diff --git a/drivers/pinctrl/Kconfig b/drivers/pinctrl/Kconfig
index 57d57af1f624..ee48273893fd 100644
--- a/drivers/pinctrl/Kconfig
+++ b/drivers/pinctrl/Kconfig
@@ -480,6 +480,21 @@ config PINCTRL_TB10X
 	depends on OF && ARC_PLAT_TB10X
 	select GPIOLIB
 
+config PINCTRL_TPS6594
+	tristate "Pinctrl and GPIO driver for TI TPS6594 PMIC"
+	depends on MFD_TPS6594
+	default MFD_TPS6594
+	select PINMUX
+	select GPIOLIB
+	select REGMAP
+	select GPIO_REGMAP
+	help
+	  Say Y to select the pinmuxing and GPIOs driver for the TPS6594
+	  PMICs chip family.
+
+	  This driver can also be built as a module
+	  called tps6594-pinctrl.
+
 config PINCTRL_ZYNQ
 	bool "Pinctrl driver for Xilinx Zynq"
 	depends on ARCH_ZYNQ
diff --git a/drivers/pinctrl/Makefile b/drivers/pinctrl/Makefile
index 482b391b5deb..f87dfad364d4 100644
--- a/drivers/pinctrl/Makefile
+++ b/drivers/pinctrl/Makefile
@@ -49,6 +49,7 @@ obj-$(CONFIG_PINCTRL_ST) 	+= pinctrl-st.o
 obj-$(CONFIG_PINCTRL_STMFX) 	+= pinctrl-stmfx.o
 obj-$(CONFIG_PINCTRL_SX150X)	+= pinctrl-sx150x.o
 obj-$(CONFIG_PINCTRL_TB10X)	+= pinctrl-tb10x.o
+obj-$(CONFIG_PINCTRL_TPS6594)	+= pinctrl-tps6594.o
 obj-$(CONFIG_PINCTRL_ZYNQMP)	+= pinctrl-zynqmp.o
 obj-$(CONFIG_PINCTRL_ZYNQ)	+= pinctrl-zynq.o
 
diff --git a/drivers/pinctrl/pinctrl-tps6594.c b/drivers/pinctrl/pinctrl-tps6594.c
new file mode 100644
index 000000000000..cdf9f986becf
--- /dev/null
+++ b/drivers/pinctrl/pinctrl-tps6594.c
@@ -0,0 +1,366 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Pinmux and GPIO driver for tps6594 PMIC
+ *
+ * Copyright (C) 2023 BayLibre Incorporated - https://www.baylibre.com/
+ */
+
+#include <linux/gpio/driver.h>
+#include <linux/gpio/regmap.h>
+#include <linux/module.h>
+#include <linux/pinctrl/pinmux.h>
+#include <linux/platform_device.h>
+
+#include <linux/mfd/tps6594.h>
+
+#define TPS6594_PINCTRL_PINS_NB 11
+
+#define TPS6594_PINCTRL_GPIO_FUNCTION 0
+#define TPS6594_PINCTRL_SCL_I2C2_CS_SPI_FUNCTION 1
+#define TPS6594_PINCTRL_TRIG_WDOG_FUNCTION 1
+#define TPS6594_PINCTRL_CLK32KOUT_FUNCTION 1
+#define TPS6594_PINCTRL_SCLK_SPMI_FUNCTION 1
+#define TPS6594_PINCTRL_SDATA_SPMI_FUNCTION 1
+#define TPS6594_PINCTRL_NERR_MCU_FUNCTION 1
+#define TPS6594_PINCTRL_PDOG_FUNCTION 1
+#define TPS6594_PINCTRL_SYNCCLKIN_FUNCTION 1
+#define TPS6594_PINCTRL_NRSTOUT_SOC_FUNCTION 2
+#define TPS6594_PINCTRL_SYNCCLKOUT_FUNCTION 2
+#define TPS6594_PINCTRL_SDA_I2C2_SDO_SPI_FUNCTION 2
+#define TPS6594_PINCTRL_NERR_SOC_FUNCTION 2
+#define TPS6594_PINCTRL_DISABLE_WDOG_FUNCTION 3
+#define TPS6594_PINCTRL_NSLEEP1_FUNCTION 4
+#define TPS6594_PINCTRL_NSLEEP2_FUNCTION 5
+#define TPS6594_PINCTRL_WKUP1_FUNCTION 6
+#define TPS6594_PINCTRL_WKUP2_FUNCTION 7
+
+/* Special muxval for recalcitrant pins */
+#define TPS6594_PINCTRL_DISABLE_WDOG_FUNCTION_GPIO8 2
+#define TPS6594_PINCTRL_SYNCCLKOUT_FUNCTION_GPIO8 3
+#define TPS6594_PINCTRL_CLK32KOUT_FUNCTION_GPIO9 3
+
+#define TPS6594_OFFSET_GPIO_SEL 5
+
+#define FUNCTION(fname, v)									\
+{											\
+	.pinfunction = PINCTRL_PINFUNCTION(#fname,					\
+					tps6594_##fname##_func_group_names,		\
+					ARRAY_SIZE(tps6594_##fname##_func_group_names)),\
+	.muxval = v,									\
+}
+
+static const struct pinctrl_pin_desc tps6594_pins[TPS6594_PINCTRL_PINS_NB] = {
+	PINCTRL_PIN(0, "GPIO0"),   PINCTRL_PIN(1, "GPIO1"),
+	PINCTRL_PIN(2, "GPIO2"),   PINCTRL_PIN(3, "GPIO3"),
+	PINCTRL_PIN(4, "GPIO4"),   PINCTRL_PIN(5, "GPIO5"),
+	PINCTRL_PIN(6, "GPIO6"),   PINCTRL_PIN(7, "GPIO7"),
+	PINCTRL_PIN(8, "GPIO8"),   PINCTRL_PIN(9, "GPIO9"),
+	PINCTRL_PIN(10, "GPIO10"),
+};
+
+static const char *const tps6594_gpio_func_group_names[] = {
+	"GPIO0", "GPIO1", "GPIO2", "GPIO3", "GPIO4", "GPIO5",
+	"GPIO6", "GPIO7", "GPIO8", "GPIO9", "GPIO10",
+};
+
+static const char *const tps6594_nsleep1_func_group_names[] = {
+	"GPIO0", "GPIO1", "GPIO2", "GPIO3", "GPIO4", "GPIO5",
+	"GPIO6", "GPIO7", "GPIO8", "GPIO9", "GPIO10",
+};
+
+static const char *const tps6594_nsleep2_func_group_names[] = {
+	"GPIO0", "GPIO1", "GPIO2", "GPIO3", "GPIO4", "GPIO5",
+	"GPIO6", "GPIO7", "GPIO8", "GPIO9", "GPIO10",
+};
+
+static const char *const tps6594_wkup1_func_group_names[] = {
+	"GPIO0", "GPIO1", "GPIO2", "GPIO3", "GPIO4", "GPIO5",
+	"GPIO6", "GPIO7", "GPIO8", "GPIO9", "GPIO10",
+};
+
+static const char *const tps6594_wkup2_func_group_names[] = {
+	"GPIO0", "GPIO1", "GPIO2", "GPIO3", "GPIO4", "GPIO5",
+	"GPIO6", "GPIO7", "GPIO8", "GPIO9", "GPIO10",
+};
+
+static const char *const tps6594_scl_i2c2_cs_spi_func_group_names[] = {
+	"GPIO0",
+	"GPIO1",
+};
+
+static const char *const tps6594_nrstout_soc_func_group_names[] = {
+	"GPIO0",
+	"GPIO10",
+};
+
+static const char *const tps6594_trig_wdog_func_group_names[] = {
+	"GPIO1",
+	"GPIO10",
+};
+
+static const char *const tps6594_sda_i2c2_sdo_spi_func_group_names[] = {
+	"GPIO1",
+};
+
+static const char *const tps6594_clk32kout_func_group_names[] = {
+	"GPIO2",
+	"GPIO3",
+	"GPIO7",
+};
+
+static const char *const tps6594_nerr_soc_func_group_names[] = {
+	"GPIO2",
+};
+
+static const char *const tps6594_sclk_spmi_func_group_names[] = {
+	"GPIO4",
+};
+
+static const char *const tps6594_sdata_spmi_func_group_names[] = {
+	"GPIO5",
+};
+
+static const char *const tps6594_nerr_mcu_func_group_names[] = {
+	"GPIO6",
+};
+
+static const char *const tps6594_syncclkout_func_group_names[] = {
+	"GPIO7",
+	"GPIO9",
+};
+
+static const char *const tps6594_disable_wdog_func_group_names[] = {
+	"GPIO7",
+	"GPIO8",
+};
+
+static const char *const tps6594_pdog_func_group_names[] = {
+	"GPIO8",
+};
+
+static const char *const tps6594_syncclkin_func_group_names[] = {
+	"GPIO9",
+};
+
+struct tps6594_pinctrl_function {
+	struct pinfunction pinfunction;
+	u8 muxval;
+};
+
+static const struct tps6594_pinctrl_function pinctrl_functions[] = {
+	FUNCTION(gpio, TPS6594_PINCTRL_GPIO_FUNCTION),
+	FUNCTION(nsleep1, TPS6594_PINCTRL_NSLEEP1_FUNCTION),
+	FUNCTION(nsleep2, TPS6594_PINCTRL_NSLEEP2_FUNCTION),
+	FUNCTION(wkup1, TPS6594_PINCTRL_WKUP1_FUNCTION),
+	FUNCTION(wkup2, TPS6594_PINCTRL_WKUP2_FUNCTION),
+	FUNCTION(scl_i2c2_cs_spi, TPS6594_PINCTRL_SCL_I2C2_CS_SPI_FUNCTION),
+	FUNCTION(nrstout_soc, TPS6594_PINCTRL_NRSTOUT_SOC_FUNCTION),
+	FUNCTION(trig_wdog, TPS6594_PINCTRL_TRIG_WDOG_FUNCTION),
+	FUNCTION(sda_i2c2_sdo_spi, TPS6594_PINCTRL_SDA_I2C2_SDO_SPI_FUNCTION),
+	FUNCTION(clk32kout, TPS6594_PINCTRL_CLK32KOUT_FUNCTION),
+	FUNCTION(nerr_soc, TPS6594_PINCTRL_NERR_SOC_FUNCTION),
+	FUNCTION(sclk_spmi, TPS6594_PINCTRL_SCLK_SPMI_FUNCTION),
+	FUNCTION(sdata_spmi, TPS6594_PINCTRL_SDATA_SPMI_FUNCTION),
+	FUNCTION(nerr_mcu, TPS6594_PINCTRL_NERR_MCU_FUNCTION),
+	FUNCTION(syncclkout, TPS6594_PINCTRL_SYNCCLKOUT_FUNCTION),
+	FUNCTION(disable_wdog, TPS6594_PINCTRL_DISABLE_WDOG_FUNCTION),
+	FUNCTION(pdog, TPS6594_PINCTRL_PDOG_FUNCTION),
+	FUNCTION(syncclkin, TPS6594_PINCTRL_SYNCCLKIN_FUNCTION),
+};
+
+struct tps6594_pinctrl {
+	struct tps6594 *tps;
+	struct gpio_regmap *gpio_regmap;
+	struct pinctrl_dev *pctl_dev;
+	const struct tps6594_pinctrl_function *funcs;
+	const struct pinctrl_pin_desc *pins;
+};
+
+static int tps6594_gpio_regmap_xlate(struct gpio_regmap *gpio,
+				     unsigned int base, unsigned int offset,
+				     unsigned int *reg, unsigned int *mask)
+{
+	unsigned int line = offset % 8;
+	unsigned int stride = offset / 8;
+
+	switch (base) {
+	case TPS6594_REG_GPIOX_CONF(0):
+		*reg = TPS6594_REG_GPIOX_CONF(offset);
+		*mask = TPS6594_BIT_GPIO_DIR;
+		return 0;
+	case TPS6594_REG_GPIO_IN_1:
+	case TPS6594_REG_GPIO_OUT_1:
+		*reg = base + stride;
+		*mask = BIT(line);
+		return 0;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int tps6594_pmx_func_cnt(struct pinctrl_dev *pctldev)
+{
+	return ARRAY_SIZE(pinctrl_functions);
+}
+
+static const char *tps6594_pmx_func_name(struct pinctrl_dev *pctldev,
+					 unsigned int selector)
+{
+	struct tps6594_pinctrl *pinctrl = pinctrl_dev_get_drvdata(pctldev);
+
+	return pinctrl->funcs[selector].pinfunction.name;
+}
+
+static int tps6594_pmx_func_groups(struct pinctrl_dev *pctldev,
+				   unsigned int selector,
+				   const char *const **groups,
+				   unsigned int *num_groups)
+{
+	struct tps6594_pinctrl *pinctrl = pinctrl_dev_get_drvdata(pctldev);
+
+	*groups = pinctrl->funcs[selector].pinfunction.groups;
+	*num_groups = pinctrl->funcs[selector].pinfunction.ngroups;
+
+	return 0;
+}
+
+static int tps6594_pmx_set(struct tps6594_pinctrl *pinctrl, unsigned int pin,
+			   u8 muxval)
+{
+	u8 mux_sel_val = muxval << TPS6594_OFFSET_GPIO_SEL;
+
+	return regmap_update_bits(pinctrl->tps->regmap,
+				  TPS6594_REG_GPIOX_CONF(pin),
+				  TPS6594_MASK_GPIO_SEL, mux_sel_val);
+}
+
+static int tps6594_pmx_set_mux(struct pinctrl_dev *pctldev,
+			       unsigned int function, unsigned int group)
+{
+	struct tps6594_pinctrl *pinctrl = pinctrl_dev_get_drvdata(pctldev);
+	u8 muxval = pinctrl->funcs[function].muxval;
+
+	/* Some pins don't have the same muxval for the same function... */
+	if (group == 8) {
+		if (muxval == TPS6594_PINCTRL_DISABLE_WDOG_FUNCTION)
+			muxval = TPS6594_PINCTRL_DISABLE_WDOG_FUNCTION_GPIO8;
+		else if (muxval == TPS6594_PINCTRL_SYNCCLKOUT_FUNCTION)
+			muxval = TPS6594_PINCTRL_SYNCCLKOUT_FUNCTION_GPIO8;
+	} else if (group == 9) {
+		if (muxval == TPS6594_PINCTRL_CLK32KOUT_FUNCTION)
+			muxval = TPS6594_PINCTRL_CLK32KOUT_FUNCTION_GPIO9;
+	}
+
+	return tps6594_pmx_set(pinctrl, group, muxval);
+}
+
+static int tps6594_pmx_gpio_set_direction(struct pinctrl_dev *pctldev,
+					  struct pinctrl_gpio_range *range,
+					  unsigned int offset, bool input)
+{
+	struct tps6594_pinctrl *pinctrl = pinctrl_dev_get_drvdata(pctldev);
+	u8 muxval = pinctrl->funcs[TPS6594_PINCTRL_GPIO_FUNCTION].muxval;
+
+	return tps6594_pmx_set(pinctrl, offset, muxval);
+}
+
+static const struct pinmux_ops tps6594_pmx_ops = {
+	.get_functions_count = tps6594_pmx_func_cnt,
+	.get_function_name = tps6594_pmx_func_name,
+	.get_function_groups = tps6594_pmx_func_groups,
+	.set_mux = tps6594_pmx_set_mux,
+	.gpio_set_direction = tps6594_pmx_gpio_set_direction,
+	.strict = true,
+};
+
+static int tps6594_groups_cnt(struct pinctrl_dev *pctldev)
+{
+	return ARRAY_SIZE(tps6594_pins);
+}
+
+static int tps6594_group_pins(struct pinctrl_dev *pctldev,
+			      unsigned int selector, const unsigned int **pins,
+			      unsigned int *num_pins)
+{
+	struct tps6594_pinctrl *pinctrl = pinctrl_dev_get_drvdata(pctldev);
+
+	*pins = &pinctrl->pins[selector].number;
+	*num_pins = 1;
+
+	return 0;
+}
+
+static const char *tps6594_group_name(struct pinctrl_dev *pctldev,
+				      unsigned int selector)
+{
+	struct tps6594_pinctrl *pinctrl = pinctrl_dev_get_drvdata(pctldev);
+
+	return pinctrl->pins[selector].name;
+}
+
+static const struct pinctrl_ops tps6594_pctrl_ops = {
+	.dt_node_to_map = pinconf_generic_dt_node_to_map_group,
+	.dt_free_map = pinconf_generic_dt_free_map,
+	.get_groups_count = tps6594_groups_cnt,
+	.get_group_name = tps6594_group_name,
+	.get_group_pins = tps6594_group_pins,
+};
+
+static int tps6594_pinctrl_probe(struct platform_device *pdev)
+{
+	struct tps6594 *tps = dev_get_drvdata(pdev->dev.parent);
+	struct device *dev = &pdev->dev;
+	struct tps6594_pinctrl *pinctrl;
+	struct pinctrl_desc *pctrl_desc;
+	struct gpio_regmap_config config = {};
+
+	pctrl_desc = devm_kzalloc(dev, sizeof(*pctrl_desc), GFP_KERNEL);
+	if (!pctrl_desc)
+		return -ENOMEM;
+	pctrl_desc->name = dev_name(dev);
+	pctrl_desc->owner = THIS_MODULE;
+	pctrl_desc->pins = tps6594_pins;
+	pctrl_desc->npins = ARRAY_SIZE(tps6594_pins);
+	pctrl_desc->pctlops = &tps6594_pctrl_ops;
+	pctrl_desc->pmxops = &tps6594_pmx_ops;
+
+	pinctrl = devm_kzalloc(dev, sizeof(*pinctrl), GFP_KERNEL);
+	if (!pinctrl)
+		return -ENOMEM;
+	pinctrl->tps = dev_get_drvdata(dev->parent);
+	pinctrl->funcs = pinctrl_functions;
+	pinctrl->pins = tps6594_pins;
+	pinctrl->pctl_dev = devm_pinctrl_register(dev, pctrl_desc, pinctrl);
+	if (IS_ERR(pinctrl->pctl_dev))
+		return dev_err_probe(dev, PTR_ERR(pinctrl->pctl_dev),
+				     "Couldn't register pinctrl driver\n");
+
+	config.parent = tps->dev;
+	config.regmap = tps->regmap;
+	config.ngpio = TPS6594_PINCTRL_PINS_NB;
+	config.ngpio_per_reg = 8;
+	config.reg_dat_base = TPS6594_REG_GPIO_IN_1;
+	config.reg_set_base = TPS6594_REG_GPIO_OUT_1;
+	config.reg_dir_out_base = TPS6594_REG_GPIOX_CONF(0);
+	config.reg_mask_xlate = tps6594_gpio_regmap_xlate;
+
+	pinctrl->gpio_regmap = devm_gpio_regmap_register(dev, &config);
+	if (IS_ERR(pinctrl->gpio_regmap))
+		return dev_err_probe(dev, PTR_ERR(pinctrl->gpio_regmap),
+				     "Couldn't register gpio_regmap driver\n");
+
+	return 0;
+}
+
+static struct platform_driver tps6594_pinctrl_driver = {
+	.probe = tps6594_pinctrl_probe,
+	.driver = {
+		.name = "tps6594-pinctrl",
+	},
+};
+module_platform_driver(tps6594_pinctrl_driver);
+
+MODULE_ALIAS("platform:tps6594-pinctrl");
+MODULE_AUTHOR("Esteban Blanc <eblanc@baylibre.com>");
+MODULE_DESCRIPTION("TPS6594 pinctrl and GPIO driver");
+MODULE_LICENSE("GPL");
