diff --git a/drivers/pci/controller/dwc/Kconfig b/drivers/pci/controller/dwc/Kconfig
index 3ddccc9c38c5..503ead1a4358 100644
--- a/drivers/pci/controller/dwc/Kconfig
+++ b/drivers/pci/controller/dwc/Kconfig
@@ -393,4 +393,13 @@ config PCIE_RCAR_GEN4
 	  Say Y here if you want PCIe host controller support on R-Car Gen4 SoCs.
 	  This uses the DesignWare core.
 
+config PCIE_RCAR_GEN4_EP
+	bool "Renesas R-Car Gen4 PCIe Endpoint controller"
+	depends on ARCH_RENESAS || COMPILE_TEST
+	depends on PCI_ENDPOINT
+	select PCIE_DW_EP
+	help
+	  Say Y here if you want PCIe endpoint controller support on R-Car Gen4
+	  SoCs. This uses the DesignWare core.
+
 endmenu
diff --git a/drivers/pci/controller/dwc/Makefile b/drivers/pci/controller/dwc/Makefile
index b3f285e685f9..3d40346efd27 100644
--- a/drivers/pci/controller/dwc/Makefile
+++ b/drivers/pci/controller/dwc/Makefile
@@ -26,6 +26,7 @@ obj-$(CONFIG_PCIE_UNIPHIER) += pcie-uniphier.o
 obj-$(CONFIG_PCIE_UNIPHIER_EP) += pcie-uniphier-ep.o
 obj-$(CONFIG_PCIE_VISCONTI_HOST) += pcie-visconti.o
 obj-$(CONFIG_PCIE_RCAR_GEN4) += pcie-rcar-gen4.o pcie-rcar-gen4-host.o
+obj-$(CONFIG_PCIE_RCAR_GEN4_EP) += pcie-rcar-gen4.o pcie-rcar-gen4-ep.o
 
 # The following drivers are for devices that use the generic ACPI
 # pci_root.c driver but don't support standard ECAM config access.
diff --git a/drivers/pci/controller/dwc/pcie-rcar-gen4-ep.c b/drivers/pci/controller/dwc/pcie-rcar-gen4-ep.c
new file mode 100644
index 000000000000..622e32c7a410
--- /dev/null
+++ b/drivers/pci/controller/dwc/pcie-rcar-gen4-ep.c
@@ -0,0 +1,253 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * PCIe Endpoint driver for Renesas R-Car Gen4 Series SoCs
+ * Copyright (C) 2022 Renesas Electronics Corporation
+ */
+
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/of_device.h>
+#include <linux/pci.h>
+#include <linux/platform_device.h>
+
+#include "pcie-rcar-gen4.h"
+#include "pcie-designware.h"
+
+/* Configuration */
+#define PCICONF3		0x000c
+#define  MULTI_FUNC		BIT(23)
+
+struct rcar_gen4_pcie_ep {
+	struct rcar_gen4_pcie	*pcie;
+	struct dw_pcie		*pci;
+	u32			num_lanes;
+};
+
+static void rcar_gen4_pcie_ep_init(struct dw_pcie_ep *ep)
+{
+	struct dw_pcie *pci = to_dw_pcie_from_ep(ep);
+	enum pci_barno bar;
+
+	for (bar = BAR_0; bar <= BAR_5; bar++)
+		dw_pcie_ep_reset_bar(pci, bar);
+}
+
+static int rcar_gen4_pcie_ep_raise_irq(struct dw_pcie_ep *ep, u8 func_no,
+				       enum pci_epc_irq_type type,
+				       u16 interrupt_num)
+{
+	struct dw_pcie *pci = to_dw_pcie_from_ep(ep);
+
+	switch (type) {
+	case PCI_EPC_IRQ_LEGACY:
+		return dw_pcie_ep_raise_legacy_irq(ep, func_no);
+	case PCI_EPC_IRQ_MSI:
+		return dw_pcie_ep_raise_msi_irq(ep, func_no, interrupt_num);
+	case PCI_EPC_IRQ_MSIX:
+		return dw_pcie_ep_raise_msix_irq(ep, func_no, interrupt_num);
+	default:
+		dev_err(pci->dev, "UNKNOWN IRQ type\n");
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static const struct pci_epc_features rcar_gen4_pcie_epc_features = {
+	.linkup_notifier = false,
+	.msi_capable = true,
+	.msix_capable = false,
+	.align = SZ_1M,
+};
+
+static const struct pci_epc_features*
+rcar_gen4_pcie_ep_get_features(struct dw_pcie_ep *ep)
+{
+	return &rcar_gen4_pcie_epc_features;
+}
+
+static const struct dw_pcie_ep_ops pcie_ep_ops = {
+	.ep_init = rcar_gen4_pcie_ep_init,
+	.raise_irq = rcar_gen4_pcie_ep_raise_irq,
+	.get_features = rcar_gen4_pcie_ep_get_features,
+};
+
+static int rcar_gen4_add_pcie_ep(struct rcar_gen4_pcie_ep *pcie_ep,
+			       struct platform_device *pdev)
+{
+	struct rcar_gen4_pcie *pcie = pcie_ep->pcie;
+	struct dw_pcie *pci = pcie->pci;
+	struct dw_pcie_ep *ep;
+	struct resource *res;
+	int ret;
+
+	ep = &pci->ep;
+	ep->ops = &pcie_ep_ops;
+
+	res = platform_get_resource_byname(pdev, IORESOURCE_MEM, "addr_space");
+	if (!res)
+		return -EINVAL;
+
+	ep->addr_size = resource_size(res);
+
+	ret = dw_pcie_ep_init(ep);
+	if (ret) {
+		dev_err(&pdev->dev, "failed to initialize endpoint\n");
+		return ret;
+	}
+
+	pci->ops->start_link(pci);
+
+	return 0;
+}
+
+static void rcar_gen4_remove_pcie_ep(struct rcar_gen4_pcie_ep *pcie_ep)
+{
+	dw_pcie_ep_exit(&pcie_ep->pcie->pci->ep);
+}
+
+static void rcar_gen4_pcie_init_ep(struct rcar_gen4_pcie_ep *pcie_ep)
+{
+	struct rcar_gen4_pcie *pcie = pcie_ep->pcie;
+	struct dw_pcie *pci = pcie->pci;
+	int val;
+
+	/* Device type selection - Endpoint */
+	val = rcar_gen4_pcie_readl(pcie, PCIEMSR0);
+	val |= DEVICE_TYPE_EP;
+	if (pcie_ep->num_lanes < 4)
+		val |= BIFUR_MOD_SET_ON;
+	rcar_gen4_pcie_writel(pcie, PCIEMSR0, val);
+
+	dw_pcie_dbi_ro_wr_en(pci);
+
+	/* Single function */
+	val = dw_pcie_readl_dbi(pci, PCICONF3);
+	val &= ~MULTI_FUNC;
+	dw_pcie_writel_dbi(pci, PCICONF3, val);
+
+	/* Disable unused BARs */
+	dw_pcie_writel_dbi(pci, SHADOW_REG(BAR2MASKF), 0x0);
+	dw_pcie_writel_dbi(pci, SHADOW_REG(BAR3MASKF), 0x0);
+
+	/* Set Max Link Width */
+	rcar_gen4_pcie_set_max_link_width(pci, pcie_ep->num_lanes);
+
+	dw_pcie_dbi_ro_wr_dis(pci);
+}
+
+static int rcar_gen4_pcie_ep_get_resources(struct rcar_gen4_pcie_ep *pcie_ep,
+					   struct platform_device *pdev)
+{
+	struct rcar_gen4_pcie *pcie = pcie_ep->pcie;
+	struct dw_pcie *pci = pcie->pci;
+	struct device *dev = pci->dev;
+	struct device_node *np = dev->of_node;
+	struct resource *res;
+	int err;
+
+	res = platform_get_resource_byname(pdev, IORESOURCE_MEM, "dbi");
+	pci->dbi_base = devm_pci_remap_cfg_resource(dev, res);
+	if (IS_ERR(pci->dbi_base))
+		return PTR_ERR(pci->dbi_base);
+
+	res = platform_get_resource_byname(pdev, IORESOURCE_MEM, "atu");
+	pci->atu_base = devm_ioremap_resource(dev, res);
+	if (IS_ERR(pci->atu_base))
+		return PTR_ERR(pci->atu_base);
+
+	/* Renesas-specific registers */
+	res = platform_get_resource_byname(pdev, IORESOURCE_MEM, "appl");
+	pcie->base = devm_ioremap_resource(dev, res);
+	if (IS_ERR(pcie->base))
+		return PTR_ERR(pcie->base);
+
+	err = of_property_read_u32(np, "num-lanes", &pcie_ep->num_lanes);
+	if (err < 0) {
+		dev_err(dev, "num-lanes not found %d\n", err);
+		return err;
+	}
+
+	return rcar_gen4_pcie_devm_clk_and_reset_get(pcie, dev);
+}
+
+static int rcar_gen4_pcie_ep_probe(struct platform_device *pdev)
+{
+	struct device *dev = &pdev->dev;
+	struct rcar_gen4_pcie_ep *pcie_ep;
+	struct rcar_gen4_pcie *pcie;
+	int err;
+
+	pcie_ep = devm_kzalloc(dev, sizeof(*pcie_ep), GFP_KERNEL);
+	if (!pcie_ep)
+		return -ENOMEM;
+
+	pcie = rcar_gen4_pcie_devm_alloc(dev);
+	if (!pcie)
+		return -ENOMEM;
+	pcie_ep->pcie = pcie;
+
+	err = rcar_gen4_pcie_pm_runtime_enable(dev);
+	if (err < 0) {
+		dev_err(dev, "pm_runtime_get_sync failed\n");
+		return err;
+	}
+
+	err = rcar_gen4_pcie_ep_get_resources(pcie_ep, pdev);
+	if (err < 0) {
+		dev_err(dev, "failed to request resource: %d\n", err);
+		goto err_pm_put;
+	}
+
+	pcie->priv = pcie_ep;
+	platform_set_drvdata(pdev, pcie);
+
+	err = rcar_gen4_pcie_prepare(pcie);
+	if (err < 0)
+		goto err_pm_put;
+	rcar_gen4_pcie_init_ep(pcie_ep);
+
+	err = rcar_gen4_add_pcie_ep(pcie_ep, pdev);
+	if (err < 0)
+		goto err_ep_disable;
+
+	return 0;
+
+err_ep_disable:
+	rcar_gen4_pcie_unprepare(pcie);
+
+err_pm_put:
+	rcar_gen4_pcie_pm_runtime_disable(dev);
+
+	return err;
+}
+
+static int rcar_gen4_pcie_ep_remove(struct platform_device *pdev)
+{
+	struct rcar_gen4_pcie *pcie = platform_get_drvdata(pdev);
+	struct rcar_gen4_pcie_ep *pcie_ep = pcie->priv;
+
+	rcar_gen4_remove_pcie_ep(pcie_ep);
+	rcar_gen4_pcie_unprepare(pcie_ep->pcie);
+	rcar_gen4_pcie_pm_runtime_disable(&pdev->dev);
+
+	return 0;
+}
+
+static const struct of_device_id rcar_gen4_pcie_of_match[] = {
+	{ .compatible = "renesas,rcar-gen4-pcie-ep", },
+	{},
+};
+
+static struct platform_driver rcar_gen4_pcie_ep_driver = {
+	.driver = {
+		.name = "pcie-rcar-gen4-ep",
+		.of_match_table = rcar_gen4_pcie_of_match,
+	},
+	.probe = rcar_gen4_pcie_ep_probe,
+	.remove = rcar_gen4_pcie_ep_remove,
+};
+builtin_platform_driver(rcar_gen4_pcie_ep_driver);
+
+MODULE_DESCRIPTION("Renesas R-Car Gen4 PCIe endpoint controller driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/pci/controller/dwc/pcie-rcar-gen4.h b/drivers/pci/controller/dwc/pcie-rcar-gen4.h
index bd01d0ffcac9..b6e285d8ebc0 100644
--- a/drivers/pci/controller/dwc/pcie-rcar-gen4.h
+++ b/drivers/pci/controller/dwc/pcie-rcar-gen4.h
@@ -43,6 +43,7 @@ struct rcar_gen4_pcie {
 	void __iomem		*base;
 	struct clk		*bus_clk;
 	struct reset_control	*rst;
+	void			*priv;
 };
 
 extern u32 rcar_gen4_pcie_readl(struct rcar_gen4_pcie *pcie, u32 reg);
