diff --git a/arch/arm64/boot/dts/tesla/fsd-pinctrl.dtsi b/arch/arm64/boot/dts/tesla/fsd-pinctrl.dtsi
new file mode 100644
index 000000000000..8f2c61eacf61
--- /dev/null
+++ b/arch/arm64/boot/dts/tesla/fsd-pinctrl.dtsi
@@ -0,0 +1,335 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Tesla Full Self-Driving SoC device tree source
+ *
+ * Copyright (c) 2017-2021 Samsung Electronics Co., Ltd.
+ *		https://www.samsung.com
+ * Copyright (c) 2017-2021 Tesla, Inc.
+ *		https://www.tesla.com
+ */
+
+#include <dt-bindings/pinctrl/samsung.h>
+
+&pinctrl_fsys0 {
+	gpf0: gpf0 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpf1: gpf1 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpf6: gpf6 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpf4: gpf4 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpf5: gpf5 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+};
+
+&pinctrl_peric {
+	gpc8: gpc8 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpf2: gpf2 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpf3: gpf3 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpd0: gpd0 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpb0: gpb0 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpb1: gpb1 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpb4: gpb4 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpb5: gpb5 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpb6: gpb6 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpb7: gpb7 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpd1: gpd1 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpd2: gpd2 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpd3: gpd3 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg0: gpg0 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg1: gpg1 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg2: gpg2 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg3: gpg3 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg4: gpg4 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg5: gpg5 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg6: gpg6 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	gpg7: gpg7 {
+		gpio-controller;
+		#gpio-cells = <2>;
+
+		interrupt-controller;
+		#interrupt-cells = <2>;
+	};
+
+	pwm0_out: pwm0-out-pins {
+		samsung,pins = "gpb6-1";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV2>;
+	};
+
+	pwm1_out: pwm1-out-pins {
+		samsung,pins = "gpb6-5";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV2>;
+	};
+
+	hs_i2c0_bus: hs-i2c0-bus-pins {
+		samsung,pins = "gpb0-0", "gpb0-1";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	hs_i2c1_bus: hs-i2c1-bus-pins {
+		samsung,pins = "gpb0-2", "gpb0-3";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	hs_i2c2_bus: hs-i2c2-bus-pins {
+		samsung,pins = "gpb0-4", "gpb0-5";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	hs_i2c3_bus: hs-i2c3-bus-pins {
+		samsung,pins = "gpb0-6", "gpb0-7";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	hs_i2c4_bus: hs-i2c4-bus-pins {
+		samsung,pins = "gpb1-0", "gpb1-1";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	hs_i2c5_bus: hs-i2c5-bus-pins {
+		samsung,pins = "gpb1-2", "gpb1-3";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	hs_i2c6_bus: hs-i2c6-bus-pins {
+		samsung,pins = "gpb1-4", "gpb1-5";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	hs_i2c7_bus: hs-i2c7-bus-pins {
+		samsung,pins = "gpb1-6", "gpb1-7";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	uart0_data: uart0-data-pins {
+		samsung,pins = "gpb7-0", "gpb7-1";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_NONE>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	uart1_data: uart1-data-pins {
+		samsung,pins = "gpb7-4", "gpb7-5";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_NONE>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	spi0_bus: spi0-bus-pins {
+		samsung,pins = "gpb4-0", "gpb4-2", "gpb4-3";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	spi1_bus: spi1-bus-pins {
+		samsung,pins = "gpb4-4", "gpb4-6", "gpb4-7";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+
+	spi2_bus: spi2-bus-pins {
+		samsung,pins = "gpb5-0", "gpb5-2", "gpb5-3";
+		samsung,pin-function = <EXYNOS_PIN_FUNC_2>;
+		samsung,pin-pud = <EXYNOS_PIN_PULL_UP>;
+		samsung,pin-drv = <EXYNOS4_PIN_DRV_LV1>;
+	};
+};
+
+&pinctrl_pmu {
+	gpq0: gpq0 {
+		gpio-controller;
+		#gpio-cells = <2>;
+	};
+};
diff --git a/arch/arm64/boot/dts/tesla/fsd.dtsi b/arch/arm64/boot/dts/tesla/fsd.dtsi
index 9a2b88f58c13..bab63c9f79dc 100644
--- a/arch/arm64/boot/dts/tesla/fsd.dtsi
+++ b/arch/arm64/boot/dts/tesla/fsd.dtsi
@@ -26,6 +26,9 @@ aliases {
 		i2c5 = &hsi2c_5;
 		i2c6 = &hsi2c_6;
 		i2c7 = &hsi2c_7;
+		pinctrl0 = &pinctrl_fsys0;
+		pinctrl1 = &pinctrl_peric;
+		pinctrl2 = &pinctrl_pmu;
 	};
 
 	cpus {
@@ -647,5 +650,24 @@ hsi2c_7: hsi2c@14270000 {
 			clock-names = "hsi2c";
 			status = "disabled";
 		};
+
+		pinctrl_pmu: pinctrl@114f0000 {
+			compatible = "tesla,fsd-pinctrl";
+			reg = <0x0 0x114f0000 0x0 0x1000>;
+		};
+
+		pinctrl_peric: pinctrl@141f0000 {
+			compatible = "tesla,fsd-pinctrl";
+			reg = <0x0 0x141f0000 0x0 0x1000>;
+			interrupts = <GIC_SPI 189 IRQ_TYPE_LEVEL_HIGH>;
+		};
+
+		pinctrl_fsys0: pinctrl@15020000 {
+			compatible = "tesla,fsd-pinctrl";
+			reg = <0x0 0x15020000 0x0 0x1000>;
+			interrupts = <GIC_SPI 79 IRQ_TYPE_LEVEL_HIGH>;
+		};
 	};
 };
+
+#include "fsd-pinctrl.dtsi"
