diff --git a/drivers/misc/k3_esm.c b/drivers/misc/k3_esm.c
new file mode 100644
index 0000000..8f270f3
--- /dev/null
+++ b/drivers/misc/k3_esm.c
@@ -0,0 +1,87 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Texas Instruments' K3 Error Signalling Module driver
+ *
+ * Copyright (C) 2019 Texas Instruments Incorporated - http://www.ti.com/
+ *      Tero Kristo <t-kristo@ti.com>
+ *
+ */
+
+#include <common.h>
+#include <dm.h>
+#include <errno.h>
+#include <asm/io.h>
+#include <dm/device_compat.h>
+
+#define ESM_SFT_RST			0x0c
+#define ESM_SFT_RST_KEY			0x0f
+
+#define ESM_STS(i)			(0x404 + (i) / 32 * 0x20)
+#define ESM_PIN_EN_SET_OFFSET(i)	(0x414 + (i) / 32 * 0x20)
+#define ESM_PIN_MASK(i)			BIT((i) & 0x1f)
+
+static void esm_pin_enable(void __iomem *base, int pin)
+{
+	/* Enable event */
+	writel(ESM_PIN_MASK(pin), base + ESM_PIN_EN_SET_OFFSET(pin));
+}
+
+/**
+ * k3_esm_probe: configures ESM based on DT data
+ *
+ * Parses ESM info from device tree, and configures the module accordingly.
+ */
+static int k3_esm_probe(struct udevice *dev)
+{
+	int ret;
+	void __iomem *base;
+	int num_pins;
+	u32 *pins;
+	int i;
+
+	base = dev_remap_addr_index(dev, 0);
+	if (!base)
+		return -ENODEV;
+
+	num_pins = dev_read_size(dev, "ti,esm-pins");
+	if (num_pins < 0) {
+		dev_err(dev, "ti,esm-pins property missing or invalid: %d\n",
+			num_pins);
+		return num_pins;
+	}
+
+	num_pins /= sizeof(u32);
+
+	pins = kmalloc(num_pins * sizeof(u32), __GFP_ZERO);
+	if (!pins)
+		return -ENOMEM;
+
+	ret = dev_read_u32_array(dev, "ti,esm-pins", pins, num_pins);
+	if (ret < 0) {
+		dev_err(dev, "failed to read ti,esm-pins property: %d\n",
+			ret);
+		goto free_pins;
+	}
+
+	/* Clear any pending events */
+	writel(ESM_SFT_RST_KEY, base + ESM_SFT_RST);
+
+	for (i = 0; i < num_pins; i++)
+		esm_pin_enable(base, pins[i]);
+
+free_pins:
+	kfree(pins);
+	return ret;
+}
+
+static const struct udevice_id k3_esm_ids[] = {
+	{ .compatible = "ti,j721e-esm" },
+	{}
+};
+
+U_BOOT_DRIVER(k3_esm) = {
+	.name = "k3_esm",
+	.of_match = k3_esm_ids,
+	.id = UCLASS_MISC,
+	.probe = k3_esm_probe,
+};