diff --git a/arch/arm/boot/dts/dra7.dtsi b/arch/arm/boot/dts/dra7.dtsi
index 2bc9add..2458e7a 100644
--- a/arch/arm/boot/dts/dra7.dtsi
+++ b/arch/arm/boot/dts/dra7.dtsi
@@ -167,6 +167,200 @@
 		l4_per3: interconnect@48800000 {
 		};
 
+		pru_icss1: target-module@4b200000 {
+			compatible = "ti,sysc-pruss", "ti,sysc";
+			reg = <0x4b226000 0x4>,
+			      <0x4b226004 0x4>;
+			reg-names = "rev", "sysc";
+			ti,no-reset-on-init;
+			/* Domains (P, C): coreaon_pwrdm, l4per2_clkdm */
+			clocks = <&l4per2_clkctrl DRA7_L4PER2_PRUSS1_CLKCTRL 0>;
+			clock-names = "fck";
+			#address-cells = <1>;
+			#size-cells = <1>;
+			ranges = <0x00000000 0x4b200000 0x20000000>;
+
+			pruss1: pruss@4b200000 {
+				compatible = "ti,am5728-pruss";
+				reg = <0x0000 0x2000>,
+				      <0x2000 0x2000>,
+				      <0x10000 0x8000>;
+				reg-names = "dram0", "dram1",
+					    "shrdram2";
+				#address-cells = <1>;
+				#size-cells = <1>;
+				ranges;
+
+				pruss1_cfg: cfg@26000 {
+					compatible = "syscon";
+					reg = <0x26000 0x2000>;
+				};
+
+				pruss1_iep: iep@2e000 {
+					compatible = "syscon";
+					reg = <0x2e000 0x31c>;
+				};
+
+				pruss1_mii_rt: mii_rt@32000 {
+					compatible = "syscon";
+					reg = <0x32000 0x58>;
+				};
+
+				pruss1_intc: intc@20000 {
+					compatible = "ti,am5728-pruss-intc";
+					reg = <0x20000 0x2000>;
+					reg-names = "intc";
+					interrupt-controller;
+					#interrupt-cells = <1>;
+					interrupts = <GIC_SPI 186 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 187 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 188 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 189 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 190 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 191 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 192 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 193 IRQ_TYPE_LEVEL_HIGH>;
+					interrupt-names = "host2", "host3", "host4",
+							  "host5", "host6", "host7",
+							  "host8", "host9";
+				};
+
+				pru1_0: pru@34000 {
+					compatible = "ti,am5728-pru";
+					reg = <0x34000 0x3000>,
+					      <0x22000 0x400>,
+					      <0x22400 0x100>;
+					reg-names = "iram", "control", "debug";
+					gpcfg = <&pruss1_cfg 0x8>;
+					firmware-name = "am57xx-pru1_0-fw";
+					interrupt-parent = <&pruss1_intc>;
+					interrupts = <16>, <17>;
+					interrupt-names = "vring", "kick";
+				};
+
+				pru1_1: pru@38000 {
+					compatible = "ti,am5728-pru";
+					reg = <0x38000 0x3000>,
+					      <0x24000 0x400>,
+					      <0x24400 0x100>;
+					reg-names = "iram", "control", "debug";
+					gpcfg = <&pruss1_cfg 0xc>;
+					firmware-name = "am57xx-pru1_1-fw";
+					interrupt-parent = <&pruss1_intc>;
+					interrupts = <18>, <19>;
+					interrupt-names = "vring", "kick";
+				};
+
+				pruss1_mdio: mdio@32400 {
+					compatible = "ti,davinci_mdio";
+					reg = <0x32400 0x90>;
+					#address-cells = <1>;
+					#size-cells = <0>;
+					clocks = <&dpll_gmac_h13x2_ck>;
+					clock-names = "fck";
+					bus_freq = <1000000>;
+					status = "disabled";
+				};
+			};
+		};
+
+		pru_icss2: target_module@4b280000 {
+			compatible = "ti,sysc-pruss", "ti,sysc";
+			reg = <0x4b2a6000 0x4>,
+			      <0x4b2a6004 0x4>;
+			reg-names = "rev", "sysc";
+			ti,no-reset-on-init;
+			/* Domains (P, C): coreaon_pwrdm, l4per2_clkdm */
+			clocks = <&l4per2_clkctrl DRA7_L4PER2_PRUSS2_CLKCTRL 0>;
+			clock-names = "fck";
+			#address-cells = <1>;
+			#size-cells = <1>;
+			ranges = <0x00000000 0x4b280000 0x20000000>;
+
+			pruss2: pruss@4b280000 {
+				compatible = "ti,am5728-pruss";
+				reg = <0 0x2000>,
+				      <0x2000 0x2000>,
+				      <0x10000 0x8000>;
+				reg-names = "dram0", "dram1",
+					    "shrdram2";
+				#address-cells = <1>;
+				#size-cells = <1>;
+				ranges;
+
+				pruss2_cfg: cfg@26000 {
+					compatible = "syscon";
+					reg = <0x26000 0x2000>;
+				};
+
+				pruss2_iep: iep@2e000 {
+					compatible = "syscon";
+					reg = <0x2e000 0x31c>;
+				};
+
+				pruss2_mii_rt: mii_rt@32000 {
+					compatible = "syscon";
+					reg = <0x32000 0x58>;
+				};
+
+				pruss2_intc: intc@20000 {
+					compatible = "ti,am5728-pruss-intc";
+					reg = <0x20000 0x2000>;
+					reg-names = "intc";
+					interrupt-controller;
+					#interrupt-cells = <1>;
+					interrupts = <GIC_SPI 196 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 197 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 198 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 199 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 200 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 201 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 202 IRQ_TYPE_LEVEL_HIGH>,
+						     <GIC_SPI 203 IRQ_TYPE_LEVEL_HIGH>;
+					interrupt-names = "host2", "host3", "host4",
+							  "host5", "host6", "host7",
+							  "host8", "host9";
+				};
+
+				pru2_0: pru@34000 {
+					compatible = "ti,am5728-pru";
+					reg = <0x34000 0x3000>,
+					      <0x22000 0x400>,
+					      <0x22400 0x100>;
+					reg-names = "iram", "control", "debug";
+					gpcfg = <&pruss2_cfg 0x8>;
+					firmware-name = "am57xx-pru2_0-fw";
+					interrupt-parent = <&pruss2_intc>;
+					interrupts = <16>, <17>;
+					interrupt-names = "vring", "kick";
+				};
+
+				pru2_1: pru@38000 {
+					compatible = "ti,am5728-pru";
+					reg = <0x38000 0x3000>,
+					      <0x24000 0x400>,
+					      <0x24400 0x100>;
+					reg-names = "iram", "control", "debug";
+					gpcfg = <&pruss2_cfg 0xc>;
+					firmware-name = "am57xx-pru2_1-fw";
+					interrupt-parent = <&pruss2_intc>;
+					interrupts = <18>, <19>;
+					interrupt-names = "vring", "kick";
+				};
+
+				pruss2_mdio: mdio@32400 {
+					compatible = "ti,davinci_mdio";
+					reg = <0x32400 0x90>;
+					#address-cells = <1>;
+					#size-cells = <0>;
+					clocks = <&dpll_gmac_h13x2_ck>;
+					clock-names = "fck";
+					bus_freq = <1000000>;
+					status = "disabled";
+				};
+			};
+		};
+
 		axi@0 {
 			compatible = "simple-bus";
 			#size-cells = <1>;
