diff --git a/drivers/soc/ti/Kconfig b/drivers/soc/ti/Kconfig
index d1ea6da..d239996 100644
--- a/drivers/soc/ti/Kconfig
+++ b/drivers/soc/ti/Kconfig
@@ -76,6 +76,7 @@ config TI_SCI_PM_DOMAINS
 config TI_PRUSS
 	tristate "TI PRU-ICSS Subsystem Platform drivers"
 	depends on SOC_AM33XX
+	select MFD_SYSCON
 	default n
 	help
 	  TI PRU-ICSS Subsystem platform specific support.
diff --git a/drivers/soc/ti/pruss.c b/drivers/soc/ti/pruss.c
index 90ee5b9..63c7d8c 100644
--- a/drivers/soc/ti/pruss.c
+++ b/drivers/soc/ti/pruss.c
@@ -10,9 +10,11 @@
 #include <linux/dma-mapping.h>
 #include <linux/module.h>
 #include <linux/io.h>
+#include <linux/mfd/syscon.h>
 #include <linux/of_address.h>
 #include <linux/of_device.h>
 #include <linux/pruss.h>
+#include <linux/regmap.h>
 #include <linux/remoteproc.h>
 
 #include "pruss.h"
@@ -152,6 +154,47 @@ int pruss_release_mem_region(struct pruss *pruss,
 }
 EXPORT_SYMBOL_GPL(pruss_release_mem_region);
 
+/**
+ * pruss_cfg_read() - read a PRUSS CFG register
+ * @pruss: the pruss instance handle
+ * @reg: register offset within the CFG sub-module
+ * @val: pointer to return the value in
+ *
+ * Reads a given register within CFG module of PRUSS
+ * and returns it through the passed-in @val pointer
+ *
+ * Returns 0 on success, or an error code otherwise
+ */
+int pruss_cfg_read(struct pruss *pruss, unsigned int reg, unsigned int *val)
+{
+	if (IS_ERR_OR_NULL(pruss))
+		return -EINVAL;
+
+	return regmap_read(pruss->cfg, reg, val);
+}
+EXPORT_SYMBOL_GPL(pruss_cfg_read);
+
+/**
+ * pruss_cfg_update() - update a PRUSS CFG register
+ * @pruss: the pruss instance handle
+ * @reg: register offset within the CFG sub-module
+ * @mask: bit mask to use for programming the @val
+ * @val: value to write
+ *
+ * Updates a given register within CFG sub-module of PRUSS
+ *
+ * Returns 0 on success, or an error code otherwise
+ */
+int pruss_cfg_update(struct pruss *pruss, unsigned int reg,
+		     unsigned int mask, unsigned int val)
+{
+	if (IS_ERR_OR_NULL(pruss))
+		return -EINVAL;
+
+	return regmap_update_bits(pruss->cfg, reg, mask, val);
+}
+EXPORT_SYMBOL_GPL(pruss_cfg_update);
+
 static int pruss_probe(struct platform_device *pdev)
 {
 	struct device *dev = &pdev->dev;
@@ -180,6 +223,15 @@ static int pruss_probe(struct platform_device *pdev)
 	pruss->dev = dev;
 	mutex_init(&pruss->lock);
 
+	np = of_get_child_by_name(node, "cfg");
+	if (!np)
+		return -ENODEV;
+
+	pruss->cfg = syscon_node_to_regmap(np);
+	of_node_put(np);
+	if (IS_ERR(pruss->cfg))
+		return -ENODEV;
+
 	np = of_get_child_by_name(node, "memories");
 	if (!np)
 		return -ENODEV;
diff --git a/drivers/soc/ti/pruss.h b/drivers/soc/ti/pruss.h
index f8878c2..45de1be 100644
--- a/drivers/soc/ti/pruss.h
+++ b/drivers/soc/ti/pruss.h
@@ -34,6 +34,7 @@ struct pruss_intc_config {
 /**
  * struct pruss - PRUSS parent structure
  * @dev: pruss device pointer
+ * @cfg: regmap for config region
  * @mem_regions: data for each of the PRUSS memory regions
  * @mem_in_use: to indicate if memory resource is in use
  * @host_mask: indicate which HOST IRQs are enabled
@@ -41,6 +42,7 @@ struct pruss_intc_config {
  */
 struct pruss {
 	struct device *dev;
+	struct regmap *cfg;
 	struct pruss_mem_region mem_regions[PRUSS_MEM_MAX];
 	struct pruss_mem_region *mem_in_use[PRUSS_MEM_MAX];
 	u32 host_mask;
diff --git a/include/linux/pruss.h b/include/linux/pruss.h
index b9135d6..3ed175a 100644
--- a/include/linux/pruss.h
+++ b/include/linux/pruss.h
@@ -10,6 +10,92 @@
 #ifndef __LINUX_PRUSS_H
 #define __LINUX_PRUSS_H
 
+/*
+ * PRU_ICSS_CFG registers
+ * SYSCFG, ISRP, ISP, IESP, IECP, SCRP applicable on AMxxxx devices only
+ */
+#define PRUSS_CFG_REVID		0x00
+#define PRUSS_CFG_SYSCFG	0x04
+#define PRUSS_CFG_GPCFG(x)	(0x08 + (x) * 4)
+#define PRUSS_CFG_CGR		0x10
+#define PRUSS_CFG_ISRP		0x14
+#define PRUSS_CFG_ISP		0x18
+#define PRUSS_CFG_IESP		0x1C
+#define PRUSS_CFG_IECP		0x20
+#define PRUSS_CFG_SCRP		0x24
+#define PRUSS_CFG_PMAO		0x28
+#define PRUSS_CFG_MII_RT	0x2C
+#define PRUSS_CFG_IEPCLK	0x30
+#define PRUSS_CFG_SPP		0x34
+#define PRUSS_CFG_PIN_MX	0x40
+
+/* PRUSS_GPCFG register bits */
+#define PRUSS_GPCFG_PRU_GPO_SH_SEL		BIT(25)
+
+#define PRUSS_GPCFG_PRU_DIV1_SHIFT		20
+#define PRUSS_GPCFG_PRU_DIV1_MASK		GENMASK(24, 20)
+
+#define PRUSS_GPCFG_PRU_DIV0_SHIFT		15
+#define PRUSS_GPCFG_PRU_DIV0_MASK		GENMASK(15, 19)
+
+#define PRUSS_GPCFG_PRU_GPO_MODE		BIT(14)
+#define PRUSS_GPCFG_PRU_GPO_MODE_DIRECT		0
+#define PRUSS_GPCFG_PRU_GPO_MODE_SERIAL		BIT(14)
+
+#define PRUSS_GPCFG_PRU_GPI_SB			BIT(13)
+
+#define PRUSS_GPCFG_PRU_GPI_DIV1_SHIFT		8
+#define PRUSS_GPCFG_PRU_GPI_DIV1_MASK		GENMASK(12, 8)
+
+#define PRUSS_GPCFG_PRU_GPI_DIV0_SHIFT		3
+#define PRUSS_GPCFG_PRU_GPI_DIV0_MASK		GENMASK(7, 3)
+
+#define PRUSS_GPCFG_PRU_GPI_CLK_MODE_POSITIVE	0
+#define PRUSS_GPCFG_PRU_GPI_CLK_MODE_NEGATIVE	BIT(2)
+#define PRUSS_GPCFG_PRU_GPI_CLK_MODE		BIT(2)
+
+#define PRUSS_GPCFG_PRU_GPI_MODE_MASK		GENMASK(1, 0)
+#define PRUSS_GPCFG_PRU_GPI_MODE_SHIFT		0
+
+#define PRUSS_GPCFG_PRU_MUX_SEL_SHIFT		26
+#define PRUSS_GPCFG_PRU_MUX_SEL_MASK		GENMASK(29, 26)
+
+/* PRUSS_MII_RT register bits */
+#define PRUSS_MII_RT_EVENT_EN			BIT(0)
+
+/* PRUSS_SPP register bits */
+#define PRUSS_SPP_XFER_SHIFT_EN			BIT(1)
+#define PRUSS_SPP_PRU1_PAD_HP_EN		BIT(0)
+
+/**
+ * enum pruss_gp_mux_sel - PRUSS GPI/O Mux modes for the
+ * PRUSS_GPCFG0/1 registers
+ *
+ * NOTE: The below defines are the most common values, but there
+ * are some exceptions like on 66AK2G, where the RESERVED and MII2
+ * values are interchanged. Also, this bit-field does not exist on
+ * AM335x SoCs
+ */
+enum pruss_gp_mux_sel {
+	PRUSS_GP_MUX_SEL_GP = 0,
+	PRUSS_GP_MUX_SEL_ENDAT,
+	PRUSS_GP_MUX_SEL_RESERVED,
+	PRUSS_GP_MUX_SEL_SD,
+	PRUSS_GP_MUX_SEL_MII2,
+	PRUSS_GP_MUX_SEL_MAX,
+};
+
+/**
+ * enum pruss_gpi_mode - PRUSS GPI configuration modes, used
+ *			 to program the PRUSS_GPCFG0/1 registers
+ */
+enum pruss_gpi_mode {
+	PRUSS_GPI_MODE_DIRECT = 0,
+	PRUSS_GPI_MODE_PARALLEL,
+	PRUSS_GPI_MODE_28BIT_SHIFT,
+	PRUSS_GPI_MODE_MII,
+};
+
 /**
  * enum pruss_mem - PRUSS memory range identifiers
  */
@@ -46,6 +132,10 @@ int pruss_release_mem_region(struct pruss *pruss,
 
 int pruss_intc_trigger(unsigned int irq);
 
+int pruss_cfg_read(struct pruss *pruss, unsigned int reg, unsigned int *val);
+int pruss_cfg_update(struct pruss *pruss, unsigned int reg,
+		     unsigned int mask, unsigned int val);
+
 #else
 
 static inline struct pruss *pruss_get(struct rproc *rproc)
@@ -73,6 +163,17 @@ static inline int pruss_intc_trigger(unsigned int irq)
 	return -ENOTSUPP;
 }
 
+int pruss_cfg_read(struct pruss *pruss, unsigned int reg, unsigned int *val)
+{
+	return -ENOTSUPP;
+}
+
+int pruss_cfg_update(struct pruss *pruss, unsigned int reg,
+		     unsigned int mask, unsigned int val)
+{
+	return -ENOTSUPP;
+}
+
 #endif /* CONFIG_TI_PRUSS */
 
 #endif /* __LINUX_PRUSS_H */
