diff --git a/drivers/remoteproc/ti_k3_dsp_remoteproc.c b/drivers/remoteproc/ti_k3_dsp_remoteproc.c
index b3ee03da5569..eb9c64f7b9b4 100644
--- a/drivers/remoteproc/ti_k3_dsp_remoteproc.c
+++ b/drivers/remoteproc/ti_k3_dsp_remoteproc.c
@@ -260,7 +260,8 @@ static int k3_dsp_rproc_request_mbox(struct rproc *rproc)
  * used to release the global reset on C66x DSPs to allow loading into the DSP
  * internal RAMs. The .prepare() ops is invoked by remoteproc core before any
  * firmware loading, and is followed by the .start() ops after loading to
- * actually let the C66x DSP cores run.
+ * actually let the C66x DSP cores run. This callback is invoked only in
+ * remoteproc mode.
  */
 static int k3_dsp_rproc_prepare(struct rproc *rproc)
 {
@@ -284,7 +285,7 @@ static int k3_dsp_rproc_prepare(struct rproc *rproc)
  * powering down the C66x DSP cores. The cores themselves are only halted in the
  * .stop() callback through the local reset, and the .unprepare() ops is invoked
  * by the remoteproc core after the remoteproc is stopped to balance the global
- * reset.
+ * reset. This callback is invoked only in remoteproc mode.
  */
 static int k3_dsp_rproc_unprepare(struct rproc *rproc)
 {
@@ -305,7 +306,7 @@ static int k3_dsp_rproc_unprepare(struct rproc *rproc)
  *
  * This function will be invoked only after the firmware for this rproc
  * was loaded, parsed successfully, and all of its resource requirements
- * were met.
+ * were met. This callback is invoked only in remoteproc mode.
  */
 static int k3_dsp_rproc_start(struct rproc *rproc)
 {
@@ -346,7 +347,7 @@ static int k3_dsp_rproc_start(struct rproc *rproc)
  * Stop the DSP remote processor.
  *
  * This function puts the DSP processor into reset, and finishes processing
- * of any pending messages.
+ * of any pending messages. This callback is invoked only in remoteproc mode.
  */
 static int k3_dsp_rproc_stop(struct rproc *rproc)
 {
@@ -359,6 +360,78 @@ static int k3_dsp_rproc_stop(struct rproc *rproc)
 	return 0;
 }
 
+/*
+ * Attach to a running DSP remote processor (IPC-only mode)
+ *
+ * This rproc attach callback only needs to request the mailbox, the remote
+ * processor is already booted, so there is no need to issue any TI-SCI
+ * commands to boot the DSP core. This callback is invoked only in IPC-only
+ * mode.
+ */
+static int k3_dsp_rproc_attach(struct rproc *rproc)
+{
+	struct k3_dsp_rproc *kproc = rproc->priv;
+	struct device *dev = kproc->dev;
+	int ret;
+
+	ret = k3_dsp_rproc_request_mbox(rproc);
+	if (ret)
+		return ret;
+
+	dev_info(dev, "DSP initialized in IPC-only mode\n");
+	return 0;
+}
+
+/*
+ * Detach from a running DSP remote processor (IPC-only mode)
+ *
+ * This rproc detach callback performs the opposite operation to attach callback
+ * and only needs to release the mailbox, the DSP core is not stopped and will
+ * be left to continue to run its booted firmware. This callback is invoked only
+ * in IPC-only mode.
+ */
+static int k3_dsp_rproc_detach(struct rproc *rproc)
+{
+	struct k3_dsp_rproc *kproc = rproc->priv;
+	struct device *dev = kproc->dev;
+
+	mbox_free_channel(kproc->mbox);
+	dev_info(dev, "DSP deinitialized in IPC-only mode\n");
+	return 0;
+}
+
+/*
+ * This function implements the .get_loaded_rsc_table() callback and is used
+ * to provide the resource table for a booted DSP in IPC-only mode. The K3 DSP
+ * firmwares follow a design-by-contract approach and are expected to have the
+ * resource table at the base of the DDR region reserved for firmware usage.
+ * This provides flexibility for the remote processor to be booted by different
+ * bootloaders that may or may not have the ability to publish the resource table
+ * address and size through a DT property. This callback is invoked only in
+ * IPC-only mode.
+ */
+static struct resource_table *k3_dsp_get_loaded_rsc_table(struct rproc *rproc,
+							  size_t *rsc_table_sz)
+{
+	struct k3_dsp_rproc *kproc = rproc->priv;
+	struct device *dev = kproc->dev;
+
+	if (!kproc->rmem[0].cpu_addr) {
+		dev_err(dev, "memory-region #1 does not exist, loaded rsc table can't be found");
+		return ERR_PTR(-ENOMEM);
+	}
+
+	/*
+	 * NOTE: The resource table size is currently hard-coded to a maximum
+	 * of 256 bytes. The most common resource table usage for K3 firmwares
+	 * is to only have the vdev resource entry and an optional trace entry.
+	 * The exact size could be computed based on resource table address, but
+	 * the hard-coded value suffices to support the IPC-only mode.
+	 */
+	*rsc_table_sz = 256;
+	return (struct resource_table *)kproc->rmem[0].cpu_addr;
+}
+
 /*
  * Custom function to translate a DSP device address (internal RAMs only) to a
  * kernel virtual address.  The DSPs can access their RAMs at either an internal
@@ -605,6 +678,7 @@ static int k3_dsp_rproc_probe(struct platform_device *pdev)
 	struct k3_dsp_rproc *kproc;
 	struct rproc *rproc;
 	const char *fw_name;
+	bool p_state = false;
 	int ret = 0;
 	int ret1;
 
@@ -683,19 +757,43 @@ static int k3_dsp_rproc_probe(struct platform_device *pdev)
 		goto release_tsp;
 	}
 
-	/*
-	 * ensure the DSP local reset is asserted to ensure the DSP doesn't
-	 * execute bogus code in .prepare() when the module reset is released.
-	 */
-	if (data->uses_lreset) {
-		ret = reset_control_status(kproc->reset);
-		if (ret < 0) {
-			dev_err(dev, "failed to get reset status, status = %d\n",
-				ret);
-			goto release_mem;
-		} else if (ret == 0) {
-			dev_warn(dev, "local reset is deasserted for device\n");
-			k3_dsp_rproc_reset(kproc);
+	ret = kproc->ti_sci->ops.dev_ops.is_on(kproc->ti_sci, kproc->ti_sci_id,
+					       NULL, &p_state);
+	if (ret) {
+		dev_err(dev, "failed to get initial state, mode cannot be determined, ret = %d\n",
+			ret);
+		goto release_mem;
+	}
+
+	/* configure J721E devices for either remoteproc or IPC-only mode */
+	if (p_state) {
+		dev_info(dev, "configured DSP for IPC-only mode\n");
+		rproc->state = RPROC_DETACHED;
+		/* override rproc ops with only required IPC-only mode ops */
+		rproc->ops->prepare = NULL;
+		rproc->ops->unprepare = NULL;
+		rproc->ops->start = NULL;
+		rproc->ops->stop = NULL;
+		rproc->ops->attach = k3_dsp_rproc_attach;
+		rproc->ops->detach = k3_dsp_rproc_detach;
+		rproc->ops->get_loaded_rsc_table = k3_dsp_get_loaded_rsc_table;
+	} else {
+		dev_info(dev, "configured DSP for remoteproc mode\n");
+		/*
+		 * ensure the DSP local reset is asserted to ensure the DSP
+		 * doesn't execute bogus code in .prepare() when the module
+		 * reset is released.
+		 */
+		if (data->uses_lreset) {
+			ret = reset_control_status(kproc->reset);
+			if (ret < 0) {
+				dev_err(dev, "failed to get reset status, status = %d\n",
+					ret);
+				goto release_mem;
+			} else if (ret == 0) {
+				dev_warn(dev, "local reset is deasserted for device\n");
+				k3_dsp_rproc_reset(kproc);
+			}
 		}
 	}
 
@@ -730,9 +828,18 @@ static int k3_dsp_rproc_probe(struct platform_device *pdev)
 static int k3_dsp_rproc_remove(struct platform_device *pdev)
 {
 	struct k3_dsp_rproc *kproc = platform_get_drvdata(pdev);
+	struct rproc *rproc = kproc->rproc;
 	struct device *dev = &pdev->dev;
 	int ret;
 
+	if (rproc->state == RPROC_ATTACHED) {
+		ret = rproc_detach(rproc);
+		if (ret) {
+			dev_err(dev, "failed to detach proc, ret = %d\n", ret);
+			return ret;
+		}
+	}
+
 	rproc_del(kproc->rproc);
 
 	ret = ti_sci_proc_release(kproc->tsp);