diff --git a/drivers/net/ethernet/ti/Kconfig b/drivers/net/ethernet/ti/Kconfig
index 1729eb0e0b41..3716d585f9a3 100644
--- a/drivers/net/ethernet/ti/Kconfig
+++ b/drivers/net/ethernet/ti/Kconfig
@@ -190,6 +190,7 @@ config TI_ICSSG_PRUETH
 	depends on PRU_REMOTEPROC
 	depends on ARCH_K3 && OF && TI_K3_UDMA_GLUE_LAYER
 	depends on PTP_1588_CLOCK_OPTIONAL
+	depends on NET_SCH_TAPRIO
 	help
 	  Support dual Gigabit Ethernet ports over the ICSSG PRU Subsystem.
 	  This subsystem is available starting with the AM65 platform.
diff --git a/drivers/net/ethernet/ti/Makefile b/drivers/net/ethernet/ti/Makefile
index 6e086b4c0384..28e794a8ecd1 100644
--- a/drivers/net/ethernet/ti/Makefile
+++ b/drivers/net/ethernet/ti/Makefile
@@ -39,7 +39,8 @@ icssg-prueth-y := icssg/icssg_prueth.o \
 		  icssg/icssg_config.o \
 		  icssg/icssg_mii_cfg.o \
 		  icssg/icssg_stats.o \
-		  icssg/icssg_ethtool.o
+		  icssg/icssg_ethtool.o \
+		  icssg/icssg_qos.o
 obj-$(CONFIG_TI_ICSSG_PRUETH_SR1) += icssg-prueth-sr1.o
 icssg-prueth-sr1-y := icssg/icssg_prueth_sr1.o \
 		      icssg/icssg_common.o \
diff --git a/drivers/net/ethernet/ti/icssg/icssg_prueth.c b/drivers/net/ethernet/ti/icssg/icssg_prueth.c
index 3bd5caf26851..e5d90534f5b8 100644
--- a/drivers/net/ethernet/ti/icssg/icssg_prueth.c
+++ b/drivers/net/ethernet/ti/icssg/icssg_prueth.c
@@ -685,6 +685,7 @@ static const struct net_device_ops emac_netdev_ops = {
 	.ndo_eth_ioctl = emac_ndo_ioctl,
 	.ndo_get_stats64 = emac_ndo_get_stats64,
 	.ndo_get_phys_port_name = emac_ndo_get_phys_port_name,
+	.ndo_setup_tc = icssg_qos_ndo_setup_tc,
 };
 
 static int prueth_netdev_init(struct prueth *prueth,
@@ -819,6 +820,8 @@ static int prueth_netdev_init(struct prueth *prueth,
 	emac->rx_hrtimer.function = &emac_rx_timer_callback;
 	prueth->emac[mac] = emac;
 
+	icssg_qos_tas_init(ndev);
+
 	return 0;
 
 free:
diff --git a/drivers/net/ethernet/ti/icssg/icssg_prueth.h b/drivers/net/ethernet/ti/icssg/icssg_prueth.h
index 208fb78fb71f..7aa34345b865 100644
--- a/drivers/net/ethernet/ti/icssg/icssg_prueth.h
+++ b/drivers/net/ethernet/ti/icssg/icssg_prueth.h
@@ -37,6 +37,7 @@
 #include "icssg_config.h"
 #include "icss_iep.h"
 #include "icssg_switch_map.h"
+#include "icssg_qos.h"
 
 #define PRUETH_MAX_MTU          (2000 - ETH_HLEN - ETH_FCS_LEN)
 #define PRUETH_MIN_PKT_SIZE     (VLAN_ETH_ZLEN)
@@ -186,6 +187,8 @@ struct prueth_emac {
 
 	struct pruss_mem_region dram;
 
+	struct prueth_qos qos;
+
 	struct delayed_work stats_work;
 	u64 stats[ICSSG_NUM_STATS];
 
diff --git a/drivers/net/ethernet/ti/icssg/icssg_qos.c b/drivers/net/ethernet/ti/icssg/icssg_qos.c
new file mode 100644
index 000000000000..5e93b1b9ca43
--- /dev/null
+++ b/drivers/net/ethernet/ti/icssg/icssg_qos.c
@@ -0,0 +1,288 @@
+// SPDX-License-Identifier: GPL-2.0
+/* Texas Instruments ICSSG PRUETH QoS submodule
+ * Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
+ */
+
+#include <linux/printk.h>
+#include "icssg_prueth.h"
+#include "icssg_switch_map.h"
+
+static void tas_update_fw_list_pointers(struct prueth_emac *emac)
+{
+	struct tas_config *tas = &emac->qos.tas.config;
+
+	if ((readb(tas->active_list)) == TAS_LIST0) {
+		tas->fw_active_list = emac->dram.va + TAS_GATE_MASK_LIST0;
+		tas->fw_shadow_list = emac->dram.va + TAS_GATE_MASK_LIST1;
+	} else {
+		tas->fw_active_list = emac->dram.va + TAS_GATE_MASK_LIST1;
+		tas->fw_shadow_list = emac->dram.va + TAS_GATE_MASK_LIST0;
+	}
+}
+
+static void tas_update_maxsdu_table(struct prueth_emac *emac)
+{
+	struct tas_config *tas = &emac->qos.tas.config;
+	u16 __iomem *max_sdu_tbl_ptr;
+	u8 gate_idx;
+
+	/* update the maxsdu table */
+	max_sdu_tbl_ptr = emac->dram.va + TAS_QUEUE_MAX_SDU_LIST;
+
+	for (gate_idx = 0; gate_idx < TAS_MAX_NUM_QUEUES; gate_idx++)
+		writew(tas->max_sdu_table.max_sdu[gate_idx], &max_sdu_tbl_ptr[gate_idx]);
+}
+
+static void tas_reset(struct prueth_emac *emac)
+{
+	struct tas_config *tas = &emac->qos.tas.config;
+	int i;
+
+	for (i = 0; i < TAS_MAX_NUM_QUEUES; i++)
+		tas->max_sdu_table.max_sdu[i] = 2048;
+
+	tas_update_maxsdu_table(emac);
+
+	writeb(TAS_LIST0, tas->active_list);
+
+	memset_io(tas->fw_active_list, 0, sizeof(*tas->fw_active_list));
+	memset_io(tas->fw_shadow_list, 0, sizeof(*tas->fw_shadow_list));
+}
+
+static int tas_set_state(struct prueth_emac *emac, enum tas_state state)
+{
+	struct tas_config *tas = &emac->qos.tas.config;
+	int ret;
+
+	if (tas->state == state)
+		return 0;
+
+	switch (state) {
+	case TAS_STATE_RESET:
+		tas_reset(emac);
+		ret = emac_set_port_state(emac, ICSSG_EMAC_PORT_TAS_RESET);
+		tas->state = TAS_STATE_RESET;
+		break;
+	case TAS_STATE_ENABLE:
+		ret = emac_set_port_state(emac, ICSSG_EMAC_PORT_TAS_ENABLE);
+		tas->state = TAS_STATE_ENABLE;
+		break;
+	case TAS_STATE_DISABLE:
+		ret = emac_set_port_state(emac, ICSSG_EMAC_PORT_TAS_DISABLE);
+		tas->state = TAS_STATE_DISABLE;
+		break;
+	default:
+		netdev_err(emac->ndev, "%s: unsupported state\n", __func__);
+		ret = -EINVAL;
+		break;
+	}
+
+	if (ret)
+		netdev_err(emac->ndev, "TAS set state failed %d\n", ret);
+	return ret;
+}
+
+static int tas_set_trigger_list_change(struct prueth_emac *emac)
+{
+	struct tc_taprio_qopt_offload *admin_list = emac->qos.tas.taprio_admin;
+	struct tas_config *tas = &emac->qos.tas.config;
+	struct ptp_system_timestamp sts;
+	u32 change_cycle_count;
+	u32 cycle_time;
+	u64 base_time;
+	u64 cur_time;
+
+	/* IEP clock has a hardware errata due to which it wraps around exactly
+	 * once every taprio cycle. To compensate for that, adjust cycle time
+	 * by the wrap around time which is stored in emac->iep->def_inc
+	 */
+	cycle_time = admin_list->cycle_time - emac->iep->def_inc;
+	base_time = admin_list->base_time;
+	cur_time = prueth_iep_gettime(emac, &sts);
+
+	if (base_time > cur_time)
+		change_cycle_count = DIV_ROUND_UP_ULL(base_time - cur_time, cycle_time);
+	else
+		change_cycle_count = 1;
+
+	writel(cycle_time, emac->dram.va + TAS_ADMIN_CYCLE_TIME);
+	writel(change_cycle_count, emac->dram.va + TAS_CONFIG_CHANGE_CYCLE_COUNT);
+	writeb(admin_list->num_entries, emac->dram.va + TAS_ADMIN_LIST_LENGTH);
+
+	/* config_change cleared by f/w to ack reception of new shadow list */
+	writeb(1, &tas->config_list->config_change);
+	/* config_pending cleared by f/w when new shadow list is copied to active list */
+	writeb(1, &tas->config_list->config_pending);
+
+	return emac_set_port_state(emac, ICSSG_EMAC_PORT_TAS_TRIGGER);
+}
+
+static int tas_update_oper_list(struct prueth_emac *emac)
+{
+	struct tc_taprio_qopt_offload *admin_list = emac->qos.tas.taprio_admin;
+	struct tas_config *tas = &emac->qos.tas.config;
+	u32 tas_acc_gate_close_time = 0;
+	u8 idx, gate_idx, val;
+	int ret;
+
+	if (admin_list->cycle_time > TAS_MAX_CYCLE_TIME)
+		return -EINVAL;
+
+	tas_update_fw_list_pointers(emac);
+
+	for (idx = 0; idx < admin_list->num_entries; idx++) {
+		writeb(admin_list->entries[idx].gate_mask,
+		       &tas->fw_shadow_list->gate_mask_list[idx]);
+		tas_acc_gate_close_time += admin_list->entries[idx].interval;
+
+		/* extend last entry till end of cycle time */
+		if (idx == admin_list->num_entries - 1)
+			writel(admin_list->cycle_time,
+			       &tas->fw_shadow_list->win_end_time_list[idx]);
+		else
+			writel(tas_acc_gate_close_time,
+			       &tas->fw_shadow_list->win_end_time_list[idx]);
+	}
+
+	/* clear remaining entries */
+	for (idx = admin_list->num_entries; idx < TAS_MAX_CMD_LISTS; idx++) {
+		writeb(0, &tas->fw_shadow_list->gate_mask_list[idx]);
+		writel(0, &tas->fw_shadow_list->win_end_time_list[idx]);
+	}
+
+	/* update the Array of gate close time for each queue in each window */
+	for (idx = 0 ; idx < admin_list->num_entries; idx++) {
+		/* On Linux, only PRUETH_MAX_TX_QUEUES are supported per port */
+		for (gate_idx = 0; gate_idx < PRUETH_MAX_TX_QUEUES; gate_idx++) {
+			u8 gate_mask_list_idx = readb(&tas->fw_shadow_list->gate_mask_list[idx]);
+			u32 gate_close_time = 0;
+
+			if (gate_mask_list_idx & BIT(gate_idx))
+				gate_close_time = readl(&tas->fw_shadow_list->win_end_time_list[idx]);
+
+			writel(gate_close_time,
+			       &tas->fw_shadow_list->gate_close_time_list[idx][gate_idx]);
+		}
+	}
+
+	/* tell f/w to swap active & shadow list */
+	ret = tas_set_trigger_list_change(emac);
+	if (ret) {
+		netdev_err(emac->ndev, "failed to swap f/w config list: %d\n", ret);
+		return ret;
+	}
+
+	/* Wait for completion */
+	ret = readb_poll_timeout(&tas->config_list->config_change, val, !val,
+				 USEC_PER_MSEC, 10 * USEC_PER_MSEC);
+	if (ret) {
+		netdev_err(emac->ndev, "TAS list change completion time out\n");
+		return ret;
+	}
+
+	tas_update_fw_list_pointers(emac);
+
+	return 0;
+}
+
+static int emac_taprio_replace(struct net_device *ndev,
+			       struct tc_taprio_qopt_offload *taprio)
+{
+	struct prueth_emac *emac = netdev_priv(ndev);
+	int ret;
+
+	if (taprio->cycle_time_extension) {
+		NL_SET_ERR_MSG_MOD(taprio->extack, "Cycle time extension not supported");
+		return -EOPNOTSUPP;
+	}
+
+	if (taprio->cycle_time < TAS_MIN_CYCLE_TIME) {
+		NL_SET_ERR_MSG_FMT_MOD(taprio->extack, "cycle_time %llu is less than min supported cycle_time %d",
+				       taprio->cycle_time, TAS_MIN_CYCLE_TIME);
+		return -EINVAL;
+	}
+
+	if (taprio->num_entries > TAS_MAX_CMD_LISTS) {
+		NL_SET_ERR_MSG_FMT_MOD(taprio->extack, "num_entries %lu is more than max supported entries %d",
+				       taprio->num_entries, TAS_MAX_CMD_LISTS);
+		return -EINVAL;
+	}
+
+	if (emac->qos.tas.taprio_admin)
+		taprio_offload_free(emac->qos.tas.taprio_admin);
+
+	emac->qos.tas.taprio_admin = taprio_offload_get(taprio);
+	ret = tas_update_oper_list(emac);
+	if (ret)
+		goto clear_taprio;
+
+	ret = tas_set_state(emac, TAS_STATE_ENABLE);
+	if (ret)
+		goto clear_taprio;
+
+clear_taprio:
+	emac->qos.tas.taprio_admin = NULL;
+	taprio_offload_free(taprio);
+
+	return ret;
+}
+
+static int emac_taprio_destroy(struct net_device *ndev,
+			       struct tc_taprio_qopt_offload *taprio)
+{
+	struct prueth_emac *emac = netdev_priv(ndev);
+	int ret;
+
+	taprio_offload_free(taprio);
+
+	ret = tas_set_state(emac, TAS_STATE_RESET);
+	if (ret)
+		return ret;
+
+	return tas_set_state(emac, TAS_STATE_DISABLE);
+}
+
+static int emac_setup_taprio(struct net_device *ndev, void *type_data)
+{
+	struct tc_taprio_qopt_offload *taprio = type_data;
+	int ret;
+
+	switch (taprio->cmd) {
+	case TAPRIO_CMD_REPLACE:
+		ret = emac_taprio_replace(ndev, taprio);
+		break;
+	case TAPRIO_CMD_DESTROY:
+		ret = emac_taprio_destroy(ndev, taprio);
+		break;
+	default:
+		ret = -EOPNOTSUPP;
+	}
+
+	return ret;
+}
+
+int icssg_qos_ndo_setup_tc(struct net_device *ndev, enum tc_setup_type type,
+			   void *type_data)
+{
+	switch (type) {
+	case TC_SETUP_QDISC_TAPRIO:
+		return emac_setup_taprio(ndev, type_data);
+	default:
+		return -EOPNOTSUPP;
+	}
+}
+
+void icssg_qos_tas_init(struct net_device *ndev)
+{
+	struct prueth_emac *emac = netdev_priv(ndev);
+	struct tas_config *tas;
+
+	tas = &emac->qos.tas.config;
+
+	tas->config_list = emac->dram.va + TAS_CONFIG_CHANGE_TIME;
+	tas->active_list = emac->dram.va + TAS_ACTIVE_LIST_INDEX;
+
+	tas_update_fw_list_pointers(emac);
+
+	tas_set_state(emac, TAS_STATE_RESET);
+}
diff --git a/drivers/net/ethernet/ti/icssg/icssg_qos.h b/drivers/net/ethernet/ti/icssg/icssg_qos.h
new file mode 100644
index 000000000000..25baccdd1ce5
--- /dev/null
+++ b/drivers/net/ethernet/ti/icssg/icssg_qos.h
@@ -0,0 +1,113 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/* Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
+ */
+
+#ifndef __NET_TI_ICSSG_QOS_H
+#define __NET_TI_ICSSG_QOS_H
+
+#include <linux/atomic.h>
+#include <linux/netdevice.h>
+#include <net/pkt_sched.h>
+
+/* Maximum number of gate command entries in each list. */
+#define TAS_MAX_CMD_LISTS   (16)
+
+/* Maximum number of transmit queues supported by implementation */
+#define TAS_MAX_NUM_QUEUES  (8)
+
+/* Minimum cycle time supported by implementation (in ns) */
+#define TAS_MIN_CYCLE_TIME  (1000000)
+
+/* Minimum cycle time supported by implementation (in ns) */
+#define TAS_MAX_CYCLE_TIME  (4000000000)
+
+/* Minimum TAS window duration supported by implementation (in ns) */
+#define TAS_MIN_WINDOW_DURATION  (10000)
+
+/**
+ * enum tas_list_num - TAS list number
+ * @TAS_LIST0: TAS list number is 0
+ * @TAS_LIST1: TAS list number is 1
+ */
+enum tas_list_num {
+	TAS_LIST0 = 0,
+	TAS_LIST1 = 1
+};
+
+/**
+ * enum tas_state - State of TAS in firmware
+ * @TAS_STATE_DISABLE: TAS state machine is disabled.
+ * @TAS_STATE_ENABLE: TAS state machine is enabled.
+ * @TAS_STATE_RESET: TAS state machine is reset.
+ */
+enum tas_state {
+	TAS_STATE_DISABLE = 0,
+	TAS_STATE_ENABLE = 1,
+	TAS_STATE_RESET = 2,
+};
+
+/**
+ * struct tas_config_list - Config state machine variables
+ * @config_change_time: New list is copied at this time
+ * @config_change_error_counter: Incremented if admin->BaseTime < current time
+ *				 and TAS_enabled is true
+ * @config_pending: True if list update is pending
+ * @config_change: Set to true when application trigger updating of admin list
+ *		   to active list, cleared when configChangeTime is updated
+ */
+struct tas_config_list {
+	u64 config_change_time;
+	u32 config_change_error_counter;
+	u8 config_pending;
+	u8 config_change;
+};
+
+/* Max SDU table. See IEEE Std 802.1Q-2018 12.29.1.1 */
+struct tas_max_sdu_table {
+	u16 max_sdu[TAS_MAX_NUM_QUEUES];
+};
+
+/**
+ * struct tas_firmware_list - TAS List Structure based on firmware memory map
+ * @gate_mask_list: Window gate mask list
+ * @win_end_time_list: Window end time list
+ * @gate_close_time_list: Array of gate close time for each queue in each window
+ */
+struct tas_firmware_list {
+	u8 gate_mask_list[TAS_MAX_CMD_LISTS];
+	u32 win_end_time_list[TAS_MAX_CMD_LISTS];
+	u32 gate_close_time_list[TAS_MAX_CMD_LISTS][TAS_MAX_NUM_QUEUES];
+};
+
+/**
+ * struct tas_config - Main Time Aware Shaper Handle
+ * @state: TAS state
+ * @max_sdu_table: Max SDU table
+ * @config_list: Config change variables
+ * @active_list: Current operating list operating list
+ * @fw_active_list: Active List pointer, used by firmware
+ * @fw_shadow_list: Shadow List pointer, used by driver
+ */
+struct tas_config {
+	enum tas_state state;
+	struct tas_max_sdu_table max_sdu_table;
+	struct tas_config_list __iomem *config_list;
+	u8 __iomem *active_list;
+	struct tas_firmware_list __iomem *fw_active_list;
+	struct tas_firmware_list __iomem *fw_shadow_list;
+};
+
+struct prueth_qos_tas {
+	struct tc_taprio_qopt_offload *taprio_admin;
+	struct tc_taprio_qopt_offload *taprio_oper;
+	struct tas_config config;
+};
+
+struct prueth_qos {
+	struct prueth_qos_tas tas;
+};
+
+void icssg_qos_tas_init(struct net_device *ndev);
+int icssg_qos_ndo_setup_tc(struct net_device *ndev, enum tc_setup_type type,
+			   void *type_data);
+#endif /* __NET_TI_ICSSG_QOS_H */
