diff --git a/drivers/dma/tegra186-gpc-dma.c b/drivers/dma/tegra186-gpc-dma.c
index 9bea2ffb3b9e..939eb5462d0a 100644
--- a/drivers/dma/tegra186-gpc-dma.c
+++ b/drivers/dma/tegra186-gpc-dma.c
@@ -15,6 +15,7 @@
 #include <linux/module.h>
 #include <linux/of.h>
 #include <linux/of_dma.h>
+#include <linux/of_device.h>
 #include <linux/platform_device.h>
 #include <linux/reset.h>
 #include <linux/slab.h>
@@ -1380,9 +1381,13 @@ static int tegra_dma_program_sid(struct tegra_dma_channel *tdc, int stream_id)
 static int tegra_dma_probe(struct platform_device *pdev)
 {
 	const struct tegra_dma_chip_data *cdata = NULL;
+	struct tegra_dma_channel *tdc;
+	struct tegra_dma *tdma;
+	struct dma_chan *chan;
+	struct device *chdev;
+	bool use_iommu_map = false;
 	unsigned int i;
 	u32 stream_id;
-	struct tegra_dma *tdma;
 	int ret;
 
 	cdata = of_device_get_match_data(&pdev->dev);
@@ -1410,9 +1415,10 @@ static int tegra_dma_probe(struct platform_device *pdev)
 
 	tdma->dma_dev.dev = &pdev->dev;
 
-	if (!tegra_dev_iommu_get_stream_id(&pdev->dev, &stream_id)) {
-		dev_err(&pdev->dev, "Missing iommu stream-id\n");
-		return -EINVAL;
+	use_iommu_map = of_property_present(pdev->dev.of_node, "iommu-map");
+	if (!use_iommu_map) {
+		if (!tegra_dev_iommu_get_stream_id(&pdev->dev, &stream_id))
+			return dev_err_probe(&pdev->dev, -EINVAL, "Missing iommu stream-id\n");
 	}
 
 	ret = device_property_read_u32(&pdev->dev, "dma-channel-mask",
@@ -1424,9 +1430,10 @@ static int tegra_dma_probe(struct platform_device *pdev)
 		tdma->chan_mask = TEGRA_GPCDMA_DEFAULT_CHANNEL_MASK;
 	}
 
+	/* Initialize vchan for each channel and populate the channels list */
 	INIT_LIST_HEAD(&tdma->dma_dev.channels);
 	for (i = 0; i < cdata->nr_channels; i++) {
-		struct tegra_dma_channel *tdc = &tdma->channels[i];
+		tdc = &tdma->channels[i];
 
 		/* Check for channel mask */
 		if (!(tdma->chan_mask & BIT(i)))
@@ -1446,10 +1453,6 @@ static int tegra_dma_probe(struct platform_device *pdev)
 
 		vchan_init(&tdc->vc, &tdma->dma_dev);
 		tdc->vc.desc_free = tegra_dma_desc_free;
-
-		/* program stream-id for this channel */
-		tegra_dma_program_sid(tdc, stream_id);
-		tdc->stream_id = stream_id;
 	}
 
 	dma_set_mask_and_coherent(&pdev->dev, DMA_BIT_MASK(cdata->addr_bits));
@@ -1483,6 +1486,7 @@ static int tegra_dma_probe(struct platform_device *pdev)
 	tdma->dma_dev.device_synchronize = tegra_dma_chan_synchronize;
 	tdma->dma_dev.residue_granularity = DMA_RESIDUE_GRANULARITY_BURST;
 
+	/* Register the DMA device and the channels */
 	ret = dmaenginem_async_device_register(&tdma->dma_dev);
 	if (ret < 0) {
 		dev_err_probe(&pdev->dev, ret,
@@ -1490,6 +1494,37 @@ static int tegra_dma_probe(struct platform_device *pdev)
 		return ret;
 	}
 
+	/*
+	 * Configure stream ID for each channel from the channels registered
+	 * above. This is done in a separate iteration to ensure that only
+	 * the channels available and registered for the DMA device are used.
+	 */
+	list_for_each_entry(chan, &tdma->dma_dev.channels, device_node) {
+		chdev = &chan->dev->device;
+		tdc = to_tegra_dma_chan(chan);
+
+		if (use_iommu_map) {
+			chdev->bus = pdev->dev.bus;
+			dma_coerce_mask_and_coherent(chdev, DMA_BIT_MASK(cdata->addr_bits));
+
+			ret = of_dma_configure_id(chdev, pdev->dev.of_node,
+						  true, &tdc->id);
+			if (ret)
+				return dev_err_probe(chdev, ret,
+					   "Failed to configure IOMMU for channel %d\n", tdc->id);
+
+			if (!tegra_dev_iommu_get_stream_id(chdev, &stream_id))
+				return dev_err_probe(chdev, -EINVAL,
+					   "Failed to get stream ID for channel %d\n", tdc->id);
+
+			chan->dev->chan_dma_dev = true;
+		}
+
+		/* program stream-id for this channel */
+		tegra_dma_program_sid(tdc, stream_id);
+		tdc->stream_id = stream_id;
+	}
+
 	ret = devm_of_dma_controller_register(&pdev->dev, pdev->dev.of_node,
 					      tegra_dma_of_xlate, tdma);
 	if (ret < 0) {