diff --git a/drivers/pci/controller/Kconfig b/drivers/pci/controller/Kconfig
index cfdc898450d0..1f9793467f6d 100644
--- a/drivers/pci/controller/Kconfig
+++ b/drivers/pci/controller/Kconfig
@@ -71,6 +71,14 @@ config PCIE_RCAR_HOST
 	  Say Y here if you want PCIe controller support on R-Car SoCs in host
 	  mode.
 
+config PCIE_RCAR_EP
+	bool "Renesas R-Car PCIe endpoint controller"
+	depends on ARCH_RENESAS || COMPILE_TEST
+	depends on PCI_ENDPOINT
+	help
+	  Say Y here if you want PCIe controller support on R-Car SoCs in
+	  endpoint mode.
+
 config PCI_HOST_COMMON
 	bool
 	select PCI_ECAM
diff --git a/drivers/pci/controller/Makefile b/drivers/pci/controller/Makefile
index 39802ee32946..741a5204aa5e 100644
--- a/drivers/pci/controller/Makefile
+++ b/drivers/pci/controller/Makefile
@@ -8,6 +8,7 @@ obj-$(CONFIG_PCI_AARDVARK) += pci-aardvark.o
 obj-$(CONFIG_PCI_TEGRA) += pci-tegra.o
 obj-$(CONFIG_PCI_RCAR_GEN2) += pci-rcar-gen2.o
 obj-$(CONFIG_PCIE_RCAR_HOST) += pcie-rcar.o pcie-rcar-host.o
+obj-$(CONFIG_PCIE_RCAR_EP) += pcie-rcar.o pcie-rcar-ep.o
 obj-$(CONFIG_PCI_HOST_COMMON) += pci-host-common.o
 obj-$(CONFIG_PCI_HOST_GENERIC) += pci-host-generic.o
 obj-$(CONFIG_PCIE_XILINX) += pcie-xilinx.o
diff --git a/drivers/pci/controller/pcie-rcar-ep.c b/drivers/pci/controller/pcie-rcar-ep.c
new file mode 100644
index 000000000000..de2e5c768194
--- /dev/null
+++ b/drivers/pci/controller/pcie-rcar-ep.c
@@ -0,0 +1,555 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * PCIe endpoint driver for Renesas R-Car SoCs
+ *  Copyright (c) 2020 Renesas Electronics Europe GmbH
+ *
+ * Author: Lad Prabhakar <prabhakar.mahadev-lad.rj@bp.renesas.com>
+ */
+
+#include <linux/clk.h>
+#include <linux/delay.h>
+#include <linux/of_address.h>
+#include <linux/of_irq.h>
+#include <linux/of_pci.h>
+#include <linux/of_platform.h>
+#include <linux/pci.h>
+#include <linux/pci-epc.h>
+#include <linux/phy/phy.h>
+#include <linux/platform_device.h>
+
+#include "pcie-rcar.h"
+
+/* Structure representing the PCIe interface */
+struct rcar_pcie_endpoint {
+	struct rcar_pcie	pcie;
+	phys_addr_t		*ob_mapped_addr;
+	struct pci_epc_mem_window *ob_window;
+	u8			max_functions;
+	unsigned int		bar_to_atu[MAX_NR_INBOUND_MAPS];
+	unsigned long		*ib_window_map;
+	u32			num_ib_windows;
+	u32			num_ob_windows;
+};
+
+static void rcar_pcie_ep_hw_init(struct rcar_pcie *pcie)
+{
+	u32 val;
+
+	rcar_pci_write_reg(pcie, 0, PCIETCTLR);
+
+	/* Set endpoint mode */
+	rcar_pci_write_reg(pcie, 0, PCIEMSR);
+
+	/* Initialize default capabilities. */
+	rcar_rmw32(pcie, REXPCAP(0), 0xff, PCI_CAP_ID_EXP);
+	rcar_rmw32(pcie, REXPCAP(PCI_EXP_FLAGS),
+		   PCI_EXP_FLAGS_TYPE, PCI_EXP_TYPE_ENDPOINT << 4);
+	rcar_rmw32(pcie, RCONF(PCI_HEADER_TYPE), 0x7f,
+		   PCI_HEADER_TYPE_NORMAL);
+
+	/* Write out the physical slot number = 0 */
+	rcar_rmw32(pcie, REXPCAP(PCI_EXP_SLTCAP), PCI_EXP_SLTCAP_PSN, 0);
+
+	val = rcar_pci_read_reg(pcie, EXPCAP(1));
+	/* device supports fixed 128 bytes MPSS */
+	val &= ~GENMASK(2, 0);
+	rcar_pci_write_reg(pcie, val, EXPCAP(1));
+
+	val = rcar_pci_read_reg(pcie, EXPCAP(2));
+	/* read requests size 128 bytes */
+	val &= ~GENMASK(14, 12);
+	/* payload size 128 bytes */
+	val &= ~GENMASK(7, 5);
+	rcar_pci_write_reg(pcie, val, EXPCAP(2));
+
+	/* Set target link speed to 5.0 GT/s */
+	rcar_rmw32(pcie, EXPCAP(12), PCI_EXP_LNKSTA_CLS,
+		   PCI_EXP_LNKSTA_CLS_5_0GB);
+
+	/* Set the completion timer timeout to the maximum 50ms. */
+	rcar_rmw32(pcie, TLCTLR + 1, 0x3f, 50);
+
+	/* Terminate list of capabilities (Next Capability Offset=0) */
+	rcar_rmw32(pcie, RVCCAP(0), 0xfff00000, 0);
+
+	/* flush modifications */
+	wmb();
+}
+
+static int rcar_pcie_ep_get_window(struct rcar_pcie_endpoint *ep,
+				   phys_addr_t addr)
+{
+	int i;
+
+	for (i = 0; i < ep->num_ob_windows; i++)
+		if (ep->ob_window[i].phys_base == addr)
+			return i;
+
+	return -EINVAL;
+}
+
+static int rcar_pcie_parse_outbound_ranges(struct rcar_pcie_endpoint *ep,
+					   struct platform_device *pdev)
+{
+	struct rcar_pcie *pcie = &ep->pcie;
+	char outbound_name[10];
+	struct resource *res;
+	unsigned int i = 0;
+
+	ep->num_ob_windows = 0;
+	for (i = 0; i < RCAR_PCI_MAX_RESOURCES; i++) {
+		sprintf(outbound_name, "memory%u", i);
+		res = platform_get_resource_byname(pdev,
+						   IORESOURCE_MEM,
+						   outbound_name);
+		if (!res) {
+			dev_err(pcie->dev, "missing outbound window %u\n", i);
+			return -EINVAL;
+		}
+		if (!devm_request_mem_region(&pdev->dev, res->start,
+					     resource_size(res),
+					     outbound_name)) {
+			dev_err(pcie->dev, "Cannot request memory region %s.\n",
+				outbound_name);
+			return -EIO;
+		}
+
+		ep->ob_window[i].phys_base = res->start;
+		ep->ob_window[i].size = resource_size(res);
+		/* controller doesn't support multiple allocation
+		 * from same window, so set page_size to window size
+		 */
+		ep->ob_window[i].page_size = resource_size(res);
+	}
+	ep->num_ob_windows = i;
+
+	return 0;
+}
+
+static int rcar_pcie_ep_get_pdata(struct rcar_pcie_endpoint *ep,
+				  struct platform_device *pdev)
+{
+	struct rcar_pcie *pcie = &ep->pcie;
+	struct pci_epc_mem_window *window;
+	struct device *dev = pcie->dev;
+	struct resource res;
+	int err;
+
+	err = of_address_to_resource(dev->of_node, 0, &res);
+	if (err)
+		return err;
+	pcie->base = devm_ioremap_resource(dev, &res);
+	if (IS_ERR(pcie->base))
+		return PTR_ERR(pcie->base);
+
+	ep->ob_window = devm_kcalloc(dev, RCAR_PCI_MAX_RESOURCES,
+				     sizeof(*window), GFP_KERNEL);
+	if (!ep->ob_window)
+		return -ENOMEM;
+
+	rcar_pcie_parse_outbound_ranges(ep, pdev);
+
+	err = of_property_read_u8(dev->of_node, "max-functions",
+				  &ep->max_functions);
+	if (err < 0)
+		ep->max_functions = 1;
+
+	return 0;
+}
+
+static int rcar_pcie_ep_write_header(struct pci_epc *epc, u8 fn,
+				     struct pci_epf_header *hdr)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+	struct rcar_pcie *pcie = &ep->pcie;
+	u32 val;
+
+	if (!fn)
+		val = hdr->vendorid;
+	else
+		val = rcar_pci_read_reg(pcie, IDSETR0);
+	val |= hdr->deviceid << 16;
+	rcar_pci_write_reg(pcie, val, IDSETR0);
+
+	val = hdr->revid;
+	val |= hdr->progif_code << 8;
+	val |= hdr->subclass_code << 16;
+	val |= hdr->baseclass_code << 24;
+	rcar_pci_write_reg(pcie, val, IDSETR1);
+
+	if (!fn)
+		val = hdr->subsys_vendor_id;
+	else
+		val = rcar_pci_read_reg(pcie, SUBIDSETR);
+	val |= hdr->subsys_id << 16;
+	rcar_pci_write_reg(pcie, val, SUBIDSETR);
+
+	if (hdr->interrupt_pin > PCI_INTERRUPT_INTA)
+		return -EINVAL;
+	val = rcar_pci_read_reg(pcie, PCICONF(15));
+	val |= (hdr->interrupt_pin << 8);
+	rcar_pci_write_reg(pcie, val, PCICONF(15));
+
+	return 0;
+}
+
+static int rcar_pcie_ep_set_bar(struct pci_epc *epc, u8 func_no,
+				struct pci_epf_bar *epf_bar)
+{
+	int flags = epf_bar->flags | LAR_ENABLE | LAM_64BIT;
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+	u64 size = 1ULL << fls64(epf_bar->size - 1);
+	dma_addr_t cpu_addr = epf_bar->phys_addr;
+	enum pci_barno bar = epf_bar->barno;
+	struct rcar_pcie *pcie = &ep->pcie;
+	u32 mask;
+	int idx;
+	int err;
+
+	idx = find_first_zero_bit(ep->ib_window_map, ep->num_ib_windows);
+	if (idx >= ep->num_ib_windows) {
+		dev_err(pcie->dev, "no free inbound window\n");
+		return -EINVAL;
+	}
+
+	if ((flags & PCI_BASE_ADDRESS_SPACE) == PCI_BASE_ADDRESS_SPACE_IO)
+		flags |= IO_SPACE;
+
+	ep->bar_to_atu[bar] = idx;
+	/* use 64-bit BARs */
+	set_bit(idx, ep->ib_window_map);
+	set_bit(idx + 1, ep->ib_window_map);
+
+	if (cpu_addr > 0) {
+		unsigned long nr_zeros = __ffs64(cpu_addr);
+		u64 alignment = 1ULL << nr_zeros;
+
+		size = min(size, alignment);
+	}
+
+	size = min(size, 1ULL << 32);
+
+	mask = roundup_pow_of_two(size) - 1;
+	mask &= ~0xf;
+
+	rcar_pcie_set_inbound(pcie, cpu_addr,
+			      0x0, mask | flags, idx, false);
+
+	err = rcar_pcie_wait_for_phyrdy(pcie);
+	if (err) {
+		dev_err(pcie->dev, "phy not ready\n");
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static void rcar_pcie_ep_clear_bar(struct pci_epc *epc, u8 fn,
+				   struct pci_epf_bar *epf_bar)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+	enum pci_barno bar = epf_bar->barno;
+	u32 atu_index = ep->bar_to_atu[bar];
+
+	rcar_pcie_set_inbound(&ep->pcie, 0x0, 0x0, 0x0, bar, false);
+
+	clear_bit(atu_index, ep->ib_window_map);
+	clear_bit(atu_index + 1, ep->ib_window_map);
+}
+
+static int rcar_pcie_ep_set_msi(struct pci_epc *epc, u8 fn, u8 interrupts)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+	struct rcar_pcie *pcie = &ep->pcie;
+	u32 flags;
+
+	flags = rcar_pci_read_reg(pcie, MSICAP(fn));
+	flags |= interrupts << MSICAP0_MMESCAP_OFFSET;
+	rcar_pci_write_reg(pcie, flags, MSICAP(fn));
+
+	return 0;
+}
+
+static int rcar_pcie_ep_get_msi(struct pci_epc *epc, u8 fn)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+	struct rcar_pcie *pcie = &ep->pcie;
+	u32 flags;
+
+	flags = rcar_pci_read_reg(pcie, MSICAP(fn));
+	if (!(flags & MSICAP0_MSIE))
+		return -EINVAL;
+
+	return ((flags & MSICAP0_MMENUM_MASK) >> MSICAP0_MMENUM_OFFSET);
+}
+
+static int rcar_pcie_ep_map_addr(struct pci_epc *epc, u8 fn,
+				 phys_addr_t addr, u64 pci_addr, size_t size)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+	struct rcar_pcie *pcie = &ep->pcie;
+	struct resource res;
+	int window;
+	int err;
+
+	/* check if we have a link. */
+	err = rcar_pcie_wait_for_dl(pcie);
+	if (err) {
+		dev_err(pcie->dev, "link not up\n");
+		return err;
+	}
+
+	window = rcar_pcie_ep_get_window(ep, addr);
+	if (window < 0) {
+		dev_err(pcie->dev, "failed to get corresponding window\n");
+		return -EINVAL;
+	}
+
+	memset(&res, 0x0, sizeof(res));
+	res.start = pci_addr;
+	res.end = pci_addr + size - 1;
+	res.flags = IORESOURCE_MEM;
+
+	rcar_pcie_set_outbound(pcie, window, &res);
+
+	ep->ob_mapped_addr[window] = addr;
+
+	return 0;
+}
+
+static void rcar_pcie_ep_unmap_addr(struct pci_epc *epc, u8 fn,
+				    phys_addr_t addr)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+	struct resource res;
+	int idx;
+
+	for (idx = 0; idx < ep->num_ob_windows; idx++)
+		if (ep->ob_mapped_addr[idx] == addr)
+			break;
+
+	if (idx >= ep->num_ob_windows)
+		return;
+
+	memset(&res, 0x0, sizeof(res));
+	rcar_pcie_set_outbound(&ep->pcie, idx, &res);
+
+	ep->ob_mapped_addr[idx] = 0;
+}
+
+static int rcar_pcie_ep_assert_intx(struct rcar_pcie_endpoint *ep,
+				    u8 fn, u8 intx)
+{
+	struct rcar_pcie *pcie = &ep->pcie;
+	u32 val;
+
+	val = rcar_pci_read_reg(pcie, PCIEMSITXR);
+	if ((val & PCI_MSI_FLAGS_ENABLE)) {
+		dev_err(pcie->dev, "MSI is enabled, cannot assert INTx\n");
+		return -EINVAL;
+	}
+
+	val = rcar_pci_read_reg(pcie, PCICONF(1));
+	if ((val & INTDIS)) {
+		dev_err(pcie->dev, "INTx message transmission is disabled\n");
+		return -EINVAL;
+	}
+
+	val = rcar_pci_read_reg(pcie, PCIEINTXR);
+	if ((val & ASTINTX)) {
+		dev_err(pcie->dev, "INTx is already asserted\n");
+		return -EINVAL;
+	}
+
+	val |= ASTINTX;
+	rcar_pci_write_reg(pcie, val, PCIEINTXR);
+	mdelay(1);
+	val = rcar_pci_read_reg(pcie, PCIEINTXR);
+	val &= ~ASTINTX;
+	rcar_pci_write_reg(pcie, val, PCIEINTXR);
+
+	return 0;
+}
+
+static int rcar_pcie_ep_assert_msi(struct rcar_pcie *pcie,
+				   u8 fn, u8 interrupt_num)
+{
+	u16 msi_count;
+	u32 val;
+
+	/* Check MSI enable bit */
+	val = rcar_pci_read_reg(pcie, MSICAP(fn));
+	if (!(val & MSICAP0_MSIE))
+		return -EINVAL;
+
+	/* Get MSI numbers from MME */
+	msi_count = ((val & MSICAP0_MMENUM_MASK) >> MSICAP0_MMENUM_OFFSET);
+	msi_count = 1 << msi_count;
+
+	if (!interrupt_num || interrupt_num > msi_count)
+		return -EINVAL;
+
+	val = rcar_pci_read_reg(pcie, PCIEMSITXR);
+	rcar_pci_write_reg(pcie, val | (interrupt_num - 1), PCIEMSITXR);
+
+	return 0;
+}
+
+static int rcar_pcie_ep_raise_irq(struct pci_epc *epc, u8 fn,
+				  enum pci_epc_irq_type type,
+				  u16 interrupt_num)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+
+	switch (type) {
+	case PCI_EPC_IRQ_LEGACY:
+		return rcar_pcie_ep_assert_intx(ep, fn, 0);
+
+	case PCI_EPC_IRQ_MSI:
+		return rcar_pcie_ep_assert_msi(&ep->pcie, fn, interrupt_num);
+
+	default:
+		return -EINVAL;
+	}
+}
+
+static int rcar_pcie_ep_start(struct pci_epc *epc)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+
+	rcar_pci_write_reg(&ep->pcie, MACCTLR_INIT_VAL, MACCTLR);
+	rcar_pci_write_reg(&ep->pcie, CFINIT, PCIETCTLR);
+
+	return 0;
+}
+
+static void rcar_pcie_ep_stop(struct pci_epc *epc)
+{
+	struct rcar_pcie_endpoint *ep = epc_get_drvdata(epc);
+
+	rcar_pci_write_reg(&ep->pcie, 0, PCIETCTLR);
+}
+
+static const struct pci_epc_features rcar_pcie_epc_features = {
+	.linkup_notifier = false,
+	.msi_capable = true,
+	.msix_capable = false,
+	/* use 64-bit BARs so mark BAR[1,3,5] as reserved */
+	.reserved_bar = 1 << BAR_1 | 1 << BAR_3 | 1 << BAR_5,
+	.bar_fixed_64bit = 1 << BAR_0 | 1 << BAR_2 | 1 << BAR_4,
+	.bar_fixed_size[0] = 128,
+	.bar_fixed_size[2] = 256,
+	.bar_fixed_size[4] = 256,
+};
+
+static const struct pci_epc_features*
+rcar_pcie_ep_get_features(struct pci_epc *epc, u8 func_no)
+{
+	return &rcar_pcie_epc_features;
+}
+
+static const struct pci_epc_ops rcar_pcie_epc_ops = {
+	.write_header	= rcar_pcie_ep_write_header,
+	.set_bar	= rcar_pcie_ep_set_bar,
+	.clear_bar	= rcar_pcie_ep_clear_bar,
+	.set_msi	= rcar_pcie_ep_set_msi,
+	.get_msi	= rcar_pcie_ep_get_msi,
+	.map_addr	= rcar_pcie_ep_map_addr,
+	.unmap_addr	= rcar_pcie_ep_unmap_addr,
+	.raise_irq	= rcar_pcie_ep_raise_irq,
+	.start		= rcar_pcie_ep_start,
+	.stop		= rcar_pcie_ep_stop,
+	.get_features	= rcar_pcie_ep_get_features,
+};
+
+static const struct of_device_id rcar_pcie_ep_of_match[] = {
+	{ .compatible = "renesas,r8a774c0-pcie-ep", },
+	{ .compatible = "renesas,rcar-gen3-pcie-ep" },
+	{ },
+};
+
+static int rcar_pcie_ep_probe(struct platform_device *pdev)
+{
+	struct device *dev = &pdev->dev;
+	struct rcar_pcie_endpoint *ep;
+	struct rcar_pcie *pcie;
+	struct pci_epc *epc;
+	int err;
+
+	ep = devm_kzalloc(dev, sizeof(*ep), GFP_KERNEL);
+	if (!ep)
+		return -ENOMEM;
+
+	pcie = &ep->pcie;
+	pcie->dev = dev;
+
+	pm_runtime_enable(dev);
+	err = pm_runtime_get_sync(dev);
+	if (err < 0) {
+		dev_err(dev, "pm_runtime_get_sync failed\n");
+		goto err_pm_disable;
+	}
+
+	err = rcar_pcie_ep_get_pdata(ep, pdev);
+	if (err < 0) {
+		dev_err(dev, "failed to request resources: %d\n", err);
+		goto err_pm_put;
+	}
+
+	ep->num_ib_windows = MAX_NR_INBOUND_MAPS;
+	ep->ib_window_map =
+			devm_kcalloc(dev, BITS_TO_LONGS(ep->num_ib_windows),
+				     sizeof(long), GFP_KERNEL);
+	if (!ep->ib_window_map) {
+		err = -ENOMEM;
+		dev_err(dev, "failed to allocate memory for inbound map\n");
+		goto err_pm_put;
+	}
+
+	ep->ob_mapped_addr = devm_kcalloc(dev, ep->num_ob_windows,
+					  sizeof(*ep->ob_mapped_addr),
+					  GFP_KERNEL);
+	if (!ep->ob_mapped_addr) {
+		err = -ENOMEM;
+		dev_err(dev, "failed to allocate memory for outbound memory pointers\n");
+		goto err_pm_put;
+	}
+
+	epc = devm_pci_epc_create(dev, &rcar_pcie_epc_ops);
+	if (IS_ERR(epc)) {
+		dev_err(dev, "failed to create epc device\n");
+		err = PTR_ERR(epc);
+		goto err_pm_put;
+	}
+
+	epc->max_functions = ep->max_functions;
+	epc_set_drvdata(epc, ep);
+
+	rcar_pcie_ep_hw_init(pcie);
+
+	err = pci_epc_multi_mem_init(epc, ep->ob_window, ep->num_ob_windows);
+	if (err < 0) {
+		dev_err(dev, "failed to initialize the epc memory space\n");
+		goto err_pm_put;
+	}
+
+	return 0;
+
+err_pm_put:
+	pm_runtime_put(dev);
+
+err_pm_disable:
+	pm_runtime_disable(dev);
+
+	return err;
+}
+
+static struct platform_driver rcar_pcie_ep_driver = {
+	.driver = {
+		.name = "rcar-pcie-ep",
+		.of_match_table = rcar_pcie_ep_of_match,
+		.suppress_bind_attrs = true,
+	},
+	.probe = rcar_pcie_ep_probe,
+};
+builtin_platform_driver(rcar_pcie_ep_driver);
diff --git a/drivers/pci/controller/pcie-rcar.h b/drivers/pci/controller/pcie-rcar.h
index cec7768b4725..0fbeff3d7b78 100644
--- a/drivers/pci/controller/pcie-rcar.h
+++ b/drivers/pci/controller/pcie-rcar.h
@@ -17,6 +17,7 @@
 #define PCIECDR			0x000020
 #define PCIEMSR			0x000028
 #define PCIEINTXR		0x000400
+#define  ASTINTX		BIT(16)
 #define PCIEPHYSR		0x0007f0
 #define  PHYRDY			BIT(0)
 #define PCIEMSITXR		0x000840
@@ -55,12 +56,20 @@
 
 /* Configuration */
 #define PCICONF(x)		(0x010000 + ((x) * 0x4))
+#define  INTDIS			BIT(10)
 #define PMCAP(x)		(0x010040 + ((x) * 0x4))
+#define MSICAP(x)		(0x010050 + ((x) * 0x4))
+#define  MSICAP0_MSIE		BIT(16)
+#define  MSICAP0_MMESCAP_OFFSET	17
+#define  MSICAP0_MMENUM_OFFSET	20
+#define  MSICAP0_MMENUM_MASK	GENMASK(22, 20)
 #define EXPCAP(x)		(0x010070 + ((x) * 0x4))
 #define VCCAP(x)		(0x010100 + ((x) * 0x4))
 
 /* link layer */
+#define IDSETR0			0x011000
 #define IDSETR1			0x011004
+#define SUBIDSETR		0x011024
 #define TLCTLR			0x011048
 #define MACSR			0x011054
 #define  SPCHGFIN		BIT(4)
