diff --git a/drivers/dma/ti/k3-udma-u-boot.c b/drivers/dma/ti/k3-udma-u-boot.c
new file mode 100644
index 0000000000..3e04f551e2
--- /dev/null
+++ b/drivers/dma/ti/k3-udma-u-boot.c
@@ -0,0 +1,177 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ *  Copyright (C) 2021 Texas Instruments Incorporated - https://www.ti.com
+ */
+
+#define UDMA_RCHAN_RFLOW_RNG_FLOWID_CNT_SHIFT	(16)
+
+/* How SRC/DST tag should be updated by UDMA in the descriptor's Word 3 */
+#define UDMA_RFLOW_SRCTAG_NONE		0
+#define UDMA_RFLOW_SRCTAG_CFG_TAG	1
+#define UDMA_RFLOW_SRCTAG_FLOW_ID	2
+#define UDMA_RFLOW_SRCTAG_SRC_TAG	4
+
+#define UDMA_RFLOW_DSTTAG_NONE		0
+#define UDMA_RFLOW_DSTTAG_CFG_TAG	1
+#define UDMA_RFLOW_DSTTAG_FLOW_ID	2
+#define UDMA_RFLOW_DSTTAG_DST_TAG_LO	4
+#define UDMA_RFLOW_DSTTAG_DST_TAG_HI	5
+
+#define UDMA_RFLOW_RFC_DEFAULT	\
+	((UDMA_RFLOW_SRCTAG_NONE <<  UDMA_RFLOW_RFC_SRC_TAG_HI_SEL_SHIFT) | \
+	 (UDMA_RFLOW_SRCTAG_SRC_TAG << UDMA_RFLOW_RFC_SRC_TAG_LO_SEL_SHIFT) | \
+	 (UDMA_RFLOW_DSTTAG_DST_TAG_HI << UDMA_RFLOW_RFC_DST_TAG_HI_SEL_SHIFT) | \
+	 (UDMA_RFLOW_DSTTAG_DST_TAG_LO << UDMA_RFLOW_RFC_DST_TAG_LO_SE_SHIFT))
+
+#define UDMA_RFLOW_RFx_REG_FDQ_SIZE_SHIFT	(16)
+
+/* TCHAN */
+static inline u32 udma_tchan_read(struct udma_tchan *tchan, int reg)
+{
+	if (!tchan)
+		return 0;
+	return udma_read(tchan->reg_chan, reg);
+}
+
+static inline void udma_tchan_write(struct udma_tchan *tchan, int reg, u32 val)
+{
+	if (!tchan)
+		return;
+	udma_write(tchan->reg_chan, reg, val);
+}
+
+static inline void udma_tchan_update_bits(struct udma_tchan *tchan, int reg,
+					  u32 mask, u32 val)
+{
+	if (!tchan)
+		return;
+	udma_update_bits(tchan->reg_chan, reg, mask, val);
+}
+
+/* RCHAN */
+static inline u32 udma_rchan_read(struct udma_rchan *rchan, int reg)
+{
+	if (!rchan)
+		return 0;
+	return udma_read(rchan->reg_chan, reg);
+}
+
+static inline void udma_rchan_write(struct udma_rchan *rchan, int reg, u32 val)
+{
+	if (!rchan)
+		return;
+	udma_write(rchan->reg_chan, reg, val);
+}
+
+static inline void udma_rchan_update_bits(struct udma_rchan *rchan, int reg,
+					  u32 mask, u32 val)
+{
+	if (!rchan)
+		return;
+	udma_update_bits(rchan->reg_chan, reg, mask, val);
+}
+
+/* RFLOW */
+static inline u32 udma_rflow_read(struct udma_rflow *rflow, int reg)
+{
+	if (!rflow)
+		return 0;
+	return udma_read(rflow->reg_rflow, reg);
+}
+
+static inline void udma_rflow_write(struct udma_rflow *rflow, int reg, u32 val)
+{
+	if (!rflow)
+		return;
+	udma_write(rflow->reg_rflow, reg, val);
+}
+
+static inline void udma_rflow_update_bits(struct udma_rflow *rflow, int reg,
+					  u32 mask, u32 val)
+{
+	if (!rflow)
+		return;
+	udma_update_bits(rflow->reg_rflow, reg, mask, val);
+}
+
+static void udma_alloc_tchan_raw(struct udma_chan *uc)
+{
+	u32 mode, fetch_size;
+
+	if (uc->config.pkt_mode)
+		mode = UDMA_CHAN_CFG_CHAN_TYPE_PACKET_PBRR;
+	else
+		mode = UDMA_CHAN_CFG_CHAN_TYPE_3RDP_BC_PBRR;
+
+	udma_tchan_update_bits(uc->tchan, UDMA_TCHAN_TCFG_REG,
+			       UDMA_CHAN_CFG_CHAN_TYPE_MASK, mode);
+
+	if (uc->config.dir == DMA_MEM_TO_MEM)
+		fetch_size = sizeof(struct cppi5_desc_hdr_t) >> 2;
+	else
+		fetch_size = cppi5_hdesc_calc_size(uc->config.needs_epib,
+						   uc->config.psd_size, 0) >> 2;
+
+	udma_tchan_update_bits(uc->tchan, UDMA_TCHAN_TCFG_REG,
+			       UDMA_CHAN_CFG_FETCH_SIZE_MASK, fetch_size);
+	udma_tchan_write(uc->tchan, UDMA_TCHAN_TCQ_REG,
+			 k3_nav_ringacc_get_ring_id(uc->tchan->tc_ring));
+}
+
+static void udma_alloc_rchan_raw(struct udma_chan *uc)
+{
+	struct udma_dev *ud = uc->ud;
+	int fd_ring = k3_nav_ringacc_get_ring_id(uc->rflow->fd_ring);
+	int rx_ring = k3_nav_ringacc_get_ring_id(uc->rflow->r_ring);
+	int tc_ring = k3_nav_ringacc_get_ring_id(uc->tchan->tc_ring);
+	u32 rx_einfo_present = 0, rx_psinfo_present = 0;
+	u32 mode, fetch_size, rxcq_num;
+
+	if (uc->config.pkt_mode)
+		mode = UDMA_CHAN_CFG_CHAN_TYPE_PACKET_PBRR;
+	else
+		mode = UDMA_CHAN_CFG_CHAN_TYPE_3RDP_BC_PBRR;
+
+	udma_rchan_update_bits(uc->rchan, UDMA_RCHAN_RCFG_REG,
+			       UDMA_CHAN_CFG_CHAN_TYPE_MASK, mode);
+
+	if (uc->config.dir == DMA_MEM_TO_MEM) {
+		fetch_size = sizeof(struct cppi5_desc_hdr_t) >> 2;
+		rxcq_num = tc_ring;
+	} else {
+		fetch_size = cppi5_hdesc_calc_size(uc->config.needs_epib,
+						   uc->config.psd_size, 0) >> 2;
+		rxcq_num = rx_ring;
+	}
+
+	udma_rchan_update_bits(uc->rchan, UDMA_RCHAN_RCFG_REG,
+			       UDMA_CHAN_CFG_FETCH_SIZE_MASK, fetch_size);
+	udma_rchan_write(uc->rchan, UDMA_RCHAN_RCQ_REG, rxcq_num);
+
+	if (uc->config.dir == DMA_MEM_TO_MEM)
+		return;
+
+	if (ud->match_data->type == DMA_TYPE_UDMA &&
+	    uc->rflow->id != uc->rchan->id &&
+	    uc->config.dir != DMA_MEM_TO_MEM)
+		udma_rchan_write(uc->rchan, UDMA_RCHAN_RFLOW_RNG_REG, uc->rflow->id |
+				 1 << UDMA_RCHAN_RFLOW_RNG_FLOWID_CNT_SHIFT);
+
+	if (uc->config.needs_epib)
+		rx_einfo_present = UDMA_RFLOW_RFA_EINFO;
+
+	if (uc->config.psd_size)
+		rx_psinfo_present = UDMA_RFLOW_RFA_PSINFO;
+
+	udma_rflow_write(uc->rflow, UDMA_RFLOW_REG(A),
+			 rx_einfo_present | rx_psinfo_present | rxcq_num);
+
+	udma_rflow_write(uc->rflow, UDMA_RFLOW_REG(C), UDMA_RFLOW_RFC_DEFAULT);
+	udma_rflow_write(uc->rflow, UDMA_RFLOW_REG(D),
+			 fd_ring | fd_ring << UDMA_RFLOW_RFx_REG_FDQ_SIZE_SHIFT);
+	udma_rflow_write(uc->rflow, UDMA_RFLOW_REG(E),
+			 fd_ring | fd_ring << UDMA_RFLOW_RFx_REG_FDQ_SIZE_SHIFT);
+	udma_rflow_write(uc->rflow, UDMA_RFLOW_REG(G), fd_ring);
+	udma_rflow_write(uc->rflow, UDMA_RFLOW_REG(H),
+			 fd_ring | fd_ring << UDMA_RFLOW_RFx_REG_FDQ_SIZE_SHIFT);
+}
diff --git a/drivers/dma/ti/k3-udma.c b/drivers/dma/ti/k3-udma.c
index 601868d7fc..411edef3a7 100644
--- a/drivers/dma/ti/k3-udma.c
+++ b/drivers/dma/ti/k3-udma.c
@@ -48,6 +48,9 @@ enum udma_mmr {
 	MMR_BCHANRT,
 	MMR_RCHANRT,
 	MMR_TCHANRT,
+	MMR_RCHAN,
+	MMR_TCHAN,
+	MMR_RFLOW,
 	MMR_LAST,
 };
 
@@ -56,9 +59,13 @@ static const char * const mmr_names[] = {
 	[MMR_BCHANRT] = "bchanrt",
 	[MMR_RCHANRT] = "rchanrt",
 	[MMR_TCHANRT] = "tchanrt",
+	[MMR_RCHAN] = "rchan",
+	[MMR_TCHAN] = "tchan",
+	[MMR_RFLOW] = "rflow",
 };
 
 struct udma_tchan {
+	void __iomem *reg_chan;
 	void __iomem *reg_rt;
 
 	int id;
@@ -71,12 +78,14 @@ struct udma_tchan {
 #define udma_bchan udma_tchan
 
 struct udma_rflow {
+	void __iomem *reg_rflow;
 	int id;
 	struct k3_nav_ring *fd_ring; /* Free Descriptor ring */
 	struct k3_nav_ring *r_ring; /* Receive ring */
 };
 
 struct udma_rchan {
+	void __iomem *reg_chan;
 	void __iomem *reg_rt;
 
 	int id;
@@ -335,6 +344,8 @@ static inline char *udma_get_dir_text(enum dma_direction dir)
 	return "invalid";
 }
 
+#include "k3-udma-u-boot.c"
+
 static void udma_reset_uchan(struct udma_chan *uc)
 {
 	memset(&uc->config, 0, sizeof(uc->config));
@@ -1014,10 +1025,20 @@ static int udma_alloc_tchan_sci_req(struct udma_chan *uc)
 	req.txcq_qnum = tc_ring;
 
 	ret = tisci_rm->tisci_udmap_ops->tx_ch_cfg(tisci_rm->tisci, &req);
-	if (ret)
+	if (ret) {
 		dev_err(ud->dev, "tisci tx alloc failed %d\n", ret);
+		return ret;
+	}
 
-	return ret;
+	/*
+	 * Above TI SCI call handles firewall configuration, cfg
+	 * register configuration still has to be done locally in
+	 * absence of RM services.
+	 */
+	if (IS_ENABLED(CONFIG_K3_DM_FW))
+		udma_alloc_tchan_raw(uc);
+
+	return 0;
 }
 
 static int udma_alloc_rchan_sci_req(struct udma_chan *uc)
@@ -1114,11 +1135,21 @@ static int udma_alloc_rchan_sci_req(struct udma_chan *uc)
 
 	ret = tisci_rm->tisci_udmap_ops->rx_flow_cfg(tisci_rm->tisci,
 						     &flow_req);
-	if (ret)
+	if (ret) {
 		dev_err(ud->dev, "tisci rx %u flow %u cfg failed %d\n",
 			uc->rchan->id, uc->rflow->id, ret);
+		return ret;
+	}
 
-	return ret;
+	/*
+	 * Above TI SCI call handles firewall configuration, cfg
+	 * register configuration still has to be done locally in
+	 * absence of RM services.
+	 */
+	if (IS_ENABLED(CONFIG_K3_DM_FW))
+		udma_alloc_rchan_raw(uc);
+
+	return 0;
 }
 
 static int udma_alloc_chan_resources(struct udma_chan *uc)
@@ -1751,6 +1782,7 @@ static int udma_probe(struct udevice *dev)
 		struct udma_tchan *tchan = &ud->tchans[i];
 
 		tchan->id = i;
+		tchan->reg_chan = ud->mmrs[MMR_TCHAN] + UDMA_CH_100(i);
 		tchan->reg_rt = ud->mmrs[MMR_TCHANRT] + UDMA_CH_1000(i);
 	}
 
@@ -1758,6 +1790,7 @@ static int udma_probe(struct udevice *dev)
 		struct udma_rchan *rchan = &ud->rchans[i];
 
 		rchan->id = i;
+		rchan->reg_chan = ud->mmrs[MMR_RCHAN] + UDMA_CH_100(i);
 		rchan->reg_rt = ud->mmrs[MMR_RCHANRT] + UDMA_CH_1000(i);
 	}
 
@@ -1765,6 +1798,7 @@ static int udma_probe(struct udevice *dev)
 		struct udma_rflow *rflow = &ud->rflows[i];
 
 		rflow->id = i;
+		rflow->reg_rflow = ud->mmrs[MMR_RFLOW] + UDMA_CH_40(i);
 	}
 
 	for (i = 0; i < ud->ch_count; i++) {