diff --git a/drivers/soc/tegra/pmc.c b/drivers/soc/tegra/pmc.c
index 42cf37a0556b30..9ead346f201dc3 100644
--- a/drivers/soc/tegra/pmc.c
+++ b/drivers/soc/tegra/pmc.c
@@ -43,6 +43,7 @@
 #include <linux/seq_file.h>
 #include <linux/slab.h>
 #include <linux/spinlock.h>
+#include <linux/regmap.h>
 
 #include <soc/tegra/common.h>
 #include <soc/tegra/fuse.h>
@@ -102,6 +103,9 @@
 
 #define PMC_PWR_DET_VALUE		0xe4
 
+#define PMC_USB_DEBOUNCE_DEL		0xec
+#define PMC_USB_AO			0xf0
+
 #define PMC_SCRATCH41			0x140
 
 #define PMC_WAKE2_MASK			0x160
@@ -133,6 +137,13 @@
 #define IO_DPD2_STATUS			0x1c4
 #define SEL_DPD_TIM			0x1c8
 
+#define PMC_UTMIP_UHSIC_TRIGGERS	0x1ec
+#define PMC_UTMIP_UHSIC_SAVED_STATE	0x1f0
+
+#define PMC_UTMIP_TERM_PAD_CFG		0x1f8
+#define PMC_UTMIP_UHSIC_SLEEP_CFG	0x1fc
+#define PMC_UTMIP_UHSIC_FAKE		0x218
+
 #define PMC_SCRATCH54			0x258
 #define  PMC_SCRATCH54_DATA_SHIFT	8
 #define  PMC_SCRATCH54_ADDR_SHIFT	0
@@ -145,8 +156,18 @@
 #define  PMC_SCRATCH55_CHECKSUM_SHIFT	16
 #define  PMC_SCRATCH55_I2CSLV1_SHIFT	0
 
+#define  PMC_UTMIP_UHSIC_LINE_WAKEUP	0x26c
+
+#define PMC_UTMIP_BIAS_MASTER_CNTRL	0x270
+#define PMC_UTMIP_MASTER_CONFIG		0x274
+#define PMC_UTMIP_UHSIC2_TRIGGERS	0x27c
+#define PMC_UTMIP_MASTER2_CONFIG	0x29c
+
 #define GPU_RG_CNTRL			0x2d4
 
+#define PMC_UTMIP_PAD_CFG0		0x4c0
+#define PMC_UTMIP_UHSIC_SLEEP_CFG1	0x4d0
+#define PMC_UTMIP_SLEEPWALK_P3		0x4e0
 /* Tegra186 and later */
 #define WAKE_AOWAKE_CNTRL(x) (0x000 + ((x) << 2))
 #define WAKE_AOWAKE_CNTRL_LEVEL (1 << 3)
@@ -334,6 +355,7 @@ struct tegra_pmc_soc {
 	const struct pmc_clk_init_data *pmc_clks_data;
 	unsigned int num_pmc_clks;
 	bool has_blink_output;
+	bool has_usb_sleepwalk;
 };
 
 static const char * const tegra186_reset_sources[] = {
@@ -2495,6 +2517,67 @@ static void tegra_pmc_clock_register(struct tegra_pmc *pmc,
 			 err);
 }
 
+#define regmap_reg(x) regmap_reg_range(x, x)
+static const struct regmap_range pmc_usb_sleepwalk_ranges[] = {
+	regmap_reg_range(PMC_USB_DEBOUNCE_DEL, PMC_USB_AO),
+	regmap_reg_range(PMC_UTMIP_UHSIC_TRIGGERS, PMC_UTMIP_UHSIC_SAVED_STATE),
+	regmap_reg_range(PMC_UTMIP_TERM_PAD_CFG, PMC_UTMIP_UHSIC_FAKE),
+	regmap_reg(PMC_UTMIP_UHSIC_LINE_WAKEUP),
+	regmap_reg_range(PMC_UTMIP_BIAS_MASTER_CNTRL, PMC_UTMIP_MASTER_CONFIG),
+	regmap_reg_range(PMC_UTMIP_UHSIC2_TRIGGERS, PMC_UTMIP_MASTER2_CONFIG),
+	regmap_reg_range(PMC_UTMIP_PAD_CFG0, PMC_UTMIP_UHSIC_SLEEP_CFG1),
+	regmap_reg(PMC_UTMIP_SLEEPWALK_P3),
+};
+
+static const struct regmap_access_table pmc_usb_sleepwalk_table = {
+	.yes_ranges = pmc_usb_sleepwalk_ranges,
+	.n_yes_ranges = ARRAY_SIZE(pmc_usb_sleepwalk_ranges),
+};
+
+int tegra_pmc_regmap_readl(void *context, unsigned int reg, unsigned int *val)
+{
+	struct tegra_pmc *pmc = context;
+
+	*val = tegra_pmc_readl(pmc, reg);
+	return 0;
+}
+
+int tegra_pmc_regmap_writel(void *context, unsigned int reg, unsigned int val)
+{
+	struct tegra_pmc *pmc = context;
+
+	tegra_pmc_writel(pmc, val, reg);
+	return 0;
+}
+
+static const struct regmap_config usb_sleepwalk_regmap_config = {
+	.name = "usb_sleepwalk",
+	.reg_bits = 32,
+	.val_bits = 32,
+	.reg_stride = 4,
+	.fast_io = true,
+	.rd_table = &pmc_usb_sleepwalk_table,
+	.wr_table = &pmc_usb_sleepwalk_table,
+	.reg_read = tegra_pmc_regmap_readl,
+	.reg_write = tegra_pmc_regmap_writel,
+};
+
+static int tegra_pmc_regmap_init(struct tegra_pmc *pmc)
+{
+	struct regmap *regmap;
+
+	if (pmc->soc->has_usb_sleepwalk) {
+		regmap = devm_regmap_init(pmc->dev, NULL, (__force void *)pmc,
+					  &usb_sleepwalk_regmap_config);
+		if (IS_ERR(regmap)) {
+			dev_err(pmc->dev, "failed to allocate register map\n");
+			return PTR_ERR(regmap);
+		}
+	}
+
+	return 0;
+}
+
 static int tegra_pmc_probe(struct platform_device *pdev)
 {
 	void __iomem *base;
@@ -2613,6 +2696,10 @@ static int tegra_pmc_probe(struct platform_device *pdev)
 	pmc->base = base;
 	mutex_unlock(&pmc->powergates_lock);
 
+	err = tegra_pmc_regmap_init(pmc);
+	if (err < 0)
+		goto cleanup_powergates;
+
 	tegra_pmc_clock_register(pmc, pdev->dev.of_node);
 	platform_set_drvdata(pdev, pmc);
 
@@ -2976,6 +3063,7 @@ static const struct tegra_pmc_soc tegra124_pmc_soc = {
 	.pmc_clks_data = tegra_pmc_clks_data,
 	.num_pmc_clks = ARRAY_SIZE(tegra_pmc_clks_data),
 	.has_blink_output = true,
+	.has_usb_sleepwalk = true,
 };
 
 static const char * const tegra210_powergates[] = {
@@ -3094,6 +3182,7 @@ static const struct tegra_pmc_soc tegra210_pmc_soc = {
 	.pmc_clks_data = tegra_pmc_clks_data,
 	.num_pmc_clks = ARRAY_SIZE(tegra_pmc_clks_data),
 	.has_blink_output = true,
+	.has_usb_sleepwalk = true,
 };
 
 #define TEGRA186_IO_PAD_TABLE(_pad)                                          \