diff --git a/drivers/rpmsg/Kconfig b/drivers/rpmsg/Kconfig
index d0322b4..5beb5e4 100644
--- a/drivers/rpmsg/Kconfig
+++ b/drivers/rpmsg/Kconfig
@@ -55,4 +55,18 @@ config RPMSG_VIRTIO
 	select RPMSG
 	select VIRTIO
 
+config RPMSG_PRU
+	tristate "PRU RPMsg Communication driver"
+	default n
+	depends on RPMSG_VIRTIO
+	depends on REMOTEPROC
+	depends on PRUSS_REMOTEPROC
+	help
+	  An rpmsg driver that exposes interfaces to user space, to allow
+	  applications to communicate with the PRU processors on available
+	  TI SoCs. This is restricted to SoCs that have the PRUSS remoteproc
+	  support.
+
+	  If unsure, say N.
+
 endmenu
diff --git a/drivers/rpmsg/Makefile b/drivers/rpmsg/Makefile
index 9aa8595..b66a5dd 100644
--- a/drivers/rpmsg/Makefile
+++ b/drivers/rpmsg/Makefile
@@ -1,6 +1,7 @@
 # SPDX-License-Identifier: GPL-2.0
 obj-$(CONFIG_RPMSG)		+= rpmsg_core.o
 obj-$(CONFIG_RPMSG_CHAR)	+= rpmsg_char.o
+obj-$(CONFIG_RPMSG_PRU)		+= rpmsg_pru.o
 obj-$(CONFIG_RPMSG_QCOM_GLINK_RPM) += qcom_glink_rpm.o
 obj-$(CONFIG_RPMSG_QCOM_GLINK_NATIVE) += qcom_glink_native.o
 obj-$(CONFIG_RPMSG_QCOM_GLINK_SMEM) += qcom_glink_smem.o
diff --git a/drivers/rpmsg/rpmsg_pru.c b/drivers/rpmsg/rpmsg_pru.c
new file mode 100644
index 0000000..2e8d2b1
--- /dev/null
+++ b/drivers/rpmsg/rpmsg_pru.c
@@ -0,0 +1,360 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * PRU Remote Processor Messaging Driver
+ *
+ * Copyright (C) 2015-2019 Texas Instruments Incorporated - http://www.ti.com/
+ *	Jason Reeder <jreeder@ti.com>
+ *	Suman Anna <s-anna@ti.com>
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#include <linux/kernel.h>
+#include <linux/rpmsg.h>
+#include <linux/slab.h>
+#include <linux/fs.h>
+#include <linux/init.h>
+#include <linux/cdev.h>
+#include <linux/module.h>
+#include <linux/kfifo.h>
+#include <linux/uaccess.h>
+#include <linux/mutex.h>
+#include <linux/poll.h>
+#include <linux/rpmsg/virtio_rpmsg.h>
+
+#define PRU_MAX_DEVICES				(8)
+/* Matches the definition in virtio_rpmsg_bus.c */
+#define RPMSG_BUF_SIZE				(512)
+#define MAX_FIFO_MSG				(32)
+#define FIFO_MSG_SIZE				RPMSG_BUF_SIZE
+
+/**
+ * struct rpmsg_pru_dev - Structure that contains the per-device data
+ * @rpdev: rpmsg channel device that is associated with this rpmsg_pru device
+ * @dev: device
+ * @cdev: character device
+ * @locked: boolean used to determine whether or not the device file is in use
+ * @devt: dev_t structure for the rpmsg_pru device
+ * @msg_fifo: kernel fifo used to buffer the messages between userspace and PRU
+ * @msg_len: array storing the lengths of each message in the kernel fifo
+ * @msg_idx_rd: kernel fifo read index
+ * @msg_idx_wr: kernel fifo write index
+ * @wait_list: wait queue used to implement the poll operation of the character
+ *             device
+ *
+ * Each rpmsg_pru device provides an interface, using an rpmsg channel (rpdev),
+ * between a user space character device (cdev) and a PRU core. A kernel fifo
+ * (msg_fifo) is used to buffer the messages in the kernel that are
+ * being passed between the character device and the PRU.
+ */
+struct rpmsg_pru_dev {
+	struct rpmsg_device *rpdev;
+	struct device *dev;
+	struct cdev cdev;
+	bool locked;
+	dev_t devt;
+	struct kfifo msg_fifo;
+	u32 msg_len[MAX_FIFO_MSG];
+	int msg_idx_rd;
+	int msg_idx_wr;
+	wait_queue_head_t wait_list;
+};
+
+static struct class *rpmsg_pru_class;
+static dev_t rpmsg_pru_devt;
+static DEFINE_MUTEX(rpmsg_pru_lock);
+static DEFINE_IDR(rpmsg_pru_minors);
+
+static int rpmsg_pru_open(struct inode *inode, struct file *filp)
+{
+	struct rpmsg_pru_dev *prudev;
+	int ret = -EACCES;
+
+	prudev = container_of(inode->i_cdev, struct rpmsg_pru_dev, cdev);
+
+	mutex_lock(&rpmsg_pru_lock);
+	if (!prudev->locked) {
+		prudev->locked = true;
+		filp->private_data = prudev;
+		ret = 0;
+	}
+	mutex_unlock(&rpmsg_pru_lock);
+
+	if (ret)
+		dev_err(prudev->dev, "Device already open\n");
+
+	return ret;
+}
+
+static int rpmsg_pru_release(struct inode *inode, struct file *filp)
+{
+	struct rpmsg_pru_dev *prudev;
+
+	prudev = container_of(inode->i_cdev, struct rpmsg_pru_dev, cdev);
+	mutex_lock(&rpmsg_pru_lock);
+	prudev->locked = false;
+	mutex_unlock(&rpmsg_pru_lock);
+	return 0;
+}
+
+static ssize_t rpmsg_pru_read(struct file *filp, char __user *buf,
+			      size_t count, loff_t *f_pos)
+{
+	int ret;
+	u32 length;
+	struct rpmsg_pru_dev *prudev;
+
+	prudev = filp->private_data;
+
+	if (kfifo_is_empty(&prudev->msg_fifo) &&
+	    (filp->f_flags & O_NONBLOCK))
+		return -EAGAIN;
+
+	ret = wait_event_interruptible(prudev->wait_list,
+				       !kfifo_is_empty(&prudev->msg_fifo));
+	if (ret)
+		return -EINTR;
+
+	ret = kfifo_to_user(&prudev->msg_fifo, buf,
+			    prudev->msg_len[prudev->msg_idx_rd], &length);
+	prudev->msg_idx_rd = (prudev->msg_idx_rd + 1) % MAX_FIFO_MSG;
+
+	return ret ? ret : length;
+}
+
+static ssize_t rpmsg_pru_write(struct file *filp, const char __user *buf,
+			       size_t count, loff_t *f_pos)
+{
+	int ret;
+	struct rpmsg_pru_dev *prudev;
+	static char rpmsg_pru_buf[RPMSG_BUF_SIZE];
+
+	prudev = filp->private_data;
+
+	if (count > RPMSG_BUF_SIZE - sizeof(struct rpmsg_hdr)) {
+		dev_err(prudev->dev, "Data too large for RPMsg Buffer\n");
+		return -EINVAL;
+	}
+
+	if (copy_from_user(rpmsg_pru_buf, buf, count)) {
+		dev_err(prudev->dev, "Error copying buffer from user space");
+		return -EFAULT;
+	}
+
+	ret = rpmsg_send(prudev->rpdev->ept, (void *)rpmsg_pru_buf, count);
+	if (ret)
+		dev_err(prudev->dev, "rpmsg_send failed: %d\n", ret);
+
+	return ret ? ret : count;
+}
+
+static unsigned int rpmsg_pru_poll(struct file *filp,
+				   struct poll_table_struct *wait)
+{
+	int mask;
+	struct rpmsg_pru_dev *prudev;
+
+	prudev = filp->private_data;
+
+	poll_wait(filp, &prudev->wait_list, wait);
+
+	mask = POLLOUT | POLLWRNORM;
+
+	if (!kfifo_is_empty(&prudev->msg_fifo))
+		mask |= POLLIN | POLLRDNORM;
+
+	return mask;
+}
+
+static const struct file_operations rpmsg_pru_fops = {
+	.owner = THIS_MODULE,
+	.open = rpmsg_pru_open,
+	.release = rpmsg_pru_release,
+	.read = rpmsg_pru_read,
+	.write = rpmsg_pru_write,
+	.poll = rpmsg_pru_poll,
+};
+
+static int rpmsg_pru_cb(struct rpmsg_device *rpdev, void *data, int len,
+			void *priv, u32 src)
+{
+	u32 length;
+	struct rpmsg_pru_dev *prudev;
+
+	prudev = dev_get_drvdata(&rpdev->dev);
+
+	if (kfifo_avail(&prudev->msg_fifo) < len) {
+		dev_err(&rpdev->dev, "Not enough space on the FIFO\n");
+		return -ENOSPC;
+	}
+
+	if ((prudev->msg_idx_wr + 1) % MAX_FIFO_MSG ==
+		prudev->msg_idx_rd) {
+		dev_err(&rpdev->dev, "Message length table is full\n");
+		return -ENOSPC;
+	}
+
+	length = kfifo_in(&prudev->msg_fifo, data, len);
+	prudev->msg_len[prudev->msg_idx_wr] = length;
+	prudev->msg_idx_wr = (prudev->msg_idx_wr + 1) % MAX_FIFO_MSG;
+
+	wake_up_interruptible(&prudev->wait_list);
+
+	return 0;
+}
+
+static int rpmsg_pru_probe(struct rpmsg_device *rpdev)
+{
+	int ret;
+	struct rpmsg_pru_dev *prudev;
+	int minor_got;
+
+	prudev = devm_kzalloc(&rpdev->dev, sizeof(*prudev), GFP_KERNEL);
+	if (!prudev)
+		return -ENOMEM;
+
+	mutex_lock(&rpmsg_pru_lock);
+	minor_got = idr_alloc(&rpmsg_pru_minors, prudev, 0, PRU_MAX_DEVICES,
+			      GFP_KERNEL);
+	mutex_unlock(&rpmsg_pru_lock);
+	if (minor_got < 0) {
+		ret = minor_got;
+		dev_err(&rpdev->dev, "Failed to get a minor number for the rpmsg_pru device: %d\n",
+			ret);
+		goto fail_alloc_minor;
+	}
+
+	prudev->devt = MKDEV(MAJOR(rpmsg_pru_devt), minor_got);
+
+	cdev_init(&prudev->cdev, &rpmsg_pru_fops);
+	prudev->cdev.owner = THIS_MODULE;
+	ret = cdev_add(&prudev->cdev, prudev->devt, 1);
+	if (ret) {
+		dev_err(&rpdev->dev, "Unable to add cdev for the rpmsg_pru device\n");
+		goto fail_add_cdev;
+	}
+
+	prudev->dev = device_create(rpmsg_pru_class, &rpdev->dev, prudev->devt,
+				    NULL, "rpmsg_pru%d", rpdev->dst);
+	if (IS_ERR(prudev->dev)) {
+		dev_err(&rpdev->dev, "Unable to create the rpmsg_pru device\n");
+		ret = PTR_ERR(prudev->dev);
+		goto fail_create_device;
+	}
+
+	prudev->rpdev = rpdev;
+
+	ret = kfifo_alloc(&prudev->msg_fifo, MAX_FIFO_MSG * FIFO_MSG_SIZE,
+			  GFP_KERNEL);
+	if (ret) {
+		dev_err(&rpdev->dev, "Unable to allocate fifo for the rpmsg_pru device\n");
+		goto fail_alloc_fifo;
+	}
+
+	init_waitqueue_head(&prudev->wait_list);
+
+	dev_set_drvdata(&rpdev->dev, prudev);
+
+	dev_info(&rpdev->dev, "new rpmsg_pru device: /dev/rpmsg_pru%d",
+		 rpdev->dst);
+
+	return 0;
+
+fail_alloc_fifo:
+	device_destroy(rpmsg_pru_class, prudev->devt);
+fail_create_device:
+	cdev_del(&prudev->cdev);
+fail_add_cdev:
+	mutex_lock(&rpmsg_pru_lock);
+	idr_remove(&rpmsg_pru_minors, minor_got);
+	mutex_unlock(&rpmsg_pru_lock);
+fail_alloc_minor:
+	return ret;
+}
+
+static void rpmsg_pru_remove(struct rpmsg_device *rpdev)
+{
+	struct rpmsg_pru_dev *prudev;
+
+	prudev = dev_get_drvdata(&rpdev->dev);
+
+	kfifo_free(&prudev->msg_fifo);
+	device_destroy(rpmsg_pru_class, prudev->devt);
+	cdev_del(&prudev->cdev);
+	mutex_lock(&rpmsg_pru_lock);
+	idr_remove(&rpmsg_pru_minors, MINOR(prudev->devt));
+	mutex_unlock(&rpmsg_pru_lock);
+}
+
+/* .name matches on RPMsg Channels and causes a probe */
+static const struct rpmsg_device_id rpmsg_driver_pru_id_table[] = {
+	{ .name	= "rpmsg-pru" },
+	{ },
+};
+MODULE_DEVICE_TABLE(rpmsg, rpmsg_driver_pru_id_table);
+
+static struct rpmsg_driver rpmsg_pru_driver = {
+	.drv.name	= KBUILD_MODNAME,
+	.id_table	= rpmsg_driver_pru_id_table,
+	.probe		= rpmsg_pru_probe,
+	.callback	= rpmsg_pru_cb,
+	.remove		= rpmsg_pru_remove,
+};
+
+static int __init rpmsg_pru_init(void)
+{
+	int ret;
+
+	rpmsg_pru_class = class_create(THIS_MODULE, "rpmsg_pru");
+	if (IS_ERR(rpmsg_pru_class)) {
+		pr_err("Unable to create class\n");
+		ret = PTR_ERR(rpmsg_pru_class);
+		goto fail_create_class;
+	}
+
+	ret = alloc_chrdev_region(&rpmsg_pru_devt, 0, PRU_MAX_DEVICES,
+				  "rpmsg_pru");
+	if (ret) {
+		pr_err("Unable to allocate chrdev region\n");
+		goto fail_alloc_region;
+	}
+
+	ret = register_rpmsg_driver(&rpmsg_pru_driver);
+	if (ret) {
+		pr_err("Unable to register rpmsg driver");
+		goto fail_register_rpmsg_driver;
+	}
+
+	return 0;
+
+fail_register_rpmsg_driver:
+	unregister_chrdev_region(rpmsg_pru_devt, PRU_MAX_DEVICES);
+fail_alloc_region:
+	class_destroy(rpmsg_pru_class);
+fail_create_class:
+	return ret;
+}
+
+static void __exit rpmsg_pru_exit(void)
+{
+	unregister_rpmsg_driver(&rpmsg_pru_driver);
+	idr_destroy(&rpmsg_pru_minors);
+	mutex_destroy(&rpmsg_pru_lock);
+	class_destroy(rpmsg_pru_class);
+	unregister_chrdev_region(rpmsg_pru_devt, PRU_MAX_DEVICES);
+}
+
+module_init(rpmsg_pru_init);
+module_exit(rpmsg_pru_exit);
+
+MODULE_AUTHOR("Jason Reeder <jreeder@ti.com>");
+MODULE_ALIAS("rpmsg:rpmsg-pru");
+MODULE_DESCRIPTION("PRU Remote Processor Messaging Driver");
+MODULE_LICENSE("GPL v2");
