diff --git a/tools/testing/selftests/rkpinctrl/Makefile b/tools/testing/selftests/rkpinctrl/Makefile
new file mode 100644
index 000000000000..780f910f7679
--- /dev/null
+++ b/tools/testing/selftests/rkpinctrl/Makefile
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: GPL-2.0
+CFLAGS += -static -O3 -Wl,-no-as-needed -Wall
+
+TEST_GEN_PROGS = iomux
+
+include ../lib.mk
diff --git a/tools/testing/selftests/rkpinctrl/iomux.c b/tools/testing/selftests/rkpinctrl/iomux.c
new file mode 100644
index 000000000000..6d829c36bc30
--- /dev/null
+++ b/tools/testing/selftests/rkpinctrl/iomux.c
@@ -0,0 +1,107 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (c) 2022 Rockchip Electronics Co. Ltd.
+ */
+
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+
+#include "../../../../include/uapi/linux/rk-iomux.h"
+
+static int rk_iomux_ioctl_set(int fd, int bank, int pin, int mux)
+{
+	struct iomux_ioctl_data data = {
+		.bank = bank,
+		.pin = pin,
+		.mux = mux,
+	};
+	int ret;
+
+	if (!fd)
+		return -EINVAL;
+
+	ret = ioctl(fd, IOMUX_IOC_MUX_SET, &data);
+	if (ret < 0) {
+		perror("fail to ioctl");
+		return ret;
+	}
+
+	return 0;
+}
+
+static int rk_iomux_ioctl_get(int fd, int bank, int pin, int *mux)
+{
+	struct iomux_ioctl_data data = {
+		.bank = bank,
+		.pin = pin,
+	};
+	int ret;
+
+	if (!fd)
+		return -EINVAL;
+
+	ret = ioctl(fd, IOMUX_IOC_MUX_GET, &data);
+	if (ret < 0) {
+		perror("fail to ioctl");
+		return ret;
+	}
+	*mux = data.mux;
+
+	return 0;
+}
+
+static void usage(void)
+{
+	printf("%s:\n"
+		"set iomux:\n"
+		"iomux [bank index] [pin index] [mux value]\n"
+		"get iomux:\n"
+		"iomux [bank index] [pin index]\n",
+		__func__);
+}
+
+int main(int argc, char *argv[])
+{
+	const char *name = "/dev/iomux";
+	int fd;
+	int bank, pin, mux;
+	int ret;
+
+	if ((argc != 3) && (argc != 4)) {
+		usage();
+		return -1;
+	}
+
+	bank = atoi(argv[1]);
+	pin = atoi(argv[2]);
+
+	fd = open(name, O_RDWR);
+	if (fd < 0) {
+		printf("open %s failed!\n", name);
+		return fd;
+	}
+
+	if (argc == 4) {
+		mux = atoi(argv[3]);
+		ret = rk_iomux_ioctl_set(fd, bank, pin, mux);
+		if (ret)
+			goto err;
+	} else if (argc == 3) {
+		ret = rk_iomux_ioctl_get(fd, bank, pin, &mux);
+		if (ret)
+			goto err;
+		printf("mux get (GPIO%d-%d) = %d\n", bank, pin, mux);
+	}
+
+err:
+	close(fd);
+	return 0;
+}