diff --git a/include/drm-uapi/v3d_drm.h b/include/drm-uapi/v3d_drm.h
index 1a7d7a689de..0c0f4778252 100644
--- a/include/drm-uapi/v3d_drm.h
+++ b/include/drm-uapi/v3d_drm.h
@@ -41,6 +41,7 @@ extern "C" {
 #define DRM_V3D_PERFMON_CREATE                    0x08
 #define DRM_V3D_PERFMON_DESTROY                   0x09
 #define DRM_V3D_PERFMON_GET_VALUES                0x0a
+#define DRM_V3D_SUBMIT_CPU                        0x0b
 
 #define DRM_IOCTL_V3D_SUBMIT_CL           DRM_IOWR(DRM_COMMAND_BASE + DRM_V3D_SUBMIT_CL, struct drm_v3d_submit_cl)
 #define DRM_IOCTL_V3D_WAIT_BO             DRM_IOWR(DRM_COMMAND_BASE + DRM_V3D_WAIT_BO, struct drm_v3d_wait_bo)
@@ -56,6 +57,7 @@ extern "C" {
 						   struct drm_v3d_perfmon_destroy)
 #define DRM_IOCTL_V3D_PERFMON_GET_VALUES  DRM_IOWR(DRM_COMMAND_BASE + DRM_V3D_PERFMON_GET_VALUES, \
 						   struct drm_v3d_perfmon_get_values)
+#define DRM_IOCTL_V3D_SUBMIT_CPU          DRM_IOW(DRM_COMMAND_BASE + DRM_V3D_SUBMIT_CPU, struct drm_v3d_submit_cpu)
 
 #define DRM_V3D_SUBMIT_CL_FLUSH_CACHE             0x01
 #define DRM_V3D_SUBMIT_EXTENSION		  0x02
@@ -69,7 +71,8 @@ extern "C" {
 struct drm_v3d_extension {
 	__u64 next;
 	__u32 id;
-#define DRM_V3D_EXT_ID_MULTI_SYNC		0x01
+#define DRM_V3D_EXT_ID_MULTI_SYNC			0x01
+#define DRM_V3D_EXT_ID_CPU_INDIRECT_CSD		0x02
 	__u32 flags; /* mbz */
 };
 
@@ -93,6 +96,7 @@ enum v3d_queue {
 	V3D_TFU,
 	V3D_CSD,
 	V3D_CACHE_CLEAN,
+	V3D_CPU,
 };
 
 /**
@@ -276,6 +280,7 @@ enum drm_v3d_param {
 	DRM_V3D_PARAM_SUPPORTS_CACHE_FLUSH,
 	DRM_V3D_PARAM_SUPPORTS_PERFMON,
 	DRM_V3D_PARAM_SUPPORTS_MULTISYNC_EXT,
+	DRM_V3D_PARAM_SUPPORTS_CPU_QUEUE,
 };
 
 struct drm_v3d_get_param {
@@ -361,6 +366,57 @@ struct drm_v3d_submit_csd {
 	__u32 pad;
 };
 
+/**
+ * struct drm_v3d_indirect_csd - ioctl extension for the CPU job to create an
+ * indirect CSD
+ *
+ * When an extension of DRM_V3D_EXT_ID_CPU_INDIRECT_CSD id is defined, it
+ * points to this extension to define a indirect CSD submission. It creates a
+ * CPU job linked to a CSD job. The CPU job waits for the indirect CSD
+ * dependencies and, once they are signaled, it updates the CSD job config
+ * before allowing the CSD job execution.
+ */
+struct drm_v3d_indirect_csd {
+	struct drm_v3d_extension base;
+
+	/* Indirect CSD */
+	struct drm_v3d_submit_csd submit;
+
+	/* Handle of the indirect BO, that should be also attached to the
+	 * indirect CSD.
+	 */
+	__u32 indirect;
+
+	/* Offset within the BO where the workgroup counts are stored */
+	__u32 offset;
+
+	/* Workgroups size */
+	__u32 wg_size;
+
+	/* Indices of the uniforms with the workgroup dispatch counts
+	 * in the uniform stream. If the uniform rewrite is not needed,
+	 * the offset must be 0xffffffff.
+	 */
+	__u32 wg_uniform_offsets[3];
+};
+
+struct drm_v3d_submit_cpu {
+	/* Pointer to a u32 array of the BOs that are referenced by the job.
+	 *
+	 * For DRM_V3D_EXT_ID_CPU_INDIRECT_CSD, it must contain only one BO,
+	 * that contains the workgroup counts.
+	 */
+	__u64 bo_handles;
+
+	/* Number of BO handles passed in (size is that times 4). */
+	__u32 bo_handle_count;
+
+	__u32 flags;
+
+	/* Pointer to an array of ioctl extensions*/
+	__u64 extensions;
+};
+
 enum {
 	V3D_PERFCNT_FEP_VALID_PRIMTS_NO_PIXELS,
 	V3D_PERFCNT_FEP_VALID_PRIMS,