_put(np);
+
+				/* get second core node */
+				np = of_get_next_child(cluster->dev->of_node, np);
+
+				/*
+				 * reset index of power-domains property list
+				 * for second core
+				 */
+				tcm_pd_idx = 1;
+			}
+
+			/* get power-domains id of tcm */
+			ret = of_parse_phandle_with_args(np, "power-domains",
+							 "#power-domain-cells",
+							 tcm_pd_idx,
+							 &out_args);
+			if (ret) {
+				dev_err(r5_core->dev,
+					"failed to get tcm %d pm domain, ret %d\n",
+					j, ret);
+				of_node_put(out_args.np);
+				return ret;
+			}
+			tcm->pm_domain_id = out_args.args[0];
+			of_node_put(out_args.np);
+			tcm_pd_idx++;
+
+			/*
+			 * In lockstep mode, we only need second core's power domain
+			 * ids. Other information from second core isn't needed so
+			 * ignore it. This forms table as zynqmp_tcm_banks_lockstep
+			 */
+			if (j >= tcm_reg_per_r5)
+				continue;
+
+			/* get tcm address without translation */
+			ret = of_property_read_reg(np, j, &abs_addr, &size);
+			if (ret) {
+				of_node_put(np);
+				dev_err(dev, "failed to get reg property\n");
+				return ret;
+			}
+
+			/*
+			 * 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) {
+				of_node_put(np);
+				dev_err(dev, "failed to get tcm resource\n");
+				return -EINVAL;
+			}
+
+			tcm->addr = (u32)res->start;
+			tcm->bank_name = (char *)res->name;
+			res = devm_request_mem_region(dev, tcm->addr, tcm->size,
+						      tcm->bank_name);
+			if (!res) {
+				dev_err(dev, "failed to request tcm resource\n");
+				of_node_put(np);
+				return -EINVAL;
+			}
+		}
+	}
+
+	of_node_put(np);
+	return 0;
+}
+
 /**
  * zynqmp_r5_get_tcm_node()
  * Ideally this function should parse tcm node and store information
@@ -956,10 +1089,19 @@ static int zynqmp_r5_core_init(struct zynqmp_r5_cluster *cluster,
 	struct zynqmp_r5_core *r5_core;
 	int ret, i;
 
-	ret = zynqmp_r5_get_tcm_node(cluster);
-	if (ret < 0) {
-		dev_err(dev, "can't get tcm node, err %d\n", ret);
-		return ret;
+	r5_core = cluster->r5_cores[0];
+	if (of_find_property(r5_core->np, "reg", NULL)) {
+		ret = zynqmp_r5_get_tcm_node_from_dt(cluster);
+		if (ret) {
+			dev_err(dev, "can't get tcm node from dt, err %d\n", ret);
+			return ret;
+		}
+	} else {
+		ret = zynqmp_r5_get_tcm_node(cluster);
+		if (ret < 0) {
+			dev_err(dev, "can't get tcm node, err %d\n", ret);
+			return ret;
+		}
 	}
 
 	for (i = 0; i < cluster->core_count; i++) {
