diff --git a/drivers/remoteproc/xlnx_r5_remoteproc.c b/drivers/remoteproc/xlnx_r5_remoteproc.c
index 04e95d880184..8c3575970c1d 100644
--- a/drivers/remoteproc/xlnx_r5_remoteproc.c
+++ b/drivers/remoteproc/xlnx_r5_remoteproc.c
@@ -75,8 +75,8 @@ 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 */
@@ -613,7 +613,8 @@ static int add_tcm_carveout_split_mode(struct rproc *rproc)
 						 bank_name);
 		if (!rproc_mem) {
 			ret = -ENOMEM;
-			zynqmp_pm_release_node(pm_domain_id);
+			if (pm_domain_id)
+				zynqmp_pm_release_node(pm_domain_id);
 			goto release_tcm_split;
 		}
 
@@ -626,7 +627,8 @@ static int add_tcm_carveout_split_mode(struct rproc *rproc)
 	/* If failed, Turn off all TCM banks turned on before */
 	for (i--; i >= 0; i--) {
 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
-		zynqmp_pm_release_node(pm_domain_id);
+		if (pm_domain_id)
+			zynqmp_pm_release_node(pm_domain_id);
 	}
 	return ret;
 }
@@ -940,6 +942,8 @@ static int zynqmp_r5_add_pm_domains(struct rproc *rproc)
 		}
 	}
 
+	return 0;
+
 fail_add_pm_domains_lockstep:
 	while (j >= 1) {
 		if (r5_core->pm_dev_link2 && !IS_ERR_OR_NULL(r5_core->pm_dev_link2[j]))
@@ -1102,6 +1106,83 @@ 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)
+{
+	struct zynqmp_r5_core *r5_core;
+	int i, j, tcm_bank_count, ret;
+	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 = dev_of_node(dev);
+
+		/* we have address cell 2 and size cell as 2 */
+		ret = of_property_count_elems_of_size(np, "reg",
+						      4 * sizeof(u32));
+		if (ret <= 0) {
+			dev_err(dev, "can't get reg property err %d\n", ret);
+			return -EINVAL;
+		}
+
+		tcm_bank_count = ret;
+
+		r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,
+						  sizeof(struct mem_bank_data *),
+						  GFP_KERNEL);
+		if (!r5_core->tcm_banks)
+			ret = -ENOMEM;
+
+		r5_core->tcm_bank_count = tcm_bank_count;
+		for (j = 0; j < tcm_bank_count; j++) {
+			tcm = devm_kzalloc(dev, sizeof(struct mem_bank_data *),
+					   GFP_KERNEL);
+			if (!tcm)
+				return -ENOMEM;
+
+			r5_core->tcm_banks[j] = tcm;
+
+			/* 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
@@ -1180,10 +1261,19 @@ 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);
-		return ret;
+	r5_core = cluster->r5_cores[0];
+	if (of_find_property(r5_core->np, "reg", NULL)) {
+		ret = zynqmp_r5_get_tcm_node_from_dt(cluster);
+		if (ret) {
+			dev_err(dev, "can't get tcm node from dt, err %d\n", ret);
+			return ret;
+		}
+	} else {
+		ret = zynqmp_r5_get_tcm_node(cluster);
+		if (ret < 0) {
+			dev_err(dev, "can't get tcm node, err %d\n", ret);
+			return ret;
+		}
 	}
 
 	for (i = 0; i < cluster->core_count; i++) {
