diff --git a/arch/arm/imx-common/Kconfig b/arch/arm/imx-common/Kconfig
index 229623922..c4f48bb 100644
--- a/arch/arm/imx-common/Kconfig
+++ b/arch/arm/imx-common/Kconfig
@@ -3,3 +3,11 @@
 
 config ROM_UNIFIED_SECTIONS
 	bool
+
+config IMX_RDC
+	bool "i.MX Resource domain controller driver"
+	depends on ARCH_MX6 || ARCH_MX7
+	help
+	  i.MX Resource domain controller is used to assign masters
+	  and peripherals to differet domains. This can be used to
+	  isolate resources.
diff --git a/arch/arm/imx-common/Makefile b/arch/arm/imx-common/Makefile
index e7190c3..568f41c 100644
--- a/arch/arm/imx-common/Makefile
+++ b/arch/arm/imx-common/Makefile
@@ -27,6 +27,7 @@
 obj-y 	+= cache.o init.o
 obj-$(CONFIG_CMD_SATA) += sata.o
 obj-$(CONFIG_IMX_VIDEO_SKIP) += video.o
+obj-$(CONFIG_IMX_RDC) += rdc-sema.o
 obj-$(CONFIG_SECURE_BOOT)    += hab.o
 endif
 ifeq ($(SOC),$(filter $(SOC),vf610))
diff --git a/arch/arm/imx-common/rdc-sema.c b/arch/arm/imx-common/rdc-sema.c
new file mode 100644
index 0000000..dcb5c41
--- /dev/null
+++ b/arch/arm/imx-common/rdc-sema.c
@@ -0,0 +1,183 @@
+/*
+ * Copyright (C) 2016 Freescale Semiconductor, Inc.
+ *
+ * SPDX-License-Identifier:  GPL-2.0+
+ */
+#include <common.h>
+#include <asm/io.h>
+#include <asm/arch/imx-regs.h>
+#include <asm/imx-common/rdc-sema.h>
+#include <asm/arch/imx-rdc.h>
+#include <asm-generic/errno.h>
+
+/*
+ * Check if the RDC Semaphore is required for this peripheral.
+ */
+static inline int imx_rdc_check_sema_required(int per_id)
+{
+	struct rdc_regs *imx_rdc = (struct rdc_regs *)RDC_BASE_ADDR;
+	u32 reg;
+
+	reg = readl(&imx_rdc->pdap[per_id]);
+	/*
+	 * No semaphore:
+	 * Intial value or this peripheral is assigned to only one domain
+	 */
+	if (!(reg & RDC_PDAP_SREQ_MASK))
+		return -ENOENT;
+
+	return 0;
+}
+
+/*
+ * Check the peripheral read / write access permission on Domain [dom_id].
+ */
+int imx_rdc_check_permission(int per_id, int dom_id)
+{
+	struct rdc_regs *imx_rdc = (struct rdc_regs *)RDC_BASE_ADDR;
+	u32 reg;
+
+	reg = readl(&imx_rdc->pdap[per_id]);
+	if (!(reg & RDC_PDAP_DRW_MASK(dom_id)))
+		return -EACCES;  /*No access*/
+
+	return 0;
+}
+
+/*
+ * Lock up the RDC semaphore for this peripheral if semaphore is required.
+ */
+int imx_rdc_sema_lock(int per_id)
+{
+	struct rdc_sema_regs *imx_rdc_sema;
+	int ret;
+	u8 reg;
+
+	ret = imx_rdc_check_sema_required(per_id);
+	if (ret)
+		return ret;
+
+	if (per_id < SEMA_GATES_NUM)
+		imx_rdc_sema  = (struct rdc_sema_regs *)SEMAPHORE1_BASE_ADDR;
+	else
+		imx_rdc_sema  = (struct rdc_sema_regs *)SEMAPHORE2_BASE_ADDR;
+
+	do {
+		writeb(RDC_SEMA_PROC_ID,
+		       &imx_rdc_sema->gate[per_id % SEMA_GATES_NUM]);
+		reg = readb(&imx_rdc_sema->gate[per_id % SEMA_GATES_NUM]);
+		if ((reg & RDC_SEMA_GATE_GTFSM_MASK) == RDC_SEMA_PROC_ID)
+			break;  /* Get the Semaphore*/
+	} while (1);
+
+	return 0;
+}
+
+/*
+ * Unlock the RDC semaphore for this peripheral if main CPU is the
+ * semaphore owner.
+ */
+int imx_rdc_sema_unlock(int per_id)
+{
+	struct rdc_sema_regs *imx_rdc_sema;
+	int ret;
+	u8 reg;
+
+	ret = imx_rdc_check_sema_required(per_id);
+	if (ret)
+		return ret;
+
+	if (per_id < SEMA_GATES_NUM)
+		imx_rdc_sema  = (struct rdc_sema_regs *)SEMAPHORE1_BASE_ADDR;
+	else
+		imx_rdc_sema  = (struct rdc_sema_regs *)SEMAPHORE2_BASE_ADDR;
+
+	reg = readb(&imx_rdc_sema->gate[per_id % SEMA_GATES_NUM]);
+	if ((reg & RDC_SEMA_GATE_GTFSM_MASK) != RDC_SEMA_PROC_ID)
+		return 1;	/*Not the semaphore owner */
+
+	writeb(0x0, &imx_rdc_sema->gate[per_id % SEMA_GATES_NUM]);
+
+	return 0;
+}
+
+/*
+ * Setup RDC setting for one peripheral
+ */
+int imx_rdc_setup_peri(rdc_peri_cfg_t p)
+{
+	struct rdc_regs *imx_rdc = (struct rdc_regs *)RDC_BASE_ADDR;
+	u32 reg = 0;
+	u32 share_count = 0;
+	u32 peri_id = p & RDC_PERI_MASK;
+	u32 domain = (p & RDC_DOMAIN_MASK) >> RDC_DOMAIN_SHIFT_BASE;
+
+	/* No domain assigned */
+	if (domain == 0)
+		return -EINVAL;
+
+	reg |= domain;
+
+	share_count = (domain & 0x3)
+		+ ((domain >> 2) & 0x3)
+		+ ((domain >> 4) & 0x3)
+		+ ((domain >> 6) & 0x3);
+
+	if (share_count > 0x3)
+		reg |= RDC_PDAP_SREQ_MASK;
+
+	writel(reg, &imx_rdc->pdap[peri_id]);
+
+	return 0;
+}
+
+/*
+ * Setup RDC settings for multiple peripherals
+ */
+int imx_rdc_setup_peripherals(rdc_peri_cfg_t const *peripherals_list,
+				     unsigned count)
+{
+	rdc_peri_cfg_t const *p = peripherals_list;
+	int i, ret;
+
+	for (i = 0; i < count; i++) {
+		ret = imx_rdc_setup_peri(*p);
+		if (ret)
+			return ret;
+		p++;
+	}
+
+	return 0;
+}
+
+/*
+ * Setup RDC setting for one master
+ */
+int imx_rdc_setup_ma(rdc_ma_cfg_t p)
+{
+	struct rdc_regs *imx_rdc = (struct rdc_regs *)RDC_BASE_ADDR;
+	u32 master_id = (p & RDC_MASTER_MASK) >> RDC_MASTER_SHIFT;
+	u32 domain = (p & RDC_DOMAIN_MASK) >> RDC_DOMAIN_SHIFT_BASE;
+
+	writel((domain & RDC_MDA_DID_MASK), &imx_rdc->mda[master_id]);
+
+	return 0;
+}
+
+/*
+ * Setup RDC settings for multiple masters
+ */
+int imx_rdc_setup_masters(rdc_ma_cfg_t const *masters_list, unsigned count)
+{
+	rdc_ma_cfg_t const *p = masters_list;
+	int i, ret;
+
+	for (i = 0; i < count; i++) {
+		ret = imx_rdc_setup_ma(*p);
+		if (ret)
+			return ret;
+		p++;
+	}
+
+	return 0;
+}
diff --git a/arch/arm/include/asm/arch-mx6/imx-rdc.h b/arch/arm/include/asm/arch-mx6/imx-rdc.h
new file mode 100644
index 0000000..5754f04
--- /dev/null
+++ b/arch/arm/include/asm/arch-mx6/imx-rdc.h
@@ -0,0 +1,12 @@
+/*
+ * Copyright (C) 2016 Freescale Semiconductor, Inc.
+ *
+ * SPDX-License-Identifier:  GPL-2.0+
+ */
+
+#ifndef __IMX_RDC_H__
+#define __IMX_RDC_H__
+
+#error "Please select cpu"
+
+#endif	/* __IMX_RDC_H__*/
diff --git a/arch/arm/include/asm/imx-common/rdc-sema.h b/arch/arm/include/asm/imx-common/rdc-sema.h
new file mode 100644
index 0000000..2c61e56
--- /dev/null
+++ b/arch/arm/include/asm/imx-common/rdc-sema.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2016 Freescale Semiconductor, Inc.
+ *
+ * SPDX-License-Identifier:  GPL-2.0+
+ */
+
+#ifndef __RDC_SEMA_H__
+#define __RDC_SEMA_H__
+
+/*
+ * rdc_peri_cfg_t and rdc_ma_cft_t use the same layout.
+ *
+ *   [ 23 22 | 21 20 | 19 18 | 17 16 ] | [ 15 - 8 ] | [ 7 - 0 ]
+ *      d3      d2      d1       d0    | master id  |  peri id
+ *   d[x] means domain[x], x can be [3 - 0].
+ */
+typedef u32 rdc_peri_cfg_t;
+typedef u32 rdc_ma_cfg_t;
+
+#define RDC_PERI_SHIFT		0
+#define RDC_PERI_MASK		0xFF
+
+#define RDC_DOMAIN_SHIFT_BASE	16
+#define RDC_DOMAIN_MASK		0xFF0000
+#define RDC_DOMAIN_SHIFT(x)	(RDC_DOMAIN_SHIFT_BASE + ((x << 1)))
+#define RDC_DOMAIN(x)		((rdc_peri_cfg_t)(0x3 << RDC_DOMAIN_SHIFT(x)))
+
+#define RDC_MASTER_SHIFT	8
+#define RDC_MASTER_MASK		0xFF00
+#define RDC_MASTER_CFG(master_id, domain_id) (rdc_ma_cfg_t)((master_id << 8) | \
+					(domain_id << RDC_DOMAIN_SHIFT_BASE))
+
+/* The Following macro definitions are common to i.MX6SX and i.MX7D */
+#define SEMA_GATES_NUM		64
+
+#define RDC_MDA_DID_SHIFT	0
+#define RDC_MDA_DID_MASK	(0x3 << RDC_MDA_DID_SHIFT)
+#define RDC_MDA_LCK_SHIFT	31
+#define RDC_MDA_LCK_MASK	(0x1 << RDC_MDA_LCK_SHIFT)
+
+#define RDC_PDAP_DW_SHIFT(domain)	((domain) << 1)
+#define RDC_PDAP_DR_SHIFT(domain)	(1 + RDC_PDAP_DW_SHIFT(domain))
+#define RDC_PDAP_DW_MASK(domain)	(1 << RDC_PDAP_DW_SHIFT(domain))
+#define RDC_PDAP_DR_MASK(domain)	(1 << RDC_PDAP_DR_SHIFT(domain))
+#define RDC_PDAP_DRW_MASK(domain)	(RDC_PDAP_DW_MASK(domain) | \
+					 RDC_PDAP_DR_MASK(domain))
+
+#define RDC_PDAP_SREQ_SHIFT	30
+#define RDC_PDAP_SREQ_MASK	(0x1 << RDC_PDAP_SREQ_SHIFT)
+#define RDC_PDAP_LCK_SHIFT	31
+#define RDC_PDAP_LCK_MASK	(0x1 << RDC_PDAP_LCK_SHIFT)
+
+#define RDC_MRSA_SADR_SHIFT	7
+#define RDC_MRSA_SADR_MASK	(0x1ffffff << RDC_MRSA_SADR_SHIFT)
+
+#define RDC_MREA_EADR_SHIFT	7
+#define RDC_MREA_EADR_MASK	(0x1ffffff << RDC_MREA_EADR_SHIFT)
+
+#define RDC_MRC_DW_SHIFT(domain)	(domain)
+#define RDC_MRC_DR_SHIFT(domain)	(1 + RDC_MRC_DW_SHIFT(domain))
+#define RDC_MRC_DW_MASK(domain)		(1 << RDC_MRC_DW_SHIFT(domain))
+#define RDC_MRC_DR_MASK(domain)		(1 << RDC_MRC_DR_SHIFT(domain))
+#define RDC_MRC_DRW_MASK(domain)	(RDC_MRC_DW_MASK(domain) | \
+					 RDC_MRC_DR_MASK(domain))
+#define RDC_MRC_ENA_SHIFT	30
+#define RDC_MRC_ENA_MASK	(0x1 << RDC_MRC_ENA_SHIFT)
+#define RDC_MRC_LCK_SHIFT	31
+#define RDC_MRC_LCK_MASK	(0x1 << RDC_MRC_LCK_SHIFT)
+
+#define RDC_MRVS_VDID_SHIFT	0
+#define RDC_MRVS_VDID_MASK	(0x3 << RDC_MRVS_VDID_SHIFT)
+#define RDC_MRVS_AD_SHIFT	4
+#define RDC_MRVS_AD_MASK	(0x1 << RDC_MRVS_AD_SHIFT)
+#define RDC_MRVS_VADDR_SHIFT	5
+#define RDC_MRVS_VADDR_MASK	(0x7ffffff << RDC_MRVS_VADDR_SHIFT)
+
+#define RDC_SEMA_GATE_GTFSM_SHIFT	0
+#define RDC_SEMA_GATE_GTFSM_MASK	(0xf << RDC_SEMA_GATE_GTFSM_SHIFT)
+#define RDC_SEMA_GATE_LDOM_SHIFT	5
+#define RDC_SEMA_GATE_LDOM_MASK		(0x3 << RDC_SEMA_GATE_LDOM_SHIFT)
+
+#define RDC_SEMA_RSTGT_RSTGDP_SHIFT	0
+#define RDC_SEMA_RSTGT_RSTGDP_MASK	(0xff << RDC_SEMA_RSTGT_RSTGDP_SHIFT)
+#define RDC_SEMA_RSTGT_RSTGSM_SHIFT	2
+#define RDC_SEMA_RSTGT_RSTGSM_MASK	(0x3 << RDC_SEMA_RSTGT_RSTGSM_SHIFT)
+#define RDC_SEMA_RSTGT_RSTGMS_SHIFT	4
+#define RDC_SEMA_RSTGT_RSTGMS_MASK	(0xf << RDC_SEMA_RSTGT_RSTGMS_SHIFT)
+#define RDC_SEMA_RSTGT_RSTGTN_SHIFT	8
+#define RDC_SEMA_RSTGT_RSTGTN_MASK	(0xff << RDC_SEMA_RSTGT_RSTGTN_SHIFT)
+
+int imx_rdc_check_permission(int per_id, int dom_id);
+int imx_rdc_sema_lock(int per_id);
+int imx_rdc_sema_unlock(int per_id);
+int imx_rdc_setup_peri(rdc_peri_cfg_t p);
+int imx_rdc_setup_peripherals(rdc_peri_cfg_t const *peripherals_list,
+			      unsigned count);
+int imx_rdc_setup_ma(rdc_ma_cfg_t p);
+int imx_rdc_setup_masters(rdc_ma_cfg_t const *masters_list, unsigned count);
+
+#endif	/* __RDC_SEMA_H__*/