diff --git a/arch/arm/Kconfig.debug b/arch/arm/Kconfig.debug
index 96a8a1973fa3..fe7e9b583e63 100644
--- a/arch/arm/Kconfig.debug
+++ b/arch/arm/Kconfig.debug
@@ -917,6 +917,20 @@ choice
 		  Say Y here if you want kernel low-level debugging support
 		  via SCIF2 on Renesas RZ/A1H (R7S72100).
 
+	config DEBUG_R7S9210_SCIF2
+		bool "Kernel low-level debugging messages via SCIF2 on R7S9210"
+		depends on ARCH_R7S9210
+		help
+		  Say Y here if you want kernel low-level debugging support
+		  via SCIF2 on Renesas RZ/A2M (R7S9210).
+
+	config DEBUG_R7S9210_SCIF4
+		bool "Kernel low-level debugging messages via SCIF4 on R7S9210"
+		depends on ARCH_R7S9210
+		help
+		  Say Y here if you want kernel low-level debugging support
+		  via SCIF4 on Renesas RZ/A2M (R7S9210).
+
 	config DEBUG_RCAR_GEN1_SCIF0
 		bool "Kernel low-level debugging messages via SCIF0 on R8A7778"
 		depends on ARCH_R8A7778
@@ -1529,6 +1543,8 @@ config DEBUG_LL_INCLUDE
 	default "debug/msm.S" if DEBUG_QCOM_UARTDM
 	default "debug/omap2plus.S" if DEBUG_OMAP2PLUS_UART
 	default "debug/renesas-scif.S" if DEBUG_R7S72100_SCIF2
+	default "debug/renesas-scif.S" if DEBUG_R7S9210_SCIF2
+	default "debug/renesas-scif.S" if DEBUG_R7S9210_SCIF4
 	default "debug/renesas-scif.S" if DEBUG_RCAR_GEN1_SCIF0
 	default "debug/renesas-scif.S" if DEBUG_RCAR_GEN1_SCIF2
 	default "debug/renesas-scif.S" if DEBUG_RCAR_GEN2_SCIF0
@@ -1656,7 +1672,8 @@ config DEBUG_UART_PHYS
 	default 0xe6e60000 if DEBUG_RCAR_GEN2_SCIF0
 	default 0xe6e68000 if DEBUG_RCAR_GEN2_SCIF1
 	default 0xe6ee0000 if DEBUG_RCAR_GEN2_SCIF4
-	default 0xe8008000 if DEBUG_R7S72100_SCIF2
+	default 0xe8008000 if DEBUG_R7S72100_SCIF2 || DEBUG_R7S9210_SCIF2
+	default 0xe8009000 if DEBUG_R7S9210_SCIF4
 	default 0xf0000000 if DEBUG_DIGICOLOR_UA0
 	default 0xf0000be0 if ARCH_EBSA110
 	default 0xf1012000 if DEBUG_MVEBU_UART0_ALTERNATE
@@ -1687,6 +1704,7 @@ config DEBUG_UART_PHYS
 		DEBUG_LL_UART_EFM32 || \
 		DEBUG_UART_8250 || DEBUG_UART_PL01X || DEBUG_MESON_UARTAO || \
 		DEBUG_QCOM_UARTDM || DEBUG_R7S72100_SCIF2 || \
+		DEBUG_R7S9210_SCIF2 || DEBUG_R7S9210_SCIF4 || \
 		DEBUG_RCAR_GEN1_SCIF0 || DEBUG_RCAR_GEN1_SCIF2 || \
 		DEBUG_RCAR_GEN2_SCIF0 || DEBUG_RCAR_GEN2_SCIF1 || \
 		DEBUG_RCAR_GEN2_SCIF2 || DEBUG_RCAR_GEN2_SCIF4 || \
diff --git a/arch/arm/include/debug/renesas-scif.S b/arch/arm/include/debug/renesas-scif.S
index 1c5f795587fc..25f06663a9a4 100644
--- a/arch/arm/include/debug/renesas-scif.S
+++ b/arch/arm/include/debug/renesas-scif.S
@@ -11,7 +11,11 @@
 #define SCIF_PHYS	CONFIG_DEBUG_UART_PHYS
 #define SCIF_VIRT	((SCIF_PHYS & 0x00ffffff) | 0xfd000000)
 
-#if CONFIG_DEBUG_UART_PHYS < 0xe6e00000
+#if defined(CONFIG_DEBUG_R7S9210_SCIF2) || defined(CONFIG_DEBUG_R7S9210_SCIF4)
+/* RZ/A2 SCIFA */
+#define FTDR		0x06
+#define FSR		0x08
+#elif CONFIG_DEBUG_UART_PHYS < 0xe6e00000
 /* SCIFA */
 #define FTDR		0x20
 #define FSR		0x14