diff --git a/arch/arm/include/asm/arch-imx8ulp/rdc.h b/arch/arm/include/asm/arch-imx8ulp/rdc.h
new file mode 100644
index 0000000000..97463756b0
--- /dev/null
+++ b/arch/arm/include/asm/arch-imx8ulp/rdc.h
@@ -0,0 +1,27 @@
+/* SPDX-License-Identifier: GPL-2.0+ */
+/*
+ * Copyright 2021 NXP
+ */
+
+#ifndef __ASM_ARCH_IMX8ULP_RDC_H
+#define __ASM_ARCH_IMX8ULP_RDC_H
+
+enum rdc_type {
+	RDC_TRDC,
+	RDC_XRDC,
+};
+
+int release_rdc(enum rdc_type type);
+void xrdc_mrc_region_set_access(int mrc_index, u32 addr, u32 access);
+int xrdc_config_mrc_dx_perm(u32 mrc_con, u32 region, u32 dom, u32 dxsel);
+int xrdc_config_mrc_w0_w1(u32 mrc_con, u32 region, u32 w0, u32 size);
+int xrdc_config_mrc_w3_w4(u32 mrc_con, u32 region, u32 w3, u32 w4);
+int xrdc_config_pdac(u32 bridge, u32 index, u32 dom, u32 perm);
+int xrdc_config_pdac_openacc(u32 bridge, u32 index);
+int trdc_mbc_set_access(u32 mbc_x, u32 dom_x, u32 mem_x, u32 blk_x, bool sec_access);
+int trdc_mrc_region_set_access(u32 mrc_x, u32 dom_x, u32 addr_start, u32 addr_end, bool sec_access);
+
+void xrdc_init_mda(void);
+void xrdc_init_mrc(void);
+
+#endif
diff --git a/arch/arm/mach-imx/imx8ulp/rdc.c b/arch/arm/mach-imx/imx8ulp/rdc.c
index 7a098718da..e2eca0633e 100644
--- a/arch/arm/mach-imx/imx8ulp/rdc.c
+++ b/arch/arm/mach-imx/imx8ulp/rdc.c
@@ -1,18 +1,17 @@
 // SPDX-License-Identifier: GPL-2.0+
 /*
- * Copyright 2020 NXP
+ * Copyright 2021 NXP
  */
 
 #include <common.h>
-#include <div64.h>
-#include <asm/arch/imx-regs.h>
 #include <asm/io.h>
-#include <errno.h>
-#include <asm/arch/clock.h>
+#include <asm/types.h>
+#include <asm/arch/imx-regs.h>
 #include <asm/arch/sys_proto.h>
-#include <asm/global_data.h>
-
-DECLARE_GLOBAL_DATA_PTR;
+#include <asm/arch/mu_hal.h>
+#include <asm/arch/s400_api.h>
+#include <asm/arch/rdc.h>
+#include <div64.h>
 
 #define XRDC_ADDR	0x292f0000
 #define MRC_OFFSET	0x2000
@@ -41,6 +40,45 @@ DECLARE_GLOBAL_DATA_PTR;
 #define D4SEL_DAT	(SP(RW) | SU(RW))
 #define D3SEL_DAT	SP(RW)
 
+struct mbc_mem_dom {
+	u32 mem_glbcfg[4];
+	u32 nse_blk_index;
+	u32 nse_blk_set;
+	u32 nse_blk_clr;
+	u32 nsr_blk_clr_all;
+	u32 memn_glbac[8];
+	/* The upper only existed in the beginning of each MBC */
+	u32 mem0_blk_cfg_w[64];
+	u32 mem0_blk_nse_w[16];
+	u32 mem1_blk_cfg_w[8];
+	u32 mem1_blk_nse_w[2];
+	u32 mem2_blk_cfg_w[8];
+	u32 mem2_blk_nse_w[2];
+	u32 mem3_blk_cfg_w[8];
+	u32 mem3_blk_nse_w[2];/*0x1F0, 0x1F4 */
+	u32 reserved[2];
+};
+
+struct mrc_rgn_dom {
+	u32 mrc_glbcfg[4];
+	u32 nse_rgn_indirect;
+	u32 nse_rgn_set;
+	u32 nse_rgn_clr;
+	u32 nse_rgn_clr_all;
+	u32 memn_glbac[8];
+	/* The upper only existed in the beginning of each MRC */
+	u32 rgn_desc_words[8][2]; /* 8 regions, 2 words per region */
+	u32 reserved[16];
+	u32	rgn_nse;
+	u32 reserved2[15];
+};
+
+struct trdc {
+	u8 res0[0x1000];
+	struct mbc_mem_dom mem_dom[4][8];
+	struct mrc_rgn_dom mrc_dom[2][8];
+};
+
 union dxsel_perm {
 	struct {
 		u8 dx;
@@ -142,3 +180,232 @@ int xrdc_config_pdac(u32 bridge, u32 index, u32 dom, u32 perm)
 
 	return 0;
 }
+
+int release_rdc(enum rdc_type type)
+{
+	ulong s_mu_base = 0x27020000UL;
+	struct imx8ulp_s400_msg msg;
+	int ret;
+	u32 rdc_id = (type == RDC_XRDC) ? 0x78 : 0x74;
+
+	msg.version = AHAB_VERSION;
+	msg.tag = AHAB_CMD_TAG;
+	msg.size = 2;
+	msg.command = AHAB_RELEASE_RDC_REQ_CID;
+	msg.data[0] = (rdc_id << 8) | 0x2; /* A35 XRDC */
+
+	mu_hal_init(s_mu_base);
+	mu_hal_sendmsg(s_mu_base, 0, *((u32 *)&msg));
+	mu_hal_sendmsg(s_mu_base, 1, msg.data[0]);
+
+	ret = mu_hal_receivemsg(s_mu_base, 0, (u32 *)&msg);
+	if (!ret) {
+		ret = mu_hal_receivemsg(s_mu_base, 1, &msg.data[0]);
+		if (!ret) {
+			if ((msg.data[0] & 0xff) == 0xd6)
+				return 0;
+		}
+
+		return -EIO;
+	}
+
+	return ret;
+}
+
+void xrdc_mrc_region_set_access(int mrc_index, u32 addr, u32 access)
+{
+	ulong xrdc_base = 0x292f0000, off;
+	u32 mrgd[5];
+	u8 mrcfg, j, region_num;
+	u8 dsel;
+
+	mrcfg = readb(xrdc_base + 0x140 + mrc_index);
+	region_num = mrcfg & 0x1f;
+
+	for (j = 0; j < region_num; j++) {
+		off = 0x2000 + mrc_index * 0x200 + j * 0x20;
+
+		mrgd[0] = readl(xrdc_base + off);
+		mrgd[1] = readl(xrdc_base + off + 4);
+		mrgd[2] = readl(xrdc_base + off + 8);
+		mrgd[3] = readl(xrdc_base + off + 0xc);
+		mrgd[4] = readl(xrdc_base + off + 0x10);
+
+		debug("MRC [%u][%u]\n", mrc_index, j);
+		debug("0x%x, 0x%x, 0x%x, 0x%x, 0x%x\n",
+		      mrgd[0], mrgd[1], mrgd[2], mrgd[3], mrgd[4]);
+
+		/* hit */
+		if (addr >= mrgd[0] && addr <= mrgd[1]) {
+			/* find domain 7 DSEL */
+			dsel = (mrgd[2] >> 21) & 0x7;
+			if (dsel == 1) {
+				mrgd[4] &= ~0xFFF;
+				mrgd[4] |= (access & 0xFFF);
+			} else if (dsel == 2) {
+				mrgd[4] &= ~0xFFF0000;
+				mrgd[4] |= ((access & 0xFFF) << 16);
+			}
+
+			/* not handle other cases, since S400 only set ACCESS1 and 2 */
+			writel(mrgd[4], xrdc_base + off + 0x10);
+			return;
+		}
+	}
+}
+
+void xrdc_init_mda(void)
+{
+	ulong xrdc_base = XRDC_ADDR, off;
+	u32 i = 0;
+
+	/* Set MDA3-5 for PXP, ENET, CAAM to DID 1*/
+	for (i = 3; i <= 5; i++) {
+		off = 0x800 + i * 0x20;
+		writel(0x200000A1, xrdc_base + off);
+		writel(0xA00000A1, xrdc_base + off);
+	}
+
+	/* Set MDA10 -15 to DID 3 for video */
+	for (i = 10; i <= 15; i++) {
+		off = 0x800 + i * 0x20;
+		writel(0x200000A3, xrdc_base + off);
+		writel(0xA00000A3, xrdc_base + off);
+	}
+}
+
+void xrdc_init_mrc(void)
+{
+	/* The MRC8 is for SRAM1 */
+	xrdc_config_mrc_w0_w1(8, 0, 0x21000000, 0x10000);
+	/* Allow for all domains: So domain 2/3 (HIFI DSP/LPAV) is ok to access */
+	xrdc_config_mrc_dx_perm(8, 0, 0, 1);
+	xrdc_config_mrc_dx_perm(8, 0, 1, 1);
+	xrdc_config_mrc_dx_perm(8, 0, 2, 1);
+	xrdc_config_mrc_dx_perm(8, 0, 3, 1);
+	xrdc_config_mrc_dx_perm(8, 0, 4, 1);
+	xrdc_config_mrc_dx_perm(8, 0, 5, 1);
+	xrdc_config_mrc_dx_perm(8, 0, 6, 1);
+	xrdc_config_mrc_dx_perm(8, 0, 7, 1);
+	xrdc_config_mrc_w3_w4(8, 0, 0x0, 0x80000FFF);
+
+	/* The MRC6 is for video modules to ddr */
+	xrdc_config_mrc_w0_w1(6, 0, 0x80000000, 0x80000000);
+	xrdc_config_mrc_dx_perm(6, 0, 3, 1); /* allow for domain 3 video */
+	xrdc_config_mrc_w3_w4(6, 0, 0x0, 0x80000FFF);
+}
+
+int trdc_mbc_set_access(u32 mbc_x, u32 dom_x, u32 mem_x, u32 blk_x, bool sec_access)
+{
+	struct trdc *trdc_base = (struct trdc *)0x28031000U;
+	struct mbc_mem_dom *mbc_dom;
+	u32 *cfg_w, *nse_w;
+	u32 index, offset, val;
+
+	mbc_dom = &trdc_base->mem_dom[mbc_x][dom_x];
+
+	switch (mem_x) {
+	case 0:
+		cfg_w = &mbc_dom->mem0_blk_cfg_w[blk_x / 8];
+		nse_w = &mbc_dom->mem0_blk_nse_w[blk_x / 32];
+		break;
+	case 1:
+		cfg_w = &mbc_dom->mem1_blk_cfg_w[blk_x / 8];
+		nse_w = &mbc_dom->mem1_blk_nse_w[blk_x / 32];
+		break;
+	case 2:
+		cfg_w = &mbc_dom->mem2_blk_cfg_w[blk_x / 8];
+		nse_w = &mbc_dom->mem2_blk_nse_w[blk_x / 32];
+		break;
+	case 3:
+		cfg_w = &mbc_dom->mem3_blk_cfg_w[blk_x / 8];
+		nse_w = &mbc_dom->mem3_blk_nse_w[blk_x / 32];
+		break;
+	default:
+		return -EINVAL;
+	};
+
+	index = blk_x % 8;
+	offset = index * 4;
+
+	val = readl((void __iomem *)cfg_w);
+
+	val &= ~(0xFU << offset);
+
+	/* MBC0-3
+	 *  Global 0, 0x7777 secure pri/user read/write/execute, S400 has already set it.
+	 *  So select MBC0_MEMN_GLBAC0
+	 */
+	if (sec_access) {
+		val |= (0x0 << offset);
+		writel(val, (void __iomem *)cfg_w);
+	} else {
+		val |= (0x8 << offset); /* nse bit set */
+		writel(val, (void __iomem *)cfg_w);
+	}
+
+	return 0;
+}
+
+int trdc_mrc_region_set_access(u32 mrc_x, u32 dom_x, u32 addr_start, u32 addr_end, bool sec_access)
+{
+	struct trdc *trdc_base = (struct trdc *)0x28031000U;
+	struct mrc_rgn_dom *mrc_dom;
+	u32 *desc_w;
+	u32 start, end;
+	u32 i, free = 8;
+	bool vld, hit = false;
+
+	mrc_dom = &trdc_base->mrc_dom[mrc_x][dom_x];
+
+	for (i = 0; i < 8; i++) {
+		desc_w = &mrc_dom->rgn_desc_words[i][0];
+
+		start = readl((void __iomem *)desc_w) & 0xfff;
+		end = readl((void __iomem *)(desc_w + 1));
+		vld = end & 0x1;
+		end = end & 0xfff;
+
+		if (start == 0 && end == 0 && !vld && free >= 8)
+			free = i;
+
+		/* Check all the region descriptors, even overlap */
+		if (addr_start >= end || addr_end <= start || !vld)
+			continue;
+
+		/* MRC0,1
+		 *  Global 0, 0x7777 secure pri/user read/write/execute, S400 has already set it.
+		 *  So select MRCx_MEMN_GLBAC0
+		 */
+		if (sec_access) {
+			writel(start, (void __iomem *)desc_w);
+			writel(end | 0x1, (void __iomem *)(desc_w + 1));
+		} else {
+			writel(start, (void __iomem *)desc_w);
+			writel((end | 0x1 | 0x10), (void __iomem *)(desc_w + 1));
+		}
+
+		if (addr_start >= start && addr_end <= end)
+			hit = true;
+	}
+
+	if (!hit) {
+		if (free >= 8)
+			return -EFAULT;
+
+		desc_w = &mrc_dom->rgn_desc_words[free][0];
+
+		addr_start &= ~0xfff;
+		addr_end &= ~0xfff;
+
+		if (sec_access) {
+			writel(addr_start, (void __iomem *)desc_w);
+			writel(addr_end | 0x1, (void __iomem *)(desc_w + 1));
+		} else {
+			writel(addr_start, (void __iomem *)desc_w);
+			writel((addr_end | 0x1 | 0x10), (void __iomem *)(desc_w + 1));
+		}
+	}
+
+	return 0;
+}
diff --git a/arch/arm/mach-imx/imx8ulp/soc.c b/arch/arm/mach-imx/imx8ulp/soc.c
index 29f7d5be02..c5e20408c6 100644
--- a/arch/arm/mach-imx/imx8ulp/soc.c
+++ b/arch/arm/mach-imx/imx8ulp/soc.c
@@ -11,6 +11,7 @@
 #include <asm/mach-imx/boot_mode.h>
 #include <efi_loader.h>
 #include <spl.h>
+#include <asm/arch/rdc.h>
 #include <asm/arch/s400_api.h>
 #include <asm/arch/mu_hal.h>
 #include <cpu_func.h>
@@ -344,180 +345,29 @@ static void set_core0_reset_vector(u32 entry)
 	setbits_le32(SIM1_BASE_ADDR + 0x8, (0x1 << 26));
 }
 
-enum rdc_type {
-	RDC_TRDC,
-	RDC_XRDC,
-};
-
-static int release_rdc(enum rdc_type type)
-{
-	ulong s_mu_base = 0x27020000UL;
-	struct imx8ulp_s400_msg msg;
-	int ret;
-	u32 rdc_id = (type == RDC_XRDC) ? 0x78 : 0x74;
-
-	msg.version = AHAB_VERSION;
-	msg.tag = AHAB_CMD_TAG;
-	msg.size = 2;
-	msg.command = AHAB_RELEASE_RDC_REQ_CID;
-	msg.data[0] = (rdc_id << 8) | 0x2; /* A35 XRDC */
-
-	mu_hal_init(s_mu_base);
-	mu_hal_sendmsg(s_mu_base, 0, *((u32 *)&msg));
-	mu_hal_sendmsg(s_mu_base, 1, msg.data[0]);
-
-	ret = mu_hal_receivemsg(s_mu_base, 0, (u32 *)&msg);
-	if (!ret) {
-		ret = mu_hal_receivemsg(s_mu_base, 1, &msg.data[0]);
-		if (!ret) {
-			if ((msg.data[0] & 0xff) == 0xd6)
-				return 0;
-		}
-
-		return -EIO;
-	}
-
-	return ret;
-}
-
-struct mbc_mem_dom {
-	u32 mem_glbcfg[4];
-	u32 nse_blk_index;
-	u32 nse_blk_set;
-	u32 nse_blk_clr;
-	u32 nsr_blk_clr_all;
-	u32 memn_glbac[8];
-	/* The upper only existed in the beginning of each MBC */
-	u32 mem0_blk_cfg_w[64];
-	u32 mem0_blk_nse_w[16];
-	u32 mem1_blk_cfg_w[8];
-	u32 mem1_blk_nse_w[2];
-	u32 mem2_blk_cfg_w[8];
-	u32 mem2_blk_nse_w[2];
-	u32 mem3_blk_cfg_w[8];
-	u32 mem3_blk_nse_w[2];/*0x1F0, 0x1F4 */
-	u32 reserved[2];
-};
-
-struct trdc {
-	u8 res0[0x1000];
-	struct mbc_mem_dom mem_dom[4][8];
-};
-
-/* MBC[m]_[d]_MEM[s]_BLK_CFG_W[w] */
-int trdc_mbc_set_access(u32 mbc_x, u32 dom_x, u32 mem_x, u32 blk_x, u32 perm)
-{
-	struct trdc *trdc_base = (struct trdc *)0x28031000U;
-	struct mbc_mem_dom *mbc_dom;
-	u32 *cfg_w, *nse_w;
-	u32 index, offset, val;
-
-	mbc_dom = &trdc_base->mem_dom[mbc_x][dom_x];
-
-	switch (mem_x) {
-	case 0:
-		cfg_w = &mbc_dom->mem0_blk_cfg_w[blk_x / 8];
-		nse_w = &mbc_dom->mem0_blk_nse_w[blk_x / 32];
-		break;
-	case 1:
-		cfg_w = &mbc_dom->mem1_blk_cfg_w[blk_x / 8];
-		nse_w = &mbc_dom->mem1_blk_nse_w[blk_x / 32];
-		break;
-	case 2:
-		cfg_w = &mbc_dom->mem2_blk_cfg_w[blk_x / 8];
-		nse_w = &mbc_dom->mem2_blk_nse_w[blk_x / 32];
-		break;
-	case 3:
-		cfg_w = &mbc_dom->mem3_blk_cfg_w[blk_x / 8];
-		nse_w = &mbc_dom->mem3_blk_nse_w[blk_x / 32];
-		break;
-	default:
-		return -EINVAL;
-	};
-
-	index = blk_x % 8;
-	offset = index * 4;
-
-	val = readl((void __iomem *)cfg_w);
-
-	val &= ~(0xFU << offset);
-
-	if (perm == 0x7700) {
-		val |= (0x0 << offset);
-		writel(perm, (void __iomem *)cfg_w);
-	} else if (perm == 0x0077) {
-		val |= (0x8 << offset); /* nse bit set */
-		writel(val, (void __iomem *)cfg_w);
-	} else {
-		return -EINVAL;
-	}
-
-	return 0;
-}
-
-int trdc_set_access(void)
+static int trdc_set_access(void)
 {
 	/*
-	 * CGC0: PBridge0 slot 47
-	 * trdc_mbc_set_access(2, 7, 0, 47, 0x7700);
-	 * For secure access, default single boot already support,
-	 * For non-secure access, need add in future per usecase.
+	 * TRDC mgr + 4 MBC + 2 MRC.
+	 * S400 should already configure when release RDC
+	 * A35 only map non-secure region for pbridge0 and 1, set sec_access to false
 	 */
-	 trdc_mbc_set_access(2, 7, 0, 49, 0x7700);
-	 trdc_mbc_set_access(2, 7, 0, 50, 0x7700);
-	 trdc_mbc_set_access(2, 7, 0, 51, 0x7700);
-	 trdc_mbc_set_access(2, 7, 0, 52, 0x7700);
+	trdc_mbc_set_access(2, 7, 0, 49, false);
+	trdc_mbc_set_access(2, 7, 0, 50, false);
+	trdc_mbc_set_access(2, 7, 0, 51, false);
+	trdc_mbc_set_access(2, 7, 0, 52, false);
+	trdc_mbc_set_access(2, 7, 0, 53, false);
+	trdc_mbc_set_access(2, 7, 0, 54, false);
 
-	 trdc_mbc_set_access(2, 7, 0, 47, 0x0077);
+	/* CGC0: PBridge0 slot 47 */
+	trdc_mbc_set_access(2, 7, 0, 47, false);
 
-	 /* iomuxc 0 */
-	 trdc_mbc_set_access(2, 7, 1, 33, 0x7700);
+	/* Iomuxc0: : PBridge1 slot 33 */
+	trdc_mbc_set_access(2, 7, 1, 33, false);
 
 	return 0;
 }
 
-static void xrdc_mrc_region_set_access(int mrc_index, u32 addr, u32 access)
-{
-	ulong xrdc_base = 0x292f0000, off;
-	u32 mrgd[5];
-	u8 mrcfg, j, region_num;
-	u8 dsel;
-
-	mrcfg = readb(xrdc_base + 0x140 + mrc_index);
-	region_num = mrcfg & 0x1f;
-
-	for (j = 0; j < region_num; j++) {
-		off = 0x2000 + mrc_index * 0x200 + j * 0x20;
-
-		mrgd[0] = readl(xrdc_base + off);
-		mrgd[1] = readl(xrdc_base + off + 4);
-		mrgd[2] = readl(xrdc_base + off + 8);
-		mrgd[3] = readl(xrdc_base + off + 0xc);
-		mrgd[4] = readl(xrdc_base + off + 0x10);
-
-		debug("MRC [%u][%u]\n", mrc_index, j);
-		debug("0x%x, 0x%x, 0x%x, 0x%x, 0x%x\n",
-		      mrgd[0], mrgd[1], mrgd[2], mrgd[3], mrgd[4]);
-
-		/* hit */
-		if (addr >= mrgd[0] && addr <= mrgd[1]) {
-			/* find domain 7 DSEL */
-			dsel = (mrgd[2] >> 21) & 0x7;
-			if (dsel == 1) {
-				mrgd[4] &= ~0xFFF;
-				mrgd[4] |= (access & 0xFFF);
-			} else if (dsel == 2) {
-				mrgd[4] &= ~0xFFF0000;
-				mrgd[4] |= ((access & 0xFFF) << 16);
-			}
-
-			/* not handle other cases, since S400 only set ACCESS1 and 2 */
-			writel(mrgd[4], xrdc_base + off + 0x10);
-			return;
-		}
-	}
-}
-
 int arch_cpu_init(void)
 {
 	if (IS_ENABLED(CONFIG_SPL_BUILD)) {
