diff --git a/drivers/remoteproc/pru_rproc.c b/drivers/remoteproc/pru_rproc.c
index b76db7fa693d..4ddd5854d56e 100644
--- a/drivers/remoteproc/pru_rproc.c
+++ b/drivers/remoteproc/pru_rproc.c
@@ -19,7 +19,7 @@
 #include <linux/of_device.h>
 #include <linux/of_irq.h>
 #include <linux/remoteproc/pruss.h>
-#include <linux/pruss_driver.h>
+#include <linux/pruss_internal.h>
 #include <linux/remoteproc.h>
 
 #include "remoteproc_internal.h"
diff --git a/drivers/soc/ti/pruss.c b/drivers/soc/ti/pruss.c
index 6882c86b3ce5..28b77d715903 100644
--- a/drivers/soc/ti/pruss.c
+++ b/drivers/soc/ti/pruss.c
@@ -6,6 +6,7 @@
  * Author(s):
  *	Suman Anna <s-anna@ti.com>
  *	Andrew F. Davis <afd@ti.com>
+ *	Tero Kristo <t-kristo@ti.com>
  */
 
 #include <linux/clk-provider.h>
@@ -16,8 +17,9 @@
 #include <linux/of_address.h>
 #include <linux/of_device.h>
 #include <linux/pm_runtime.h>
-#include <linux/pruss_driver.h>
+#include <linux/pruss_internal.h>
 #include <linux/regmap.h>
+#include <linux/remoteproc.h>
 #include <linux/slab.h>
 
 /**
@@ -30,6 +32,66 @@ struct pruss_private_data {
 	bool has_core_mux_clock;
 };
 
+/**
+ * pruss_get() - get the pruss for a given PRU remoteproc
+ * @rproc: remoteproc handle of a PRU instance
+ *
+ * Finds the parent pruss device for a PRU given the @rproc handle of the
+ * PRU remote processor. This function increments the pruss device's refcount,
+ * so always use pruss_put() to decrement it back once pruss isn't needed
+ * anymore.
+ *
+ * This API doesn't check if @rproc is valid or not. It is expected the caller
+ * will have done a pru_rproc_get() on @rproc, before calling this API to make
+ * sure that @rproc is valid.
+ *
+ * Return: pruss handle on success, and an ERR_PTR on failure using one
+ * of the following error values
+ *    -EINVAL if invalid parameter
+ *    -ENODEV if PRU device or PRUSS device is not found
+ */
+struct pruss *pruss_get(struct rproc *rproc)
+{
+	struct pruss *pruss;
+	struct device *dev;
+	struct platform_device *ppdev;
+
+	if (IS_ERR_OR_NULL(rproc))
+		return ERR_PTR(-EINVAL);
+
+	dev = &rproc->dev;
+
+	/* make sure it is PRU rproc */
+	if (!dev->parent || !is_pru_rproc(dev->parent))
+		return ERR_PTR(-ENODEV);
+
+	ppdev = to_platform_device(dev->parent->parent);
+	pruss = platform_get_drvdata(ppdev);
+	if (!pruss)
+		return ERR_PTR(-ENODEV);
+
+	get_device(pruss->dev);
+
+	return pruss;
+}
+EXPORT_SYMBOL_GPL(pruss_get);
+
+/**
+ * pruss_put() - decrement pruss device's usecount
+ * @pruss: pruss handle
+ *
+ * Complimentary function for pruss_get(). Needs to be called
+ * after the PRUSS is used, and only if the pruss_get() succeeds.
+ */
+void pruss_put(struct pruss *pruss)
+{
+	if (IS_ERR_OR_NULL(pruss))
+		return;
+
+	put_device(pruss->dev);
+}
+EXPORT_SYMBOL_GPL(pruss_put);
+
 static void pruss_of_free_clk_provider(void *data)
 {
 	struct device_node *clk_mux_np = data;
diff --git a/include/linux/pruss_driver.h b/include/linux/pruss_internal.h
similarity index 90%
rename from include/linux/pruss_driver.h
rename to include/linux/pruss_internal.h
index ecfded30ed05..8f91cb164054 100644
--- a/include/linux/pruss_driver.h
+++ b/include/linux/pruss_internal.h
@@ -6,9 +6,10 @@
  *	Suman Anna <s-anna@ti.com>
  */
 
-#ifndef _PRUSS_DRIVER_H_
-#define _PRUSS_DRIVER_H_
+#ifndef _PRUSS_INTERNAL_H_
+#define _PRUSS_INTERNAL_H_
 
+#include <linux/remoteproc/pruss.h>
 #include <linux/types.h>
 
 /*
@@ -51,4 +52,4 @@ struct pruss {
 	struct clk *iep_clk_mux;
 };
 
-#endif	/* _PRUSS_DRIVER_H_ */
+#endif	/* _PRUSS_INTERNAL_H_ */
diff --git a/include/linux/remoteproc/pruss.h b/include/linux/remoteproc/pruss.h
index 039b50d58df2..93a98cac7829 100644
--- a/include/linux/remoteproc/pruss.h
+++ b/include/linux/remoteproc/pruss.h
@@ -4,12 +4,14 @@
  *
  * Copyright (C) 2015-2022 Texas Instruments Incorporated - http://www.ti.com
  *	Suman Anna <s-anna@ti.com>
+ *	Tero Kristo <t-kristo@ti.com>
  */
 
 #ifndef __LINUX_PRUSS_H
 #define __LINUX_PRUSS_H
 
 #include <linux/device.h>
+#include <linux/err.h>
 #include <linux/types.h>
 
 #define PRU_RPROC_DRVNAME "pru-rproc"
@@ -44,6 +46,23 @@ enum pru_ctable_idx {
 
 struct device_node;
 struct rproc;
+struct pruss;
+
+#if IS_ENABLED(CONFIG_TI_PRUSS)
+
+struct pruss *pruss_get(struct rproc *rproc);
+void pruss_put(struct pruss *pruss);
+
+#else
+
+static inline struct pruss *pruss_get(struct rproc *rproc)
+{
+	return ERR_PTR(-EOPNOTSUPP);
+}
+
+static inline void pruss_put(struct pruss *pruss) { }
+
+#endif /* CONFIG_TI_PRUSS */
 
 #if IS_ENABLED(CONFIG_PRU_REMOTEPROC)
 
