diff --git a/drivers/pinctrl/Kconfig b/drivers/pinctrl/Kconfig
index 4d8c00eac742..3e4d890d4bd9 100644
--- a/drivers/pinctrl/Kconfig
+++ b/drivers/pinctrl/Kconfig
@@ -195,6 +195,17 @@ config PINCTRL_RZA1
 	help
 	  This selects pinctrl driver for Renesas RZ/A1 platforms.
 
+config PINCTRL_RZA2
+	bool "Renesas RZ/A2 gpio and pinctrl driver"
+	depends on OF
+	depends on ARCH_R7S9210 || COMPILE_TEST
+	select GPIOLIB
+	select GENERIC_PINCTRL_GROUPS
+	select GENERIC_PINMUX_FUNCTIONS
+	select GENERIC_PINCONF
+	help
+	  This selects pinctrl driver for Renesas RZ/A2 platforms.
+
 config PINCTRL_RZN1
 	bool "Renesas RZ/N1 pinctrl driver"
 	depends on OF
diff --git a/drivers/pinctrl/Makefile b/drivers/pinctrl/Makefile
index 18a13c1e2c21..712184b74a5c 100644
--- a/drivers/pinctrl/Makefile
+++ b/drivers/pinctrl/Makefile
@@ -27,6 +27,7 @@ obj-$(CONFIG_PINCTRL_PIC32)	+= pinctrl-pic32.o
 obj-$(CONFIG_PINCTRL_PISTACHIO)	+= pinctrl-pistachio.o
 obj-$(CONFIG_PINCTRL_ROCKCHIP)	+= pinctrl-rockchip.o
 obj-$(CONFIG_PINCTRL_RZA1)	+= pinctrl-rza1.o
+obj-$(CONFIG_PINCTRL_RZA2)	+= pinctrl-rza2.o
 obj-$(CONFIG_PINCTRL_RZN1)	+= pinctrl-rzn1.o
 obj-$(CONFIG_PINCTRL_SINGLE)	+= pinctrl-single.o
 obj-$(CONFIG_PINCTRL_SIRF)	+= sirf/
diff --git a/drivers/pinctrl/pinctrl-rza2.c b/drivers/pinctrl/pinctrl-rza2.c
new file mode 100644
index 000000000000..c92d6c50f9ba
--- /dev/null
+++ b/drivers/pinctrl/pinctrl-rza2.c
@@ -0,0 +1,529 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Combined GPIO and pin controller support for Renesas RZ/A2 (R7S9210) SoC
+ *
+ * Copyright (C) 2018 Chris Brandt
+ */
+
+/*
+ * This pin controller/gpio combined driver supports Renesas devices of RZ/A2
+ * family.
+ */
+
+#include <linux/bitops.h>
+#include <linux/gpio.h>
+#include <linux/module.h>
+#include <linux/of_device.h>
+#include <linux/pinctrl/pinmux.h>
+
+#include "core.h"
+#include "pinmux.h"
+
+#define DRIVER_NAME		"pinctrl-rza2"
+
+#define RZA2_PINS_PER_PORT	8
+#define RZA2_NPINS		(RZA2_PINS_PER_PORT * RZA2_NPORTS)
+#define RZA2_PIN_ID_TO_PORT(id)	((id) / RZA2_PINS_PER_PORT)
+#define RZA2_PIN_ID_TO_PIN(id)	((id) % RZA2_PINS_PER_PORT)
+
+/*
+ * Use 16 lower bits [15:0] for pin identifier
+ * Use 16 higher bits [31:16] for pin mux function
+ */
+#define MUX_PIN_ID_MASK		GENMASK(15, 0)
+#define MUX_FUNC_MASK		GENMASK(31, 16)
+#define MUX_FUNC_OFFS		16
+#define MUX_FUNC(pinconf)	((pinconf & MUX_FUNC_MASK) >> MUX_FUNC_OFFS)
+
+enum pfc_pin_port_name {P0, P1, P2, P3, P4, P5, P6, P7, P8, P9, PA, PB, PC, PD,
+			PE, PF, PG, PH,	PJ, PK, PL, PM, RZA2_NPORTS};
+static const char port_names[] = "0123456789ABCDEFGHJKLM";
+
+struct rza2_pinctrl_priv {
+	struct device *dev;
+	void __iomem *base;
+
+	struct pinctrl_pin_desc *pins;
+	struct pinctrl_desc desc;
+	struct pinctrl_dev *pctl;
+};
+
+#define RZA2_PDR_BASE(_b)	((_b) + 0x0000)	/* 16-bit, 2 bytes apart */
+#define RZA2_PODR_BASE(_b)	((_b) + 0x0040)	/* 8-bit, 1 byte apart */
+#define RZA2_PIDR_BASE(_b)	((_b) + 0x0060)	/* 8-bit, 1 byte apart */
+#define RZA2_PMR_BASE(_b)	((_b) + 0x0080)	/* 8-bit, 1 byte apart */
+#define RZA2_DSCR_BASE(_b)	((_b) + 0x0140)	/* 16-bit, 2 bytes apart */
+#define RZA2_PFS_BASE(_b)	((_b) + 0x0200)	/* 8-bit, 8 bytes apart */
+#define RZA2_PWPR(_b)		((_b) + 0x02FF)	/* 8-bit */
+#define RZA2_PFENET(_b)		((_b) + 0x0820)	/* 8-bit */
+#define RZA2_PPOC(_b)		((_b) + 0x0900)	/* 32-bit */
+#define RZA2_PHMOMO(_b)		((_b) + 0x0980)	/* 32-bit */
+#define RZA2_PCKIO(_b)		((_b) + 0x09D0)	/* 8-bit */
+
+#define RZA2_PDR(_b, _port)		(RZA2_PDR_BASE(_b) + ((_port) * 2))
+#define RZA2_PODR(_b, _port)		(RZA2_PODR_BASE(_b) + (_port))
+#define RZA2_PIDR(_b, _port)		(RZA2_PIDR_BASE(_b) + (_port))
+#define RZA2_PMR(_b, _port)		(RZA2_PMR_BASE(_b) + (_port))
+#define RZA2_DSCR(_b, _port)		(RZA2_DSCR_BASE(_b) + ((_port) * 2))
+#define RZA2_PFS(_b, _port, _pin)	(RZA2_PFS_BASE(_b) + ((_port) * 8) \
+					+ (_pin))
+#define RZA2_PDR_HIGHZ		0x00
+#define RZA2_PDR_INPUT		0x02
+#define RZA2_PDR_OUTPUT		0x03
+#define RZA2_PDR_MASK		0x03
+
+static void rza2_set_pin_function(void __iomem *pfc_base, u8 port, u8 pin,
+				  u8 func)
+{
+	u8 reg8;
+	u16 reg16;
+	u16 mask16;
+
+	/* Set pin to 'Non-use (Hi-z input protection)'  */
+	reg16 = readw(RZA2_PDR(pfc_base, port));
+	mask16 = 0x03 << (pin * 2);
+	reg16 &= ~mask16;
+	writew(reg16, RZA2_PDR(pfc_base, port));
+
+	/* Temporarily switch to GPIO */
+	reg8 = readb(RZA2_PMR(pfc_base, port));
+	reg8 &= ~BIT(pin);
+	writeb(reg8, RZA2_PMR(pfc_base, port));
+
+	/* PFS Register Write Protect : OFF */
+	writeb(0x00, RZA2_PWPR(pfc_base));	/* B0WI=0, PFSWE=0 */
+	writeb(0x40, RZA2_PWPR(pfc_base));	/* B0WI=0, PFSWE=1 */
+
+	/* Set Pin function (interrupt disabled, ISEL=0) */
+	writeb(func, RZA2_PFS(pfc_base, port, pin));
+
+	/* PFS Register Write Protect : ON */
+	writeb(0x00, RZA2_PWPR(pfc_base));	/* B0WI=0, PFSWE=0 */
+	writeb(0x80, RZA2_PWPR(pfc_base));	/* B0WI=1, PFSWE=0 */
+
+	/* Port Mode  : Peripheral module pin functions */
+	reg8 = readb(RZA2_PMR(pfc_base, port));
+	reg8 |= BIT(pin);
+	writeb(reg8, RZA2_PMR(pfc_base, port));
+}
+
+static void rza2_pin_to_gpio(void __iomem *pfc_base, u8 port, u8 pin, u8 dir)
+{
+	u16 reg16;
+	u16 mask16;
+
+	reg16 = readw(RZA2_PDR(pfc_base, port));
+	mask16 = RZA2_PDR_MASK << (pin * 2);
+	reg16 &= ~mask16;
+
+	if (dir == GPIOF_DIR_IN)
+		reg16 |= RZA2_PDR_INPUT << (pin * 2);	/* pin as input */
+	else
+		reg16 |= RZA2_PDR_OUTPUT << (pin * 2);	/* pin as output */
+
+	writew(reg16, RZA2_PDR(pfc_base, port));
+}
+
+static int rza2_chip_get_direction(struct gpio_chip *chip, unsigned int offset)
+{
+	struct rza2_pinctrl_priv *priv = gpiochip_get_data(chip);
+	u8 port = offset / 8;
+	u8 pin = offset % 8;
+	u16 reg16;
+
+	reg16 = readw(RZA2_PDR(priv->base, port));
+	reg16 = (reg16 >> (pin * 2)) & RZA2_PDR_MASK;
+
+	if (reg16 == RZA2_PDR_OUTPUT)
+		return GPIOF_DIR_OUT;
+
+	if (reg16 == RZA2_PDR_INPUT)
+		return GPIOF_DIR_IN;
+
+	/*
+	 * This GPIO controller has a default Hi-Z state that is not input or
+	 * output, so force the pin to input now.
+	 */
+	rza2_pin_to_gpio(priv->base, port, pin, GPIOF_DIR_IN);
+
+	return GPIOF_DIR_IN;
+}
+
+static int rza2_chip_direction_input(struct gpio_chip *chip,
+				     unsigned int offset)
+{
+	struct rza2_pinctrl_priv *priv = gpiochip_get_data(chip);
+	u8 port = offset / 8;
+	u8 pin = offset % 8;
+
+	rza2_pin_to_gpio(priv->base, port, pin, GPIOF_DIR_IN);
+
+	return 0;
+}
+
+static int rza2_chip_direction_output(struct gpio_chip *chip,
+				      unsigned int offset, int val)
+{
+	struct rza2_pinctrl_priv *priv = gpiochip_get_data(chip);
+	u8 port = offset / 8;
+	u8 pin = offset % 8;
+
+	rza2_pin_to_gpio(priv->base, port, pin, GPIOF_DIR_OUT);
+
+	return 0;
+}
+
+static int rza2_chip_get(struct gpio_chip *chip, unsigned int offset)
+{
+	struct rza2_pinctrl_priv *priv = gpiochip_get_data(chip);
+	u8 port = offset / 8;
+	u8 pin = offset % 8;
+
+	return (readb(RZA2_PIDR(priv->base, port)) >> pin) & 1;
+}
+
+static void rza2_chip_set(struct gpio_chip *chip, unsigned int offset,
+			  int value)
+{
+	struct rza2_pinctrl_priv *priv = gpiochip_get_data(chip);
+	u8 port = offset / 8;
+	u8 pin = offset % 8;
+	u8 new_value = readb(RZA2_PODR(priv->base, port));
+
+	if (value)
+		new_value |= (1 << pin);
+	else
+		new_value &= ~(1 << pin);
+
+	writeb(new_value, RZA2_PODR(priv->base, port));
+}
+
+static const char * const rza2_gpio_names[] = {
+	"P0_0", "P0_1", "P0_2", "P0_3", "P0_4", "P0_5", "P0_6", "P0_7",
+	"P1_0", "P1_1", "P1_2", "P1_3", "P1_4", "P1_5", "P1_6", "P1_7",
+	"P2_0", "P2_1", "P2_2", "P2_3", "P2_4", "P2_5", "P2_6", "P2_7",
+	"P3_0", "P3_1", "P3_2", "P3_3", "P3_4", "P3_5", "P3_6", "P3_7",
+	"P4_0", "P4_1", "P4_2", "P4_3", "P4_4", "P4_5", "P4_6", "P4_7",
+	"P5_0", "P5_1", "P5_2", "P5_3", "P5_4", "P5_5", "P5_6", "P5_7",
+	"P6_0", "P6_1", "P6_2", "P6_3", "P6_4", "P6_5", "P6_6", "P6_7",
+	"P7_0", "P7_1", "P7_2", "P7_3", "P7_4", "P7_5", "P7_6", "P7_7",
+	"P8_0", "P8_1", "P8_2", "P8_3", "P8_4", "P8_5", "P8_6", "P8_7",
+	"P9_0", "P9_1", "P9_2", "P9_3", "P9_4", "P9_5", "P9_6", "P9_7",
+	"PA_0", "PA_1", "PA_2", "PA_3", "PA_4", "PA_5", "PA_6", "PA_7",
+	"PB_0", "PB_1", "PB_2", "PB_3", "PB_4", "PB_5", "PB_6", "PB_7",
+	"PC_0", "PC_1", "PC_2", "PC_3", "PC_4", "PC_5", "PC_6", "PC_7",
+	"PD_0", "PD_1", "PD_2", "PD_3", "PD_4", "PD_5", "PD_6", "PD_7",
+	"PE_0", "PE_1", "PE_2", "PE_3", "PE_4", "PE_5", "PE_6", "PE_7",
+	"PF_0", "PF_1", "PF_2", "PF_3", "P0_4", "PF_5", "PF_6", "PF_7",
+	"PG_0", "PG_1", "PG_2", "P0_3", "PG_4", "PG_5", "PG_6", "PG_7",
+	"PH_0", "PH_1", "PH_2", "PH_3", "PH_4", "PH_5", "PH_6", "PH_7",
+	/* port I does not exist */
+	"PJ_0", "PJ_1", "PJ_2", "PJ_3", "PJ_4", "PJ_5", "PJ_6", "PJ_7",
+	"PK_0", "PK_1", "PK_2", "PK_3", "PK_4", "PK_5", "PK_6", "PK_7",
+	"PL_0", "PL_1", "PL_2", "PL_3", "PL_4", "PL_5", "PL_6", "PL_7",
+	"PM_0", "PM_1", "PM_2", "PM_3", "PM_4", "PM_5", "PM_6", "PM_7",
+};
+
+static struct gpio_chip chip = {
+	.names = rza2_gpio_names,
+	.base = -1,
+	.ngpio = RZA2_NPINS,
+	.get_direction = rza2_chip_get_direction,
+	.direction_input = rza2_chip_direction_input,
+	.direction_output = rza2_chip_direction_output,
+	.get = rza2_chip_get,
+	.set = rza2_chip_set,
+};
+
+struct pinctrl_gpio_range gpio_range;
+
+static int rza2_gpio_register(struct rza2_pinctrl_priv *priv)
+{
+	struct device_node *np = priv->dev->of_node;
+	struct of_phandle_args of_args;
+	int ret;
+
+	if (!of_property_read_bool(np, "gpio-controller")) {
+		dev_info(priv->dev, "No gpio controller registered\n");
+		return 0;
+	}
+
+	chip.label = devm_kasprintf(priv->dev, GFP_KERNEL, "%pOFn", np);
+	chip.of_node = np;
+	chip.parent = priv->dev;
+
+	ret = of_parse_phandle_with_fixed_args(np, "gpio-ranges", 3, 0,
+					       &of_args);
+	if (ret) {
+		dev_err(priv->dev, "Unable to parse gpio-ranges\n");
+		return ret;
+	}
+
+	gpio_range.id = of_args.args[0];
+	gpio_range.name = chip.label;
+	gpio_range.pin_base = gpio_range.base = of_args.args[1];
+	gpio_range.npins = of_args.args[2];
+	gpio_range.gc = &chip;
+
+	/* Register our gpio chip with gpiolib */
+	ret = devm_gpiochip_add_data(priv->dev, &chip, priv);
+	if (ret)
+		return ret;
+
+	/* Register pin range with pinctrl core */
+	pinctrl_add_gpio_range(priv->pctl, &gpio_range);
+
+	dev_dbg(priv->dev, "Registered gpio controller\n");
+
+	return 0;
+}
+
+static int rza2_pinctrl_register(struct rza2_pinctrl_priv *priv)
+{
+	struct pinctrl_pin_desc *pins;
+	unsigned int i;
+	int ret;
+
+	pins = devm_kcalloc(priv->dev, RZA2_NPINS, sizeof(*pins), GFP_KERNEL);
+	if (!pins)
+		return -ENOMEM;
+
+	priv->pins = pins;
+	priv->desc.pins = pins;
+	priv->desc.npins = RZA2_NPINS;
+
+	for (i = 0; i < RZA2_NPINS; i++) {
+		unsigned int pin = RZA2_PIN_ID_TO_PIN(i);
+		unsigned int port = RZA2_PIN_ID_TO_PORT(i);
+
+		pins[i].number = i;
+		pins[i].name = devm_kasprintf(priv->dev, GFP_KERNEL, "P%c_%u",
+					      port_names[port], pin);
+	}
+
+	ret = devm_pinctrl_register_and_init(priv->dev, &priv->desc, priv,
+					     &priv->pctl);
+	if (ret) {
+		dev_err(priv->dev, "pinctrl registration failed\n");
+		return ret;
+	}
+
+	ret = pinctrl_enable(priv->pctl);
+	if (ret) {
+		dev_err(priv->dev, "pinctrl enable failed\n");
+		return ret;
+	}
+
+	ret = rza2_gpio_register(priv);
+	if (ret) {
+		dev_err(priv->dev, "GPIO registration failed\n");
+		return ret;
+	}
+
+	return 0;
+}
+
+/*
+ * For each DT node, create a single pin mapping. That pin mapping will only
+ * contain a single group of pins, and that group of pins will only have a
+ * single function that can be selected.
+ */
+static int rza2_dt_node_to_map(struct pinctrl_dev *pctldev,
+			       struct device_node *np,
+			       struct pinctrl_map **map,
+			       unsigned int *num_maps)
+{
+	struct rza2_pinctrl_priv *priv = pinctrl_dev_get_drvdata(pctldev);
+	struct property *of_pins;
+	int i;
+	unsigned int *pins;
+	unsigned int *psel_val;
+	const char **pin_fn;
+	int ret, npins;
+	int gsel, fsel;
+
+	/* Find out how many pins to map */
+	of_pins = of_find_property(np, "pinmux", NULL);
+	if (!of_pins) {
+		dev_info(priv->dev, "Missing pinmux property\n");
+		return -ENOENT;
+	}
+	npins = of_pins->length / sizeof(u32);
+
+	pins = devm_kcalloc(priv->dev, npins, sizeof(*pins), GFP_KERNEL);
+	psel_val = devm_kcalloc(priv->dev, npins, sizeof(*psel_val),
+				GFP_KERNEL);
+	pin_fn = devm_kzalloc(priv->dev, sizeof(*pin_fn), GFP_KERNEL);
+	if (!pins || !psel_val || !pin_fn)
+		return -ENOMEM;
+
+	/* Collect pin locations and mux settings from DT properties */
+	for (i = 0; i < npins; ++i) {
+		u32 value;
+
+		ret = of_property_read_u32_index(np, "pinmux", i, &value);
+		if (ret)
+			return ret;
+		pins[i] = value & MUX_PIN_ID_MASK;
+		psel_val[i] = MUX_FUNC(value);
+	}
+
+	/* Register a single pin group listing all the pins we read from DT */
+	gsel = pinctrl_generic_add_group(pctldev, np->name, pins, npins, NULL);
+	if (gsel < 0)
+		return gsel;
+
+	/*
+	 * Register a single group function where the 'data' is an array PSEL
+	 * register values read from DT.
+	 */
+	pin_fn[0] = np->name;
+	fsel = pinmux_generic_add_function(pctldev, np->name, pin_fn, 1,
+					   psel_val);
+	if (fsel < 0) {
+		ret = fsel;
+		goto remove_group;
+	}
+
+	dev_dbg(priv->dev, "Parsed %s with %d pins\n", np->name, npins);
+
+	/* Create map where to retrieve function and mux settings from */
+	*num_maps = 0;
+	*map = kzalloc(sizeof(**map), GFP_KERNEL);
+	if (!*map) {
+		ret = -ENOMEM;
+		goto remove_function;
+	}
+
+	(*map)->type = PIN_MAP_TYPE_MUX_GROUP;
+	(*map)->data.mux.group = np->name;
+	(*map)->data.mux.function = np->name;
+	*num_maps = 1;
+
+	return 0;
+
+remove_function:
+	pinmux_generic_remove_function(pctldev, fsel);
+
+remove_group:
+	pinctrl_generic_remove_group(pctldev, gsel);
+
+	dev_info(priv->dev, "Unable to parse DT node %s\n", np->name);
+
+	return ret;
+}
+
+static void rza2_dt_free_map(struct pinctrl_dev *pctldev,
+			     struct pinctrl_map *map, unsigned int num_maps)
+{
+	kfree(map);
+}
+
+static const struct pinctrl_ops rza2_pinctrl_ops = {
+	.get_groups_count	= pinctrl_generic_get_group_count,
+	.get_group_name		= pinctrl_generic_get_group_name,
+	.get_group_pins		= pinctrl_generic_get_group_pins,
+	.dt_node_to_map		= rza2_dt_node_to_map,
+	.dt_free_map		= rza2_dt_free_map,
+};
+
+static int rza2_set_mux(struct pinctrl_dev *pctldev, unsigned int selector,
+			   unsigned int group)
+{
+	struct rza2_pinctrl_priv *priv = pinctrl_dev_get_drvdata(pctldev);
+	struct function_desc *func;
+	struct group_desc *grp;
+	int i;
+	unsigned int *psel_val;
+
+	grp = pinctrl_generic_get_group(pctldev, group);
+	if (!grp)
+		return -EINVAL;
+
+	func = pinmux_generic_get_function(pctldev, selector);
+	if (!func)
+		return -EINVAL;
+
+	psel_val = func->data;
+
+	for (i = 0; i < grp->num_pins; ++i) {
+		dev_dbg(priv->dev, "Setting P%c_%d to PSEL=%d\n",
+			port_names[RZA2_PIN_ID_TO_PORT(grp->pins[i])],
+			RZA2_PIN_ID_TO_PIN(grp->pins[i]),
+			psel_val[i]);
+		rza2_set_pin_function(
+			priv->base,
+			RZA2_PIN_ID_TO_PORT(grp->pins[i]),
+			RZA2_PIN_ID_TO_PIN(grp->pins[i]),
+			psel_val[i]);
+	}
+
+	return 0;
+}
+
+static const struct pinmux_ops rza2_pinmux_ops = {
+	.get_functions_count	= pinmux_generic_get_function_count,
+	.get_function_name	= pinmux_generic_get_function_name,
+	.get_function_groups	= pinmux_generic_get_function_groups,
+	.set_mux		= rza2_set_mux,
+	.strict			= true,
+};
+
+static int rza2_pinctrl_probe(struct platform_device *pdev)
+{
+	struct rza2_pinctrl_priv *priv;
+	struct resource *res;
+	int ret;
+
+	priv = devm_kzalloc(&pdev->dev, sizeof(*priv), GFP_KERNEL);
+	if (!priv)
+		return -ENOMEM;
+
+	priv->dev = &pdev->dev;
+
+	res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+	priv->base = devm_ioremap_resource(&pdev->dev, res);
+	if (IS_ERR(priv->base))
+		return PTR_ERR(priv->base);
+
+	platform_set_drvdata(pdev, priv);
+
+	priv->desc.name		= DRIVER_NAME;
+	priv->desc.pctlops	= &rza2_pinctrl_ops;
+	priv->desc.pmxops	= &rza2_pinmux_ops;
+	priv->desc.owner	= THIS_MODULE;
+
+	ret = rza2_pinctrl_register(priv);
+	if (ret)
+		return ret;
+
+	pr_info("RZ/A2 pin controller registered\n");
+
+	return 0;
+}
+
+static const struct of_device_id rza2_pinctrl_of_match[] = {
+	{
+		.compatible	= "renesas,r7s9210-pinctrl",
+	},
+	{ /* sentinel */ }
+};
+
+static struct platform_driver rza2_pinctrl_driver = {
+	.driver = {
+		.name = DRIVER_NAME,
+		.of_match_table = rza2_pinctrl_of_match,
+	},
+	.probe = rza2_pinctrl_probe,
+};
+
+static int __init rza2_pinctrl_init(void)
+{
+	return platform_driver_register(&rza2_pinctrl_driver);
+}
+core_initcall(rza2_pinctrl_init);
+
+
+MODULE_AUTHOR("Chris Brandt <chris.brandt@renesas.com>");
+MODULE_DESCRIPTION("Pin and gpio controller driver for RZ/A2 SoC");
+MODULE_LICENSE("GPL v2");
