diff --git a/drivers/remoteproc/xlnx_r5_remoteproc.c b/drivers/remoteproc/xlnx_r5_remoteproc.c
index 0f942440b4e2..504492f930ac 100644
--- a/drivers/remoteproc/xlnx_r5_remoteproc.c
+++ b/drivers/remoteproc/xlnx_r5_remoteproc.c
@@ -74,8 +74,8 @@ struct mbox_info {
 };
 
 /*
- * Hardcoded TCM bank values. This will be removed once TCM bindings are
- * accepted for system-dt specifications and upstreamed in linux kernel
+ * Hardcoded TCM bank values. This will stay in driver to maintain backward
+ * compatibility with device-tree that does not have TCM information.
  */
 static const struct mem_bank_data zynqmp_tcm_banks_split[] = {
 	{0xffe00000UL, 0x0, 0x10000UL, PD_R5_0_ATCM, "atcm0"}, /* TCM 64KB each */
@@ -300,36 +300,6 @@ static void zynqmp_r5_rproc_kick(struct rproc *rproc, int vqid)
 		dev_warn(dev, "failed to send message\n");
 }
 
-/*
- * zynqmp_r5_set_mode()
- *
- * set RPU cluster and TCM operation mode
- *
- * @r5_core: pointer to zynqmp_r5_core type object
- * @fw_reg_val: value expected by firmware to configure RPU cluster mode
- * @tcm_mode: value expected by fw to configure TCM mode (lockstep or split)
- *
- * Return: 0 for success and < 0 for failure
- */
-static int zynqmp_r5_set_mode(struct zynqmp_r5_core *r5_core,
-			      enum rpu_oper_mode fw_reg_val,
-			      enum rpu_tcm_comb tcm_mode)
-{
-	int ret;
-
-	ret = zynqmp_pm_set_rpu_mode(r5_core->pm_domain_id, fw_reg_val);
-	if (ret < 0) {
-		dev_err(r5_core->dev, "failed to set RPU mode\n");
-		return ret;
-	}
-
-	ret = zynqmp_pm_set_tcm_config(r5_core->pm_domain_id, tcm_mode);
-	if (ret < 0)
-		dev_err(r5_core->dev, "failed to configure TCM\n");
-
-	return ret;
-}
-
 /*
  * zynqmp_r5_rproc_start()
  * @rproc: single R5 core's corresponding rproc instance
@@ -761,6 +731,103 @@ static struct zynqmp_r5_core *zynqmp_r5_add_rproc_core(struct device *cdev)
 	return ERR_PTR(ret);
 }
 
+static int zynqmp_r5_get_tcm_node_from_dt(struct zynqmp_r5_cluster *cluster)
+{
+	int i, j, tcm_bank_count, ret, tcm_pd_idx, pd_count;
+	struct of_phandle_args out_args;
+	struct zynqmp_r5_core *r5_core;
+	struct platform_device *cpdev;
+	struct mem_bank_data *tcm;
+	struct device_node *np;
+	struct resource *res;
+	u64 abs_addr, size;
+	struct device *dev;
+
+	for (i = 0; i < cluster->core_count; i++) {
+		r5_core = cluster->r5_cores[i];
+		dev = r5_core->dev;
+		np = r5_core->np;
+
+		pd_count = of_count_phandle_with_args(np, "power-domains",
+						      "#power-domain-cells");
+
+		if (pd_count <= 0) {
+			dev_err(dev, "invalid power-domains property, %d\n", pd_count);
+			return -EINVAL;
+		}
+
+		/* First entry in power-domains list is for r5 core, rest for TCM. */
+		tcm_bank_count = pd_count - 1;
+
+		if (tcm_bank_count <= 0) {
+			dev_err(dev, "invalid TCM count %d\n", tcm_bank_count);
+			return -EINVAL;
+		}
+
+		r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,
+						  sizeof(struct mem_bank_data *),
+						  GFP_KERNEL);
+		if (!r5_core->tcm_banks)
+			return -ENOMEM;
+
+		r5_core->tcm_bank_count = tcm_bank_count;
+		for (j = 0, tcm_pd_idx = 1; j < tcm_bank_count; j++, tcm_pd_idx++) {
+			tcm = devm_kzalloc(dev, sizeof(struct mem_bank_data),
+					   GFP_KERNEL);
+			if (!tcm)
+				return -ENOMEM;
+
+			r5_core->tcm_banks[j] = tcm;
+
+			/* Get power-domains id of TCM. */
+			ret = of_parse_phandle_with_args(np, "power-domains",
+							 "#power-domain-cells",
+							 tcm_pd_idx, &out_args);
+			if (ret) {
+				dev_err(r5_core->dev,
+					"failed to get tcm %d pm domain, ret %d\n",
+					tcm_pd_idx, ret);
+				return ret;
+			}
+			tcm->pm_domain_id = out_args.args[0];
+			of_node_put(out_args.np);
+
+			/* Get TCM address without translation. */
+			ret = of_property_read_reg(np, j, &abs_addr, &size);
+			if (ret) {
+				dev_err(dev, "failed to get reg property\n");
+				return ret;
+			}
+
+			/*
+			 * Remote processor can address only 32 bits
+			 * so convert 64-bits into 32-bits. This will discard
+			 * any unwanted upper 32-bits.
+			 */
+			tcm->da = (u32)abs_addr;
+			tcm->size = (u32)size;
+
+			cpdev = to_platform_device(dev);
+			res = platform_get_resource(cpdev, IORESOURCE_MEM, j);
+			if (!res) {
+				dev_err(dev, "failed to get tcm resource\n");
+				return -EINVAL;
+			}
+
+			tcm->addr = (u32)res->start;
+			tcm->bank_name = (char *)res->name;
+			res = devm_request_mem_region(dev, tcm->addr, tcm->size,
+						      tcm->bank_name);
+			if (!res) {
+				dev_err(dev, "failed to request tcm resource\n");
+				return -EINVAL;
+			}
+		}
+	}
+
+	return 0;
+}
+
 /**
  * zynqmp_r5_get_tcm_node()
  * Ideally this function should parse tcm node and store information
@@ -839,9 +906,16 @@ static int zynqmp_r5_core_init(struct zynqmp_r5_cluster *cluster,
 	struct zynqmp_r5_core *r5_core;
 	int ret, i;
 
-	ret = zynqmp_r5_get_tcm_node(cluster);
-	if (ret < 0) {
-		dev_err(dev, "can't get tcm node, err %d\n", ret);
+	r5_core = cluster->r5_cores[0];
+
+	/* Maintain backward compatibility for zynqmp by using hardcode TCM address. */
+	if (device_is_compatible(dev, "xlnx,zynqmp-r5fss"))
+		ret = zynqmp_r5_get_tcm_node(cluster);
+	else
+		ret = zynqmp_r5_get_tcm_node_from_dt(cluster);
+
+	if (ret) {
+		dev_err(dev, "can't get tcm, err %d\n", ret);
 		return ret;
 	}
 
@@ -856,12 +930,18 @@ static int zynqmp_r5_core_init(struct zynqmp_r5_cluster *cluster,
 			return ret;
 		}
 
-		ret = zynqmp_r5_set_mode(r5_core, fw_reg_val, tcm_mode);
-		if (ret) {
-			dev_err(dev, "failed to set r5 cluster mode %d, err %d\n",
-				cluster->mode, ret);
+		ret = zynqmp_pm_set_rpu_mode(r5_core->pm_domain_id, fw_reg_val);
+		if (ret < 0) {
+			dev_err(r5_core->dev, "failed to set RPU mode\n");
 			return ret;
 		}
+
+		if (device_is_compatible(dev, "xlnx,zynqmp-r5fss") ||
+		    of_find_property(dev_of_node(dev), "xlnx,tcm-mode", NULL)) {
+			ret = zynqmp_pm_set_tcm_config(r5_core->pm_domain_id, tcm_mode);
+			if (ret < 0)
+				dev_err(r5_core->dev, "failed to configure TCM\n");
+		}
 	}
 
 	return 0;
@@ -906,16 +986,25 @@ static int zynqmp_r5_cluster_init(struct zynqmp_r5_cluster *cluster)
 	 * fail driver probe if either of that is not set in dts.
 	 */
 	if (cluster_mode == LOCKSTEP_MODE) {
-		tcm_mode = PM_RPU_TCM_COMB;
 		fw_reg_val = PM_RPU_MODE_LOCKSTEP;
 	} else if (cluster_mode == SPLIT_MODE) {
-		tcm_mode = PM_RPU_TCM_SPLIT;
 		fw_reg_val = PM_RPU_MODE_SPLIT;
 	} else {
 		dev_err(dev, "driver does not support cluster mode %d\n", cluster_mode);
 		return -EINVAL;
 	}
 
+	if (device_is_compatible(dev, "xlnx,zynqmp-r5fss")) {
+		if (cluster_mode == LOCKSTEP_MODE)
+			tcm_mode = PM_RPU_TCM_COMB;
+		else
+			tcm_mode = PM_RPU_TCM_SPLIT;
+	} else if (of_find_property(dev_node, "xlnx,tcm-mode", NULL)) {
+		ret = of_property_read_u32(dev_node, "xlnx,tcm-mode", (u32 *)&tcm_mode);
+		if (ret)
+			return ret;
+	}
+
 	/*
 	 * Number of cores is decided by number of child nodes of
 	 * r5f subsystem node in dts. If Split mode is used in dts
@@ -1100,6 +1189,8 @@ static int zynqmp_r5_remoteproc_probe(struct platform_device *pdev)
 /* Match table for OF platform binding */
 static const struct of_device_id zynqmp_r5_remoteproc_match[] = {
 	{ .compatible = "xlnx,zynqmp-r5fss", },
+	{ .compatible = "xlnx,versal-r5fss", },
+	{ .compatible = "xlnx,versal-net-r52fss", },
 	{ /* end of list */ },
 };
 MODULE_DEVICE_TABLE(of, zynqmp_r5_remoteproc_match);
