diff --git a/drivers/remoteproc/ti_k3_r5f_rproc.c b/drivers/remoteproc/ti_k3_r5f_rproc.c
index 31c59f6862..11c5d91dd7 100644
--- a/drivers/remoteproc/ti_k3_r5f_rproc.c
+++ b/drivers/remoteproc/ti_k3_r5f_rproc.c
@@ -46,6 +46,7 @@
 
 /* R5 TI-SCI Processor Control Flags */
 #define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT		0x00000001
+#define PROC_BOOT_CTRL_FLAG_R5_LPSC			0x00000002
 
 /* R5 TI-SCI Processor Status Flags */
 #define PROC_BOOT_STATUS_FLAG_R5_WFE			0x00000001
@@ -71,6 +72,7 @@ struct k3_r5f_ip_data {
 	bool tcm_is_double;
 	bool tcm_ecc_autoinit;
 	bool is_single_core;
+	bool is_dm_core;
 };
 
 /**
@@ -209,19 +211,28 @@ static int k3_r5f_split_release(struct k3_r5f_core *core)
 
 	dev_dbg(core->dev, "%s\n", __func__);
 
-	ret = ti_sci_proc_power_domain_on(&core->tsp);
-	if (ret) {
-		dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
-			ret);
-		return ret;
-	}
+	if (core->ipdata->is_dm_core) {
+		ret = ti_sci_proc_set_control(&core->tsp,
+					      PROC_BOOT_CTRL_FLAG_R5_LPSC, 0);
+		if (ret) {
+			dev_err(core->dev, "LPSC on failed, ret = %d\n", ret);
+			return ret;
+		}
+	} else {
+		ret = ti_sci_proc_power_domain_on(&core->tsp);
+		if (ret) {
+			dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
+				ret);
+			return ret;
+		}
 
-	ret = reset_deassert(&core->reset);
-	if (ret) {
-		dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
-			ret);
-		if (ti_sci_proc_power_domain_off(&core->tsp))
-			dev_warn(core->dev, "module-reset assert back failed\n");
+		ret = reset_deassert(&core->reset);
+		if (ret) {
+			dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
+				ret);
+			if (ti_sci_proc_power_domain_off(&core->tsp))
+				dev_warn(core->dev, "module-reset assert back failed\n");
+		}
 	}
 
 	return ret;
@@ -443,15 +454,24 @@ proc_release:
 
 static int k3_r5f_split_reset(struct k3_r5f_core *core)
 {
-	int ret;
+	int ret = 0;
 
 	dev_dbg(core->dev, "%s\n", __func__);
 
-	if (reset_assert(&core->reset))
-		ret = -EINVAL;
+	if (core->ipdata->is_dm_core) {
+		ret = ti_sci_proc_set_control(&core->tsp, 0,
+					      PROC_BOOT_CTRL_FLAG_R5_LPSC);
+		if (ret) {
+			dev_err(core->dev, "LPSC off failed, ret = %d\n", ret);
+			return ret;
+		}
+	} else {
+		if (reset_assert(&core->reset))
+			ret = -EINVAL;
 
-	if (ti_sci_proc_power_domain_off(&core->tsp))
-		ret = -EINVAL;
+		if (ti_sci_proc_power_domain_off(&core->tsp))
+			ret = -EINVAL;
+	}
 
 	return ret;
 }
@@ -831,9 +851,21 @@ static int k3_r5f_probe(struct udevice *dev)
 			return ret;
 
 		if (core->in_use) {
-			dev_info(dev, "Core %d is already in use. No rproc commands work\n",
-				 core->tsp.proc_id);
-			return 0;
+			/*
+			 * If MCU R5F is booted in split mode by ROM code, core0
+			 * will run DM firmware and second core sits in WFI.
+			 * Shut it down so that it can be probed as split core.
+			 */
+			if (core->ipdata->is_dm_core && !is_primary_core(core) &&
+			    core->cluster->mode == CLUSTER_MODE_SPLIT) {
+				dev_dbg(dev, "Core %d is in WFI mode, resetting core to use in split-mode.\n",
+					 core->tsp.proc_id);
+				k3_r5f_stop(core->dev);
+			} else {
+				dev_info(dev, "Core %d is already in use. No rproc commands work\n",
+					 core->tsp.proc_id);
+				return 0;
+			}
 		}
 
 		/* Make sure Local reset is asserted. Redundant? */
@@ -868,25 +900,45 @@ static const struct k3_r5f_ip_data k3_data = {
 	.tcm_is_double = false,
 	.tcm_ecc_autoinit = false,
 	.is_single_core = false,
+	.is_dm_core = false,
 };
 
 static const struct k3_r5f_ip_data j7200_j721s2_data = {
 	.tcm_is_double = true,
 	.tcm_ecc_autoinit = true,
 	.is_single_core = false,
+	.is_dm_core = false,
 };
 
 static const struct k3_r5f_ip_data am62_data = {
 	.tcm_is_double = false,
 	.tcm_ecc_autoinit = false,
 	.is_single_core = true,
+	.is_dm_core = false,
+};
+
+static const struct k3_r5f_ip_data k3_mcu_data = {
+	.tcm_is_double = false,
+	.tcm_ecc_autoinit = false,
+	.is_single_core = false,
+	.is_dm_core = true,
+};
+
+static const struct k3_r5f_ip_data j7200_mcu_data = {
+	.tcm_is_double = true,
+	.tcm_ecc_autoinit = true,
+	.is_single_core = false,
+	.is_dm_core = true,
 };
 
 static const struct udevice_id k3_r5f_rproc_ids[] = {
 	{ .compatible = "ti,am654-r5f", .data = (ulong)&k3_data, },
 	{ .compatible = "ti,j721e-r5f", .data = (ulong)&k3_data, },
+	{ .compatible = "ti,j721e-mcu-r5f", .data = (ulong)&k3_mcu_data, },
 	{ .compatible = "ti,j7200-r5f", .data = (ulong)&j7200_j721s2_data, },
+	{ .compatible = "ti,j7200-mcu-r5f", .data = (ulong)&j7200_mcu_data, },
 	{ .compatible = "ti,j721s2-r5f", .data = (ulong)&j7200_j721s2_data, },
+	{ .compatible = "ti,j721s2-mcu-r5f", .data = (ulong)&j7200_mcu_data, },
 	{ .compatible = "ti,am62-r5f", .data = (ulong)&am62_data, },
 	{}
 };