diff --git a/drivers/net/ti/Kconfig b/drivers/net/ti/Kconfig
index c75f418628..9fead2c7ce 100644
--- a/drivers/net/ti/Kconfig
+++ b/drivers/net/ti/Kconfig
@@ -49,3 +49,11 @@ config TI_AM65_CPSW_NUSS
 	help
 	  This driver supports TI K3 MCU CPSW Nuss Ethernet controller
 	  in Texas Instruments K3 AM65x SoCs.
+
+config TI_ICSSG_PRUETH
+	bool "TI Gigabit PRU Ethernet driver"
+	depends on ARCH_K3
+	select PHYLIB
+	help
+	  Support Gigabit Ethernet ports over the ICSSG PRU Subsystem
+	  This subsystem is available starting with the AM65 platform.
diff --git a/drivers/net/ti/Makefile b/drivers/net/ti/Makefile
index 0ce0cf2828..5af760572f 100644
--- a/drivers/net/ti/Makefile
+++ b/drivers/net/ti/Makefile
@@ -6,3 +6,4 @@ obj-$(CONFIG_DRIVER_TI_CPSW) += cpsw.o cpsw-common.o cpsw_mdio.o
 obj-$(CONFIG_DRIVER_TI_EMAC) += davinci_emac.o
 obj-$(CONFIG_DRIVER_TI_KEYSTONE_NET) += keystone_net.o cpsw_mdio.o
 obj-$(CONFIG_TI_AM65_CPSW_NUSS) += am65-cpsw-nuss.o cpsw_mdio.o
+obj-$(CONFIG_TI_ICSSG_PRUETH) += icssg_prueth.o cpsw_mdio.o icssg_classifier.o icssg_config.o icssg_queues.o
diff --git a/drivers/net/ti/icssg_prueth.c b/drivers/net/ti/icssg_prueth.c
new file mode 100644
index 0000000000..cd6ff1a7fe
--- /dev/null
+++ b/drivers/net/ti/icssg_prueth.c
@@ -0,0 +1,697 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Texas Instruments K3 AM65 PRU Ethernet Driver
+ *
+ * Copyright (C) 2019-2021, Texas Instruments, Incorporated
+ *
+ */
+
+#include <asm/io.h>
+#include <asm/processor.h>
+#include <clk.h>
+#include <dm/lists.h>
+#include <dm/device.h>
+#include <dma-uclass.h>
+#include <dm/of_access.h>
+#include <fs_loader.h>
+#include <miiphy.h>
+#include <net.h>
+#include <phy.h>
+#include <power-domain.h>
+#include <linux/soc/ti/ti-udma.h>
+#include <regmap.h>
+#include <remoteproc.h>
+#include <syscon.h>
+#include <soc.h>
+#include <linux/pruss_driver.h>
+#include <dm/device_compat.h>
+
+#include "cpsw_mdio.h"
+#include "icssg_prueth.h"
+#include "icss_mii_rt.h"
+
+#define ICSS_SLICE0     0
+#define ICSS_SLICE1     1
+
+#ifdef PKTSIZE_ALIGN
+#define UDMA_RX_BUF_SIZE PKTSIZE_ALIGN
+#else
+#define UDMA_RX_BUF_SIZE ALIGN(1522, ARCH_DMA_MINALIGN)
+#endif
+
+#ifdef PKTBUFSRX
+#define UDMA_RX_DESC_NUM PKTBUFSRX
+#else
+#define UDMA_RX_DESC_NUM 4
+#endif
+
+/* Config region lies in shared RAM */
+#define ICSS_CONFIG_OFFSET_SLICE0	0
+#define ICSS_CONFIG_OFFSET_SLICE1	0x8000
+
+/* Firmware flags */
+#define ICSS_SET_RUN_FLAG_VLAN_ENABLE		BIT(0)	/* switch only */
+#define ICSS_SET_RUN_FLAG_FLOOD_UNICAST		BIT(1)	/* switch only */
+#define ICSS_SET_RUN_FLAG_PROMISC		BIT(2)	/* MAC only */
+#define ICSS_SET_RUN_FLAG_MULTICAST_PROMISC	BIT(3)	/* MAC only */
+
+/* CTRLMMR_ICSSG_RGMII_CTRL register bits */
+#define ICSSG_CTRL_RGMII_ID_MODE		BIT(24)
+
+/* Management packet type */
+#define PRUETH_PKT_TYPE_CMD		0x10
+
+/* Number of PRU Cores per Slice */
+#define ICSSG_NUM_PRU_CORES		3
+
+static int icssg_phy_init(struct udevice *dev)
+{
+	struct prueth *priv = dev_get_priv(dev);
+	struct phy_device *phydev;
+	u32 supported = PHY_GBIT_FEATURES;
+	int ret;
+
+	phydev = phy_connect(priv->bus,
+			     priv->phy_addr,
+			     priv->dev,
+			     priv->phy_interface);
+
+	if (!phydev) {
+		dev_err(dev, "phy_connect() failed\n");
+		return -ENODEV;
+	}
+
+	/* disable unsupported features */
+	supported &= ~(PHY_10BT_FEATURES |
+			SUPPORTED_100baseT_Half |
+			SUPPORTED_1000baseT_Half |
+			SUPPORTED_Pause |
+			SUPPORTED_Asym_Pause);
+
+	phydev->supported &= supported;
+	phydev->advertising = phydev->supported;
+
+	if (IS_ENABLED(CONFIG_DM_ETH))
+		if (ofnode_valid(priv->phy_node))
+			phydev->node = priv->phy_node;
+
+	priv->phydev = phydev;
+	ret = phy_config(phydev);
+	if (ret < 0)
+		pr_err("phy_config() failed: %d", ret);
+
+	return ret;
+}
+
+static int icssg_mdio_init(struct udevice *dev)
+{
+	struct prueth *prueth = dev_get_priv(dev);
+
+	prueth->bus = cpsw_mdio_init(dev->name, prueth->mdio_base,
+				     prueth->mdio_freq,
+				     clk_get_rate(&prueth->mdiofck),
+				     prueth->mdio_manual_mode);
+	if (!prueth->bus)
+		return -EFAULT;
+
+	return 0;
+}
+
+static void icssg_config_set_speed(struct prueth *priv, int speed)
+{
+	u8 fw_speed;
+
+	switch (speed) {
+	case SPEED_1000:
+		fw_speed = FW_LINK_SPEED_1G;
+		break;
+	case SPEED_100:
+		fw_speed = FW_LINK_SPEED_100M;
+		break;
+	case SPEED_10:
+		fw_speed = FW_LINK_SPEED_10M;
+		break;
+	default:
+		/* Other links speeds not supported */
+		dev_err(priv->dev, "Unsupported link speed\n");
+		return;
+	}
+
+	writeb(fw_speed, priv->dram.pa + PORT_LINK_SPEED_OFFSET);
+}
+
+static int icssg_update_link(struct prueth *priv)
+{
+	struct phy_device *phy = priv->phydev;
+	bool gig_en = false, full_duplex = false;
+
+	if (phy->link) { /* link up */
+		if (phy->speed == SPEED_1000)
+			gig_en = true;
+		if (phy->duplex == DUPLEX_FULL)
+			full_duplex = true;
+		/* Set the RGMII cfg for gig en and full duplex */
+		icssg_update_rgmii_cfg(priv->miig_rt, phy->speed, full_duplex,
+				       priv->slice, priv);
+		/* update the Tx IPG based on 100M/1G speed */
+		icssg_config_ipg(priv, phy->speed, priv->slice);
+
+		/* Send command to firmware to update Speed setting */
+		icssg_config_set_speed(priv, phy->speed);
+
+		/* Enable PORT FORWARDING */
+		emac_set_port_state(priv, ICSSG_EMAC_PORT_FORWARD);
+
+		printf("link up on port %d, speed %d, %s duplex\n",
+		       priv->slice, phy->speed,
+		       (phy->duplex == DUPLEX_FULL) ? "full" : "half");
+	} else {
+		emac_set_port_state(priv, ICSSG_EMAC_PORT_DISABLE);
+		printf("link down on port %d\n", priv->slice);
+	}
+
+	return phy->link;
+}
+
+struct icssg_firmwares {
+	char *pru;
+	char *rtu;
+	char *txpru;
+};
+
+static struct icssg_firmwares icssg_emac_firmwares[] = {
+	{
+		.pru = "/lib/firmware/ti-pruss/am65x-sr2-pru0-prueth-fw.elf",
+		.rtu = "/lib/firmware/ti-pruss/am65x-sr2-rtu0-prueth-fw.elf",
+		.txpru = "/lib/firmware/ti-pruss/am65x-sr2-txpru0-prueth-fw.elf",
+	},
+	{
+		.pru = "/lib/firmware/ti-pruss/am65x-sr2-pru1-prueth-fw.elf",
+		.rtu = "/lib/firmware/ti-pruss/am65x-sr2-rtu1-prueth-fw.elf",
+		.txpru = "/lib/firmware/ti-pruss/am65x-sr2-txpru1-prueth-fw.elf",
+	}
+};
+
+static int icssg_start_pru_cores(struct udevice *dev)
+{
+	struct prueth *prueth = dev_get_priv(dev);
+	struct icssg_firmwares *firmwares;
+	struct udevice *rproc_dev = NULL;
+	int ret, slice;
+	u32 phandle;
+	u8 index;
+
+	slice = prueth->slice;
+	index = slice * ICSSG_NUM_PRU_CORES;
+	firmwares = icssg_emac_firmwares;
+
+	ofnode_read_u32_index(dev_ofnode(dev), "ti,prus", index, &phandle);
+	ret = uclass_get_device_by_phandle_id(UCLASS_REMOTEPROC, phandle, &rproc_dev);
+	if (ret) {
+		dev_err(dev, "Unknown remote processor with phandle '0x%x' requested(%d)\n",
+			phandle, ret);
+		return ret;
+	}
+
+	prueth->pru_core_id = dev_seq(rproc_dev);
+	ret = rproc_set_firmware(rproc_dev, firmwares[slice].pru);
+	if (ret)
+		return ret;
+
+	ret = rproc_boot(rproc_dev, SZ_64K);
+	if (ret) {
+		dev_err(dev, "failed to boot PRU%d: %d\n", slice, ret);
+		return -EINVAL;
+	}
+
+	ofnode_read_u32_index(dev_ofnode(dev), "ti,prus", index + 1, &phandle);
+	ret = uclass_get_device_by_phandle_id(UCLASS_REMOTEPROC, phandle, &rproc_dev);
+	if (ret) {
+		dev_err(dev, "Unknown remote processor with phandle '0x%x' requested(%d)\n",
+			phandle, ret);
+		goto halt_pru;
+	}
+
+	prueth->rtu_core_id = dev_seq(rproc_dev);
+	ret = rproc_set_firmware(rproc_dev, firmwares[slice].rtu);
+	if (ret)
+		goto halt_pru;
+
+	ret = rproc_boot(rproc_dev, SZ_64K);
+	if (ret) {
+		dev_err(dev, "failed to boot RTU%d: %d\n", slice, ret);
+		goto halt_pru;
+	}
+
+	ofnode_read_u32_index(dev_ofnode(dev), "ti,prus", index + 2, &phandle);
+	ret = uclass_get_device_by_phandle_id(UCLASS_REMOTEPROC, phandle, &rproc_dev);
+	if (ret) {
+		dev_err(dev, "Unknown remote processor with phandle '0x%x' requested(%d)\n",
+			phandle, ret);
+		goto halt_rtu;
+	}
+
+	prueth->txpru_core_id = dev_seq(rproc_dev);
+	ret = rproc_set_firmware(rproc_dev, firmwares[slice].txpru);
+	if (ret)
+		goto halt_rtu;
+
+	ret = rproc_boot(rproc_dev, SZ_64K);
+	if (ret) {
+		dev_err(dev, "failed to boot TXPRU%d: %d\n", slice, ret);
+		goto halt_rtu;
+	}
+
+	return 0;
+
+halt_rtu:
+	rproc_stop(prueth->rtu_core_id);
+
+halt_pru:
+	rproc_stop(prueth->pru_core_id);
+	return ret;
+}
+
+static int icssg_stop_pru_cores(struct udevice *dev)
+{
+	struct prueth *prueth = dev_get_priv(dev);
+
+	rproc_stop(prueth->pru_core_id);
+	rproc_stop(prueth->rtu_core_id);
+	rproc_stop(prueth->txpru_core_id);
+
+	return 0;
+}
+
+static int prueth_start(struct udevice *dev)
+{
+	struct ti_udma_drv_chan_cfg_data *dma_rx_cfg_data;
+	struct eth_pdata *pdata = dev_get_plat(dev);
+	struct prueth *priv = dev_get_priv(dev);
+	struct icssg_flow_cfg *flow_cfg;
+	u8 *hwaddr = pdata->enetaddr;
+	char chn_name[16];
+	void *config;
+	int ret, i;
+
+	icssg_class_set_mac_addr(priv->miig_rt, priv->slice, hwaddr);
+	icssg_ft1_set_mac_addr(priv->miig_rt, priv->slice, hwaddr);
+	icssg_class_default(priv->miig_rt, priv->slice, 0);
+
+	/* Set Load time configuration */
+	icssg_config(priv);
+
+	ret = icssg_start_pru_cores(dev);
+	if (ret)
+		return ret;
+
+	/* To differentiate channels for SLICE0 vs SLICE1 */
+	snprintf(chn_name, sizeof(chn_name), "tx%d-0", priv->slice);
+
+	ret = dma_get_by_name(dev, chn_name, &priv->dma_tx);
+	if (ret)
+		dev_err(dev, "TX dma get failed %d\n", ret);
+
+	snprintf(chn_name, sizeof(chn_name), "rx%d", priv->slice);
+	ret = dma_get_by_name(dev, chn_name, &priv->dma_rx);
+	if (ret)
+		dev_err(dev, "RX dma get failed %d\n", ret);
+
+	for (i = 0; i < UDMA_RX_DESC_NUM; i++) {
+		ret = dma_prepare_rcv_buf(&priv->dma_rx,
+					  net_rx_packets[i],
+					  UDMA_RX_BUF_SIZE);
+		if (ret)
+			dev_err(dev, "RX dma add buf failed %d\n", ret);
+	}
+
+	ret = dma_enable(&priv->dma_tx);
+	if (ret) {
+		dev_err(dev, "TX dma_enable failed %d\n", ret);
+		goto tx_fail;
+	}
+
+	ret = dma_enable(&priv->dma_rx);
+	if (ret) {
+		dev_err(dev, "RX dma_enable failed %d\n", ret);
+		goto rx_fail;
+	}
+
+	/* check if the rx_flow_id of dma_rx is as expected since
+	 * driver hardcode that value in config struct to firmware
+	 * in probe. Just add this sanity check to catch any change
+	 * to rx channel assignment in the future.
+	 */
+	dma_get_cfg(&priv->dma_rx, 0, (void **)&dma_rx_cfg_data);
+	config = (void *)(priv->dram.pa + ICSSG_CONFIG_OFFSET);
+	flow_cfg = config + PSI_L_REGULAR_FLOW_ID_BASE_OFFSET;
+	writew(dma_rx_cfg_data->flow_id_base, &flow_cfg->rx_base_flow);
+	writew(0, &flow_cfg->mgm_base_flow);
+
+	dev_info(dev, "K3 ICSSG: rflow_id_base: %u, chn_name = %s\n",
+		 dma_rx_cfg_data->flow_id_base, chn_name);
+
+	ret = phy_startup(priv->phydev);
+	if (ret) {
+		dev_err(dev, "phy_startup failed\n");
+		goto phy_fail;
+	}
+
+	ret = icssg_update_link(priv);
+	if (!ret) {
+		ret = -ENODEV;
+		goto phy_shut;
+	}
+
+	return 0;
+
+phy_shut:
+	phy_shutdown(priv->phydev);
+phy_fail:
+	dma_disable(&priv->dma_rx);
+	dma_free(&priv->dma_rx);
+rx_fail:
+	dma_disable(&priv->dma_tx);
+	dma_free(&priv->dma_tx);
+
+tx_fail:
+	icssg_class_disable(priv->miig_rt, priv->slice);
+
+	return ret;
+}
+
+static int prueth_send(struct udevice *dev, void *packet, int length)
+{
+	struct prueth *priv = dev_get_priv(dev);
+	int ret;
+
+	ret = dma_send(&priv->dma_tx, packet, length, NULL);
+
+	return ret;
+}
+
+static int prueth_recv(struct udevice *dev, int flags, uchar **packetp)
+{
+	struct prueth *priv = dev_get_priv(dev);
+	int ret;
+
+	/* try to receive a new packet */
+	ret = dma_receive(&priv->dma_rx, (void **)packetp, NULL);
+
+	return ret;
+}
+
+static int prueth_free_pkt(struct udevice *dev, uchar *packet, int length)
+{
+	struct prueth *priv = dev_get_priv(dev);
+	int ret = 0;
+
+	if (length > 0) {
+		u32 pkt = priv->rx_next % UDMA_RX_DESC_NUM;
+
+		dev_dbg(dev, "%s length:%d pkt:%u\n", __func__, length, pkt);
+
+		ret = dma_prepare_rcv_buf(&priv->dma_rx,
+					  net_rx_packets[pkt],
+					  UDMA_RX_BUF_SIZE);
+		priv->rx_next++;
+	}
+
+	return ret;
+}
+
+static void prueth_stop(struct udevice *dev)
+{
+	struct prueth *priv = dev_get_priv(dev);
+
+	phy_shutdown(priv->phydev);
+
+	dma_disable(&priv->dma_tx);
+	dma_disable(&priv->dma_rx);
+
+	icssg_stop_pru_cores(dev);
+
+	dma_free(&priv->dma_tx);
+	dma_free(&priv->dma_rx);
+}
+
+static const struct eth_ops prueth_ops = {
+	.start		= prueth_start,
+	.send		= prueth_send,
+	.recv		= prueth_recv,
+	.free_pkt	= prueth_free_pkt,
+	.stop		= prueth_stop,
+};
+
+static int icssg_ofdata_parse_phy(struct udevice *dev, ofnode port_np)
+{
+	struct prueth *priv = dev_get_priv(dev);
+	struct ofnode_phandle_args out_args;
+	int ret = 0;
+
+	priv->phy_interface = ofnode_read_phy_mode(port_np);
+
+	if (priv->phy_interface == PHY_INTERFACE_MODE_NA) {
+		dev_err(dev, "Invalid PHY mode '%s'\n",
+			phy_string_for_interface(priv->phy_interface));
+		ret = -EINVAL;
+		goto out;
+	}
+
+	ret = ofnode_parse_phandle_with_args(port_np, "phy-handle",
+					     NULL, 0, 0, &out_args);
+	if (ret) {
+		dev_err(dev, "can't parse phy-handle port (%d)\n", ret);
+		ret = 0;
+	}
+
+	priv->phy_node = out_args.node;
+	ret = ofnode_read_u32(priv->phy_node, "reg", &priv->phy_addr);
+	if (ret)
+		dev_err(dev, "failed to get phy_addr port (%d)\n", ret);
+
+out:
+	return ret;
+}
+
+static const struct soc_attr k3_mdio_soc_data[] = {
+	{ .family = "AM62X", .revision = "SR1.0" },
+	{ .family = "AM64X", .revision = "SR1.0" },
+	{ .family = "AM64X", .revision = "SR2.0" },
+	{ .family = "AM65X", .revision = "SR1.0" },
+	{ .family = "AM65X", .revision = "SR2.0" },
+	{ .family = "J7200", .revision = "SR1.0" },
+	{ .family = "J7200", .revision = "SR2.0" },
+	{ .family = "J721E", .revision = "SR1.0" },
+	{ .family = "J721E", .revision = "SR1.1" },
+	{ .family = "J721S2", .revision = "SR1.0" },
+	{ /* sentinel */ },
+};
+
+static int prueth_probe(struct udevice *dev)
+{
+	ofnode eth_ports_node, eth0_node, eth1_node, eth_node;
+	ofnode node, pruss_node, mdio_node, sram_node;
+	struct prueth *prueth = dev_get_priv(dev);
+	struct udevice **prussdev = NULL;
+	u32 phandle, err, sp;
+	int ret = 0;
+
+	prueth = dev_get_priv(dev);
+	prueth->dev = dev;
+	err = ofnode_read_u32(dev_ofnode(dev), "ti,prus", &phandle);
+	if (err)
+		return err;
+
+	node = ofnode_get_by_phandle(phandle);
+	if (!ofnode_valid(node))
+		return -EINVAL;
+
+	pruss_node = ofnode_get_parent(node);
+	ret = device_get_global_by_ofnode(pruss_node, prussdev);
+	if (ret)
+		dev_err(dev, "error getting the pruss dev\n");
+	prueth->pruss = *prussdev;
+
+	ret = pruss_request_mem_region(*prussdev, PRUSS_MEM_SHRD_RAM2,
+				       &prueth->shram);
+	if (ret)
+		return ret;
+
+	ret = pruss_request_tm_region(*prussdev, &prueth->tmaddr);
+	if (ret)
+		return ret;
+
+	eth_ports_node = dev_read_subnode(dev, "ethernet-ports");
+	if (!ofnode_valid(eth_ports_node))
+		return -ENOENT;
+
+	ofnode_for_each_subnode(eth_node, eth_ports_node) {
+		const char *node_name;
+		u32 reg;
+
+		node_name = ofnode_get_name(eth_node);
+		ret = ofnode_read_u32(eth_node, "reg", &reg);
+		if (ret)
+			dev_err(dev, "%s: error reading port_id (%d)\n", node_name, ret);
+
+		if (reg >= PRUETH_NUM_MACS) {
+			dev_err(dev, "%s: invalid port_id (%d)\n", node_name, reg);
+			return -EINVAL;
+		}
+
+		if (reg == 0)
+			eth0_node = eth_node;
+		else if (reg == 1)
+			eth1_node = eth_node;
+		else
+			dev_err(dev, "port reg should be 0 or 1\n");
+	}
+
+	/* one node must be present and available else we fail */
+	if (!ofnode_is_enabled(eth0_node) && !ofnode_is_enabled(eth1_node)) {
+		dev_err(dev, "neither port@0 nor port@1 node available\n");
+		return -ENODEV;
+	}
+
+	/*
+	 * Uboot ethernet framework does not support two interfaces in a single
+	 * probe. If the eth0_node is enabled in DT, we'll only probe eth0_node.
+	 * If the eth0_node is not enabled in DT, we'll check for eth1_node and
+	 * probe the eth1_node if enabled.
+	 */
+	if (ofnode_is_enabled(eth0_node)) {
+		if (ofnode_valid(eth0_node) && ofnode_is_enabled(eth0_node)) {
+			prueth->slice = 0;
+			icssg_ofdata_parse_phy(dev, eth0_node);
+			prueth->eth_node[PRUETH_MAC0] = eth0_node;
+			dev_dbg(dev, "Using port0\n");
+		}
+	} else if (ofnode_is_enabled(eth1_node)) {
+		if (ofnode_valid(eth1_node) && ofnode_is_enabled(eth1_node)) {
+			prueth->slice = 1;
+			icssg_ofdata_parse_phy(dev, eth1_node);
+			prueth->eth_node[PRUETH_MAC0] = eth1_node;
+			dev_dbg(dev, "Using port1\n");
+		}
+	}
+
+	ret = pruss_request_mem_region(*prussdev,
+				       prueth->slice ? PRUSS_MEM_DRAM1 : PRUSS_MEM_DRAM0,
+				       &prueth->dram);
+	if (ret) {
+		dev_err(dev, "could not request DRAM%d region\n", prueth->slice);
+		return ret;
+	}
+
+	prueth->miig_rt = syscon_regmap_lookup_by_phandle(dev, "ti,mii-g-rt");
+	if (!prueth->miig_rt) {
+		dev_err(dev, "couldn't get mii-g-rt syscon regmap\n");
+		return -ENODEV;
+	}
+
+	prueth->mii_rt = syscon_regmap_lookup_by_phandle(dev, "ti,mii-rt");
+	if (!prueth->mii_rt) {
+		dev_err(dev, "couldn't get mii-rt syscon regmap\n");
+		return -ENODEV;
+	}
+
+	ret = ofnode_read_u32(dev_ofnode(dev), "sram", &sp);
+	if (ret) {
+		dev_err(dev, "sram node fetch failed %d\n", ret);
+		return ret;
+	}
+
+	sram_node = ofnode_get_by_phandle(sp);
+	if (!ofnode_valid(sram_node))
+		return -EINVAL;
+
+	prueth->sram_pa = ofnode_get_addr(sram_node);
+	if (prueth->sram_pa % SZ_64K != 0) {
+		/* This is constraint for SR2.0 firmware */
+		dev_err(dev, "sram address needs to be 64KB aligned\n");
+		return -EINVAL;
+	}
+
+	if (prueth->phy_interface != PHY_INTERFACE_MODE_MII &&
+	    prueth->phy_interface < PHY_INTERFACE_MODE_RGMII &&
+	    prueth->phy_interface > PHY_INTERFACE_MODE_RGMII_TXID) {
+		dev_err(prueth->dev, "PHY mode unsupported %s\n",
+			phy_string_for_interface(prueth->phy_interface));
+		return -EINVAL;
+	}
+
+	/* AM65 SR2.0 has TX Internal delay always enabled by hardware
+	 * and it is not possible to disable TX Internal delay. The below
+	 * switch case block describes how we handle different phy modes
+	 * based on hardware restriction.
+	 */
+	switch (prueth->phy_interface) {
+	case PHY_INTERFACE_MODE_RGMII_ID:
+		prueth->phy_interface = PHY_INTERFACE_MODE_RGMII_RXID;
+		break;
+	case PHY_INTERFACE_MODE_RGMII_TXID:
+		prueth->phy_interface = PHY_INTERFACE_MODE_RGMII;
+		break;
+	case PHY_INTERFACE_MODE_RGMII:
+	case PHY_INTERFACE_MODE_RGMII_RXID:
+		dev_err(prueth->dev, "RGMII mode without TX delay is not supported");
+		return -EINVAL;
+	default:
+		break;
+	}
+
+	mdio_node = ofnode_find_subnode(pruss_node, "mdio");
+	prueth->mdio_base = ofnode_get_addr(mdio_node);
+	ofnode_read_u32(mdio_node, "bus_freq", &prueth->mdio_freq);
+
+	ret = clk_get_by_name_nodev(mdio_node, "fck", &prueth->mdiofck);
+	if (ret) {
+		dev_err(dev, "failed to get clock %d\n", ret);
+		return ret;
+	}
+
+	ret = clk_enable(&prueth->mdiofck);
+	if (ret) {
+		dev_err(dev, "clk_enable failed %d\n", ret);
+		return ret;
+	}
+
+	prueth->mdio_manual_mode = false;
+	if (soc_device_match(k3_mdio_soc_data))
+		prueth->mdio_manual_mode = true;
+
+	ret = icssg_mdio_init(dev);
+	if (ret)
+		return ret;
+
+	ret = icssg_phy_init(dev);
+	if (ret) {
+		dev_err(dev, "phy_init failed\n");
+		goto out;
+	}
+
+	return 0;
+out:
+	cpsw_mdio_free(prueth->bus);
+	clk_disable(&prueth->mdiofck);
+
+	return ret;
+}
+
+static const struct udevice_id prueth_ids[] = {
+	{ .compatible = "ti,am654-icssg-prueth" },
+	{ .compatible = "ti,am642-icssg-prueth" },
+	{ }
+};
+
+U_BOOT_DRIVER(prueth) = {
+	.name	= "prueth",
+	.id	= UCLASS_ETH,
+	.of_match = prueth_ids,
+	.probe	= prueth_probe,
+	.ops	= &prueth_ops,
+	.priv_auto = sizeof(struct prueth),
+	.plat_auto = sizeof(struct eth_pdata),
+	.flags = DM_FLAG_ALLOC_PRIV_DMA,
+};
diff --git a/drivers/net/ti/icssg_prueth.h b/drivers/net/ti/icssg_prueth.h
index f34ab5d6d4..fb76668f90 100644
--- a/drivers/net/ti/icssg_prueth.h
+++ b/drivers/net/ti/icssg_prueth.h
@@ -68,6 +68,9 @@ struct prueth {
 	bool			mdio_manual_mode;
 	int			speed;
 	int			duplex;
+	u8			pru_core_id;
+	u8			rtu_core_id;
+	u8			txpru_core_id;
 };
 
 /* config helpers */
