diff --git a/drivers/remoteproc/xlnx_r5_remoteproc.c b/drivers/remoteproc/xlnx_r5_remoteproc.c
index 84243d1dff9f..af7aff5e9098 100644
--- a/drivers/remoteproc/xlnx_r5_remoteproc.c
+++ b/drivers/remoteproc/xlnx_r5_remoteproc.c
@@ -25,6 +25,10 @@
 /* RX mailbox client buffer max length */
 #define MBOX_CLIENT_BUF_MAX	(IPI_BUF_LEN_MAX + \
 				 sizeof(struct zynqmp_ipi_message))
+
+#define RSC_TBL_XLNX_MAGIC	((uint32_t)'x' << 24 | (uint32_t)'a' << 16 | \
+				 (uint32_t)'m' << 8 | (uint32_t)'p')
+
 /*
  * settings for RPU cluster mode which
  * reflects possible values of xlnx,cluster-mode dt-property
@@ -73,6 +77,15 @@ struct mbox_info {
 	struct mbox_chan *rx_chan;
 };
 
+/* Xilinx Platform specific data structure */
+struct rsc_tbl_data {
+	const int version;
+	const u32 magic_num;
+	const u32 comp_magic_num;
+	const u32 rsc_tbl_size;
+	const uintptr_t rsc_tbl;
+} __packed;
+
 /*
  * Hardcoded TCM bank values. This will stay in driver to maintain backward
  * compatibility with device-tree that does not have TCM information.
@@ -95,20 +108,24 @@ static const struct mem_bank_data zynqmp_tcm_banks_lockstep[] = {
 /**
  * struct zynqmp_r5_core
  *
+ * @rsc_tbl_va: resource table virtual address
  * @dev: device of RPU instance
  * @np: device node of RPU instance
  * @tcm_bank_count: number TCM banks accessible to this RPU
  * @tcm_banks: array of each TCM bank data
  * @rproc: rproc handle
+ * @rsc_tbl_size: resource table size retrieved from remote
  * @pm_domain_id: RPU CPU power domain id
  * @ipi: pointer to mailbox information
  */
 struct zynqmp_r5_core {
+	struct resource_table *rsc_tbl_va;
 	struct device *dev;
 	struct device_node *np;
 	int tcm_bank_count;
 	struct mem_bank_data **tcm_banks;
 	struct rproc *rproc;
+	u32 rsc_tbl_size;
 	u32 pm_domain_id;
 	struct mbox_info *ipi;
 };
@@ -621,10 +638,19 @@ static int zynqmp_r5_rproc_prepare(struct rproc *rproc)
 {
 	int ret;
 
-	ret = add_tcm_banks(rproc);
-	if (ret) {
-		dev_err(&rproc->dev, "failed to get TCM banks, err %d\n", ret);
-		return ret;
+	/**
+	 * For attach/detach use case, Firmware is already loaded so
+	 * TCM isn't really needed at all. Also, for security TCM can be
+	 * locked in such case and linux may not have access at all.
+	 * So avoid adding TCM banks. TCM power-domains requested during attach
+	 * callback.
+	 */
+	if (rproc->state != RPROC_DETACHED) {
+		ret = add_tcm_banks(rproc);
+		if (ret) {
+			dev_err(&rproc->dev, "failed to get TCM banks, err %d\n", ret);
+			return ret;
+		}
 	}
 
 	ret = add_mem_regions_carveout(rproc);
@@ -662,6 +688,123 @@ static int zynqmp_r5_rproc_unprepare(struct rproc *rproc)
 	return 0;
 }
 
+static struct resource_table *zynqmp_r5_get_loaded_rsc_table(struct rproc *rproc,
+							     size_t *size)
+{
+	struct zynqmp_r5_core *r5_core;
+
+	r5_core = rproc->priv;
+
+	*size = r5_core->rsc_tbl_size;
+
+	return r5_core->rsc_tbl_va;
+}
+
+static int zynqmp_r5_get_rsc_table_va(struct zynqmp_r5_core *r5_core)
+{
+	struct device *dev = r5_core->dev;
+	struct rsc_tbl_data *rsc_data_va;
+	struct resource_table *rsc_addr;
+	struct resource res_mem;
+	struct device_node *np;
+	int ret;
+
+	/**
+	 * It is expected from remote processor firmware to provide resource
+	 * table address via struct rsc_tbl_data data structure.
+	 * Start address of first entry under "memory-region" property list
+	 * contains that data structure which holds resource table address, size
+	 * and some magic number to validate correct resource table entry.
+	 */
+	np = of_parse_phandle(r5_core->np, "memory-region", 0);
+	if (!np) {
+		dev_err(dev, "failed to get memory region dev node\n");
+		return -EINVAL;
+	}
+
+	ret = of_address_to_resource(np, 0, &res_mem);
+	if (ret) {
+		dev_err(dev, "failed to get memory-region resource addr\n");
+		return -EINVAL;
+	}
+
+	rsc_data_va = devm_ioremap_wc(dev, res_mem.start,
+				      sizeof(struct rsc_tbl_data));
+	if (!rsc_data_va) {
+		dev_err(dev, "failed to map resource table data address\n");
+		return -EIO;
+	}
+
+	/**
+	 * If RSC_TBL_XLNX_MAGIC number and its complement isn't found then
+	 * do not consider resource table address valid and don't attach
+	 */
+	if (rsc_data_va->magic_num != RSC_TBL_XLNX_MAGIC ||
+	    rsc_data_va->comp_magic_num != ~RSC_TBL_XLNX_MAGIC) {
+		dev_dbg(dev, "invalid magic number, won't attach\n");
+		return -EINVAL;
+	}
+
+	rsc_addr = ioremap_wc(rsc_data_va->rsc_tbl,
+			      rsc_data_va->rsc_tbl_size);
+	if (!rsc_addr) {
+		dev_err(dev, "failed to get rsc_addr\n");
+		return -EINVAL;
+	}
+
+	/**
+	 * As of now resource table version 1 is expected. Don't fail to attach
+	 * but warn users about it.
+	 */
+	if (rsc_addr->ver != 1)
+		dev_warn(dev, "unexpected resource table version %d\n",
+			 rsc_addr->ver);
+
+	r5_core->rsc_tbl_size = rsc_data_va->rsc_tbl_size;
+	r5_core->rsc_tbl_va = rsc_addr;
+
+	return 0;
+}
+
+static int zynqmp_r5_attach(struct rproc *rproc)
+{
+	struct zynqmp_r5_core *r5_core = rproc->priv;
+	int i, pm_domain_id, ret;
+
+	/*
+	 * Firmware is loaded in TCM. Request TCM power domains to notify
+	 * platform management controller that TCM is in use. This will be
+	 * released during unprepare callback.
+	 */
+	for (i = 0; i < r5_core->tcm_bank_count; i++) {
+		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+		ret = zynqmp_pm_request_node(pm_domain_id,
+					     ZYNQMP_PM_CAPABILITY_ACCESS, 0,
+					     ZYNQMP_PM_REQUEST_ACK_BLOCKING);
+		if (ret < 0)
+			pr_warn("TCM %d can't be requested\n", i);
+	}
+
+	return 0;
+}
+
+static int zynqmp_r5_detach(struct rproc *rproc)
+{
+	struct zynqmp_r5_core *r5_core = rproc->priv;
+
+	/*
+	 * Generate last notification to remote after clearing virtio flag.
+	 * Remote can avoid polling on virtio reset flag if kick is generated
+	 * during detach by host and check virtio reset flag on kick interrupt.
+	 */
+	zynqmp_r5_rproc_kick(rproc, 0);
+
+	iounmap(r5_core->rsc_tbl_va);
+	r5_core->rsc_tbl_va = NULL;
+
+	return 0;
+}
+
 static const struct rproc_ops zynqmp_r5_rproc_ops = {
 	.prepare	= zynqmp_r5_rproc_prepare,
 	.unprepare	= zynqmp_r5_rproc_unprepare,
@@ -673,6 +816,9 @@ static const struct rproc_ops zynqmp_r5_rproc_ops = {
 	.sanity_check	= rproc_elf_sanity_check,
 	.get_boot_addr	= rproc_elf_get_boot_addr,
 	.kick		= zynqmp_r5_rproc_kick,
+	.get_loaded_rsc_table = zynqmp_r5_get_loaded_rsc_table,
+	.attach		= zynqmp_r5_attach,
+	.detach		= zynqmp_r5_detach,
 };
 
 /**
@@ -723,6 +869,16 @@ static struct zynqmp_r5_core *zynqmp_r5_add_rproc_core(struct device *cdev)
 		goto free_rproc;
 	}
 
+	/*
+	 * Move rproc state to DETACHED to give one time opportunity to attach
+	 * if firmware is already available in the memory. This can happen if
+	 * firmware is loaded via debugger or by any other agent in the system.
+	 * If firmware isn't available in the memory and resource table isn't found,
+	 * then rproc state stay OFFLINE.
+	 */
+	if (!zynqmp_r5_get_rsc_table_va(r5_core))
+		r5_rproc->state = RPROC_DETACHED;
+
 	r5_core->rproc = r5_rproc;
 	return r5_core;
 
