diff --git a/plat/xilinx/zynqmp/include/zynqmp_def.h b/plat/xilinx/zynqmp/include/zynqmp_def.h
index 4614395..b492210 100644
--- a/plat/xilinx/zynqmp/include/zynqmp_def.h
+++ b/plat/xilinx/zynqmp/include/zynqmp_def.h
@@ -350,4 +350,10 @@
 #define  AFIFM6_WRCTRL		U(13)
 #define  FABRIC_WIDTH		U(3)
 
+/* CSUDMA Module Base Address*/
+#define CSUDMA_BASE		0xFFC80000
+
+/* RSA-CORE Module Base Address*/
+#define RSA_CORE_BASE		0xFFCE0000
+
 #endif /* ZYNQMP_DEF_H */
diff --git a/plat/xilinx/zynqmp/pm_service/pm_api_sys.c b/plat/xilinx/zynqmp/pm_service/pm_api_sys.c
index 1ec06f9..9a1f1b4 100644
--- a/plat/xilinx/zynqmp/pm_service/pm_api_sys.c
+++ b/plat/xilinx/zynqmp/pm_service/pm_api_sys.c
@@ -1546,3 +1546,48 @@
 	PM_PACK_PAYLOAD2(payload, PM_PLL_GET_MODE, nid);
 	return pm_ipi_send_sync(primary_proc, payload, mode, 1);
 }
+
+/**
+ * pm_register_access() -  PM API for register read/write access data
+ *
+ * @register_access_id	Register_access_id which says register read/write
+ *
+ * @address		Address of the register to be accessed
+ *
+ * @mask		Mask value to be used while writing value
+ *
+ * @value		Value to be written to register
+ *
+ * @out			Returned output data
+ *
+ * This function returns requested data.
+ *
+ * @return	Returns status, either success or error+reason
+ */
+enum pm_ret_status pm_register_access(unsigned int register_access_id,
+				      unsigned int address,
+				      unsigned int mask,
+				      unsigned int value,
+				      unsigned int *out)
+{
+	enum pm_ret_status ret;
+
+	if (((ZYNQMP_CSU_BASEADDR & address) != ZYNQMP_CSU_BASEADDR) &&
+			((CSUDMA_BASE & address) != CSUDMA_BASE) &&
+			((RSA_CORE_BASE & address) != RSA_CORE_BASE) &&
+			((PMU_GLOBAL_BASE & address) != PMU_GLOBAL_BASE))
+		return PM_RET_ERROR_ACCESS;
+
+	switch (register_access_id) {
+	case CONFIG_REG_WRITE:
+		ret = pm_mmio_write(address, mask, value);
+		break;
+	case CONFIG_REG_READ:
+		ret = pm_mmio_read(address, out);
+		break;
+	default:
+		ret = PM_RET_ERROR_ARGS;
+		WARN("Unimplemented register_access call\n\r");
+	}
+	return ret;
+}
diff --git a/plat/xilinx/zynqmp/pm_service/pm_api_sys.h b/plat/xilinx/zynqmp/pm_service/pm_api_sys.h
index 930e470..60fc303 100644
--- a/plat/xilinx/zynqmp/pm_service/pm_api_sys.h
+++ b/plat/xilinx/zynqmp/pm_service/pm_api_sys.h
@@ -28,6 +28,11 @@
 	PM_QID_CLOCK_GET_MAX_DIVISOR,
 };
 
+enum pm_register_access_id {
+	CONFIG_REG_WRITE,
+	CONFIG_REG_READ,
+};
+
 /**********************************************************
  * System-level API function declarations
  **********************************************************/
@@ -175,6 +180,11 @@
 enum pm_ret_status pm_aes_engine(uint32_t address_high,
 				 uint32_t address_low,
 				 uint32_t  *value);
+enum pm_ret_status pm_register_access(unsigned int register_access_id,
+				      unsigned int address,
+				      unsigned int mask,
+				      unsigned int value,
+				      unsigned int *out);
 
 enum pm_ret_status pm_pll_set_parameter(enum pm_node_id nid,
 				enum pm_pll_param param_id,
diff --git a/plat/xilinx/zynqmp/pm_service/pm_defs.h b/plat/xilinx/zynqmp/pm_service/pm_defs.h
index 4776d42..8b28807 100644
--- a/plat/xilinx/zynqmp/pm_service/pm_defs.h
+++ b/plat/xilinx/zynqmp/pm_service/pm_defs.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013-2018, ARM Limited and Contributors. All rights reserved.
+ * Copyright (c) 2013-2020, ARM Limited and Contributors. All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
  */
@@ -97,6 +97,8 @@
 	PM_PLL_GET_PARAMETER,
 	PM_PLL_SET_MODE,
 	PM_PLL_GET_MODE,
+	/* PM Register Access API */
+	PM_REGISTER_ACCESS,
 	PM_API_MAX
 };
 
diff --git a/plat/xilinx/zynqmp/pm_service/pm_svc_main.c b/plat/xilinx/zynqmp/pm_service/pm_svc_main.c
index 14321ec..bf608db 100644
--- a/plat/xilinx/zynqmp/pm_service/pm_svc_main.c
+++ b/plat/xilinx/zynqmp/pm_service/pm_svc_main.c
@@ -606,6 +606,15 @@
 		SMC_RET1(handle, (uint64_t)ret | ((uint64_t)mode << 32));
 	}
 
+	case PM_REGISTER_ACCESS:
+	{
+		uint32_t value;
+
+		ret = pm_register_access(pm_arg[0], pm_arg[1], pm_arg[2],
+					 pm_arg[3], &value);
+		SMC_RET1(handle, (uint64_t)ret | ((uint64_t)value) << 32);
+	}
+
 	default:
 		WARN("Unimplemented PM Service Call: 0x%x\n", smc_fid);
 		SMC_RET1(handle, SMC_UNK);