diff --git a/drivers/gpu/drm/v3d/v3d_drv.c b/drivers/gpu/drm/v3d/v3d_drv.c
index ffbbe9d527d3..6f6ef5af2bd0 100644
--- a/drivers/gpu/drm/v3d/v3d_drv.c
+++ b/drivers/gpu/drm/v3d/v3d_drv.c
@@ -90,6 +90,9 @@ static int v3d_get_param_ioctl(struct drm_device *dev, void *data,
 	case DRM_V3D_PARAM_SUPPORTS_MULTISYNC_EXT:
 		args->value = 1;
 		return 0;
+	case DRM_V3D_PARAM_SUPPORTS_CPU_QUEUE:
+		args->value = 1;
+		return 0;
 	default:
 		DRM_DEBUG("Unknown parameter %d\n", args->param);
 		return -EINVAL;
@@ -156,6 +159,7 @@ static const struct drm_ioctl_desc v3d_drm_ioctls[] = {
 	DRM_IOCTL_DEF_DRV(V3D_PERFMON_CREATE, v3d_perfmon_create_ioctl, DRM_RENDER_ALLOW),
 	DRM_IOCTL_DEF_DRV(V3D_PERFMON_DESTROY, v3d_perfmon_destroy_ioctl, DRM_RENDER_ALLOW),
 	DRM_IOCTL_DEF_DRV(V3D_PERFMON_GET_VALUES, v3d_perfmon_get_values_ioctl, DRM_RENDER_ALLOW),
+	DRM_IOCTL_DEF_DRV(V3D_SUBMIT_CPU, v3d_submit_cpu_ioctl, DRM_RENDER_ALLOW | DRM_AUTH),
 };
 
 static const struct drm_driver v3d_drm_driver = {
diff --git a/drivers/gpu/drm/v3d/v3d_drv.h b/drivers/gpu/drm/v3d/v3d_drv.h
index 722a627e0a6e..2a3f3beb272c 100644
--- a/drivers/gpu/drm/v3d/v3d_drv.h
+++ b/drivers/gpu/drm/v3d/v3d_drv.h
@@ -19,7 +19,7 @@ struct reset_control;
 
 #define GMP_GRANULARITY (128 * 1024)
 
-#define V3D_MAX_QUEUES (V3D_CACHE_CLEAN + 1)
+#define V3D_MAX_QUEUES (V3D_CPU + 1)
 
 struct v3d_queue_state {
 	struct drm_gpu_scheduler sched;
@@ -106,6 +106,7 @@ struct v3d_dev {
 	struct v3d_render_job *render_job;
 	struct v3d_tfu_job *tfu_job;
 	struct v3d_csd_job *csd_job;
+	struct v3d_cpu_job *cpu_job;
 
 	struct v3d_queue_state queue[V3D_MAX_QUEUES];
 
@@ -285,6 +286,14 @@ struct v3d_csd_job {
 	struct drm_v3d_submit_csd args;
 };
 
+enum v3d_cpu_job_type {};
+
+struct v3d_cpu_job {
+	struct v3d_job base;
+
+	enum v3d_cpu_job_type job_type;
+};
+
 struct v3d_submit_outsync {
 	struct drm_syncobj *syncobj;
 };
@@ -387,6 +396,8 @@ int v3d_submit_tfu_ioctl(struct drm_device *dev, void *data,
 			 struct drm_file *file_priv);
 int v3d_submit_csd_ioctl(struct drm_device *dev, void *data,
 			 struct drm_file *file_priv);
+int v3d_submit_cpu_ioctl(struct drm_device *dev, void *data,
+			 struct drm_file *file_priv);
 
 /* v3d_irq.c */
 int v3d_irq_init(struct v3d_dev *v3d);
diff --git a/drivers/gpu/drm/v3d/v3d_sched.c b/drivers/gpu/drm/v3d/v3d_sched.c
index 06238e6d7f5c..88c483da360c 100644
--- a/drivers/gpu/drm/v3d/v3d_sched.c
+++ b/drivers/gpu/drm/v3d/v3d_sched.c
@@ -54,6 +54,12 @@ to_csd_job(struct drm_sched_job *sched_job)
 	return container_of(sched_job, struct v3d_csd_job, base.base);
 }
 
+static struct v3d_cpu_job *
+to_cpu_job(struct drm_sched_job *sched_job)
+{
+	return container_of(sched_job, struct v3d_cpu_job, base.base);
+}
+
 static void
 v3d_sched_job_free(struct drm_sched_job *sched_job)
 {
@@ -241,6 +247,26 @@ v3d_csd_job_run(struct drm_sched_job *sched_job)
 	return fence;
 }
 
+static struct dma_fence *
+v3d_cpu_job_run(struct drm_sched_job *sched_job)
+{
+	struct v3d_cpu_job *job = to_cpu_job(sched_job);
+	struct v3d_dev *v3d = job->base.v3d;
+
+	void (*v3d_cpu_job_fn[])(struct v3d_cpu_job *job) = { };
+
+	v3d->cpu_job = job;
+
+	if (job->job_type >= ARRAY_SIZE(v3d_cpu_job_fn)) {
+		DRM_DEBUG_DRIVER("Unknown CPU job: %d\n", job->job_type);
+		return NULL;
+	}
+
+	v3d_cpu_job_fn[job->job_type](job);
+
+	return NULL;
+}
+
 static struct dma_fence *
 v3d_cache_clean_job_run(struct drm_sched_job *sched_job)
 {
@@ -379,6 +405,12 @@ static const struct drm_sched_backend_ops v3d_cache_clean_sched_ops = {
 	.free_job = v3d_sched_job_free
 };
 
+static const struct drm_sched_backend_ops v3d_cpu_sched_ops = {
+	.run_job = v3d_cpu_job_run,
+	.timedout_job = v3d_generic_job_timedout,
+	.free_job = v3d_sched_job_free
+};
+
 int
 v3d_sched_init(struct v3d_dev *v3d)
 {
@@ -429,6 +461,14 @@ v3d_sched_init(struct v3d_dev *v3d)
 			goto fail;
 	}
 
+	ret = drm_sched_init(&v3d->queue[V3D_CPU].sched,
+			     &v3d_cpu_sched_ops,
+			     1, job_hang_limit,
+			     msecs_to_jiffies(hang_limit_ms), NULL,
+			     NULL, "v3d_cpu", v3d->drm.dev);
+	if (ret)
+		goto fail;
+
 	return 0;
 
 fail:
diff --git a/drivers/gpu/drm/v3d/v3d_submit.c b/drivers/gpu/drm/v3d/v3d_submit.c
index dff4525e6fde..40880b758071 100644
--- a/drivers/gpu/drm/v3d/v3d_submit.c
+++ b/drivers/gpu/drm/v3d/v3d_submit.c
@@ -760,3 +760,82 @@ v3d_submit_csd_ioctl(struct drm_device *dev, void *data,
 
 	return ret;
 }
+
+/**
+ * v3d_submit_cpu_ioctl() - Submits a CPU job to the V3D.
+ * @dev: DRM device
+ * @data: ioctl argument
+ * @file_priv: DRM file for this fd
+ *
+ * Userspace specifies the CPU job type and data required to perform its
+ * operations through the drm_v3d_extension struct.
+ */
+int
+v3d_submit_cpu_ioctl(struct drm_device *dev, void *data,
+		     struct drm_file *file_priv)
+{
+	struct v3d_dev *v3d = to_v3d_dev(dev);
+	struct drm_v3d_submit_cpu *args = data;
+	struct v3d_submit_ext se = {0};
+	struct v3d_cpu_job *cpu_job = NULL;
+	struct ww_acquire_ctx acquire_ctx;
+	int ret;
+
+	if (args->flags && !(args->flags & DRM_V3D_SUBMIT_EXTENSION)) {
+		DRM_INFO("invalid flags: %d\n", args->flags);
+		return -EINVAL;
+	}
+
+	ret = v3d_job_allocate((void *)&cpu_job, sizeof(*cpu_job));
+	if (ret)
+		return ret;
+
+	if (args->flags & DRM_V3D_SUBMIT_EXTENSION) {
+		ret = v3d_get_extensions(file_priv, args->extensions, &se);
+		if (ret) {
+			DRM_DEBUG("Failed to get extensions.\n");
+			goto fail;
+		}
+	}
+
+	/* Every CPU job must have a CPU job user extension */
+	if (!cpu_job->job_type) {
+		DRM_DEBUG("CPU job must have a CPU job user extension.\n");
+		goto fail;
+	}
+
+	ret = v3d_job_init(v3d, file_priv, (void *)&cpu_job, sizeof(*cpu_job),
+			   v3d_job_free, 0, &se, V3D_CPU);
+	if (ret)
+		goto fail;
+
+	if (args->bo_handle_count) {
+		ret = v3d_lookup_bos(dev, file_priv, &cpu_job->base,
+				     args->bo_handles, args->bo_handle_count);
+		if (ret)
+			goto fail;
+
+		ret = v3d_lock_bo_reservations(&cpu_job->base, &acquire_ctx);
+		if (ret)
+			goto fail;
+	}
+
+	mutex_lock(&v3d->sched_lock);
+	v3d_push_job(&cpu_job->base);
+	mutex_unlock(&v3d->sched_lock);
+
+	v3d_attach_fences_and_unlock_reservation(file_priv,
+						 &cpu_job->base,
+						 &acquire_ctx, 0,
+						 NULL, cpu_job->base.done_fence);
+
+	v3d_job_put((void *)cpu_job);
+
+	return 0;
+
+fail:
+	v3d_job_cleanup((void *)cpu_job);
+	v3d_put_multisync_post_deps(&se);
+
+	return ret;
+}
diff --git a/include/uapi/drm/v3d_drm.h b/include/uapi/drm/v3d_drm.h
index 3dfc0af8756a..d63044ebd5e0 100644
--- a/include/uapi/drm/v3d_drm.h
+++ b/include/uapi/drm/v3d_drm.h
@@ -41,6 +41,7 @@ extern "C" {
 #define DRM_V3D_PERFMON_CREATE                    0x08
 #define DRM_V3D_PERFMON_DESTROY                   0x09
 #define DRM_V3D_PERFMON_GET_VALUES                0x0a
+#define DRM_V3D_SUBMIT_CPU                        0x0b
 
 #define DRM_IOCTL_V3D_SUBMIT_CL           DRM_IOWR(DRM_COMMAND_BASE + DRM_V3D_SUBMIT_CL, struct drm_v3d_submit_cl)
 #define DRM_IOCTL_V3D_WAIT_BO             DRM_IOWR(DRM_COMMAND_BASE + DRM_V3D_WAIT_BO, struct drm_v3d_wait_bo)
@@ -56,6 +57,7 @@ extern "C" {
 						   struct drm_v3d_perfmon_destroy)
 #define DRM_IOCTL_V3D_PERFMON_GET_VALUES  DRM_IOWR(DRM_COMMAND_BASE + DRM_V3D_PERFMON_GET_VALUES, \
 						   struct drm_v3d_perfmon_get_values)
+#define DRM_IOCTL_V3D_SUBMIT_CPU          DRM_IOW(DRM_COMMAND_BASE + DRM_V3D_SUBMIT_CPU, struct drm_v3d_submit_cpu)
 
 #define DRM_V3D_SUBMIT_CL_FLUSH_CACHE             0x01
 #define DRM_V3D_SUBMIT_EXTENSION		  0x02
@@ -93,6 +95,7 @@ enum v3d_queue {
 	V3D_TFU,
 	V3D_CSD,
 	V3D_CACHE_CLEAN,
+	V3D_CPU,
 };
 
 /**
@@ -276,6 +279,7 @@ enum drm_v3d_param {
 	DRM_V3D_PARAM_SUPPORTS_CACHE_FLUSH,
 	DRM_V3D_PARAM_SUPPORTS_PERFMON,
 	DRM_V3D_PARAM_SUPPORTS_MULTISYNC_EXT,
+	DRM_V3D_PARAM_SUPPORTS_CPU_QUEUE,
 };
 
 struct drm_v3d_get_param {
@@ -356,6 +360,19 @@ struct drm_v3d_submit_csd {
 	__u32 pad;
 };
 
+struct drm_v3d_submit_cpu {
+	/* Pointer to a u32 array of the BOs that are referenced by the job. */
+	__u64 bo_handles;
+
+	/* Number of BO handles passed in (size is that times 4). */
+	__u32 bo_handle_count;
+
+	__u32 flags;
+
+	/* Pointer to an array of ioctl extensions*/
+	__u64 extensions;
+};
+
 enum {
 	V3D_PERFCNT_FEP_VALID_PRIMTS_NO_PIXELS,
 	V3D_PERFCNT_FEP_VALID_PRIMS,
