diff --git a/arch/arm/mach-k3/Kconfig b/arch/arm/mach-k3/Kconfig
index 9f5e8e5..e677a2e 100644
--- a/arch/arm/mach-k3/Kconfig
+++ b/arch/arm/mach-k3/Kconfig
@@ -58,5 +58,12 @@
 	int
 	default 16
 
+config SYS_K3_SPL_ATF
+	bool "Start Cortex-A from SPL"
+	depends on SPL && CPU_V7R
+	help
+	  Enabling this will try to start Cortex-A (typically with ATF)
+	  after SPL from R5.
+
 source "board/ti/am65x/Kconfig"
 endif
diff --git a/arch/arm/mach-k3/Makefile b/arch/arm/mach-k3/Makefile
index 619733f..406dda3 100644
--- a/arch/arm/mach-k3/Makefile
+++ b/arch/arm/mach-k3/Makefile
@@ -6,3 +6,4 @@
 obj-$(CONFIG_SOC_K3_AM6) += am6_init.o
 obj-$(CONFIG_ARM64) += arm64-mmu.o
 obj-$(CONFIG_CPU_V7R) += r5_mpu.o
+obj-y += common.o
diff --git a/arch/arm/mach-k3/common.c b/arch/arm/mach-k3/common.c
new file mode 100644
index 0000000..cc89d4a
--- /dev/null
+++ b/arch/arm/mach-k3/common.c
@@ -0,0 +1,52 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * K3: Common Architecture initialization
+ *
+ * Copyright (C) 2018 Texas Instruments Incorporated - http://www.ti.com/
+ *	Lokesh Vutla <lokeshvutla@ti.com>
+ */
+
+#include <common.h>
+#include <spl.h>
+#include "common.h"
+#include <dm.h>
+#include <remoteproc.h>
+
+#ifdef CONFIG_SYS_K3_SPL_ATF
+void __noreturn jump_to_image_no_args(struct spl_image_info *spl_image)
+{
+	int ret;
+
+	/*
+	 * It is assumed that remoteproc device 1 is the corresponding
+	 * cortex A core which runs ATF. Make sure DT reflects the same.
+	 */
+	ret = rproc_dev_init(1);
+	if (ret) {
+		printf("%s: ATF failed to Initialize on rproc: ret= %d\n",
+		       __func__, ret);
+		hang();
+	}
+
+	ret = rproc_load(1, spl_image->entry_point, 0x200);
+	if (ret) {
+		printf("%s: ATF failed to load on rproc: ret= %d\n",
+		       __func__, ret);
+		hang();
+	}
+
+	/* Add an extra newline to differentiate the ATF logs from SPL*/
+	printf("Starting ATF on ARM64 core...\n\n");
+
+	ret = rproc_start(1);
+	if (ret) {
+		printf("%s: ATF failed to start on rproc: ret= %d\n",
+		       __func__, ret);
+		hang();
+	}
+
+	debug("ATF started. Wait indefiniely\n");
+	while (1)
+		asm volatile("wfe");
+}
+#endif