diff --git a/drivers/remoteproc/remoteproc_core.c b/drivers/remoteproc/remoteproc_core.c
index 7e6b17a23cf2..1e9fc3112385 100644
--- a/drivers/remoteproc/remoteproc_core.c
+++ b/drivers/remoteproc/remoteproc_core.c
@@ -1497,7 +1497,7 @@ static int rproc_fw_boot(struct rproc *rproc, const struct firmware *fw)
  * Attach to remote processor - similar to rproc_fw_boot() but without
  * the steps that deal with the firmware image.
  */
-static int __maybe_unused rproc_actuate(struct rproc *rproc)
+static int rproc_actuate(struct rproc *rproc)
 {
 	struct device *dev = &rproc->dev;
 	int ret;
@@ -1908,25 +1908,31 @@ int rproc_boot(struct rproc *rproc)
 		goto unlock_mutex;
 	}
 
-	/* skip the boot process if rproc is already powered up */
+	/* skip the boot or attach process if rproc is already powered up */
 	if (atomic_inc_return(&rproc->power) > 1) {
 		ret = 0;
 		goto unlock_mutex;
 	}
 
-	dev_info(dev, "powering up %s\n", rproc->name);
+	if (rproc->state == RPROC_DETACHED) {
+		dev_info(dev, "attaching to %s\n", rproc->name);
 
-	/* load firmware */
-	ret = request_firmware(&firmware_p, rproc->firmware, dev);
-	if (ret < 0) {
-		dev_err(dev, "request_firmware failed: %d\n", ret);
-		goto downref_rproc;
+		ret = rproc_actuate(rproc);
+	} else {
+		dev_info(dev, "powering up %s\n", rproc->name);
+
+		/* load firmware */
+		ret = request_firmware(&firmware_p, rproc->firmware, dev);
+		if (ret < 0) {
+			dev_err(dev, "request_firmware failed: %d\n", ret);
+			goto downref_rproc;
+		}
+
+		ret = rproc_fw_boot(rproc, firmware_p);
+
+		release_firmware(firmware_p);
 	}
 
-	ret = rproc_fw_boot(rproc, firmware_p);
-
-	release_firmware(firmware_p);
-
 downref_rproc:
 	if (ret)
 		atomic_dec(&rproc->power);