diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index f21ee502956e..4733d327cfb1 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -1790,7 +1790,7 @@ config HAVE_ARCH_PFN_VALID
 
 config HIGHMEM
 	bool "High Memory Support"
-	depends on MMU && !PREEMPT_RT_FULL
+	depends on MMU
 	help
 	  The address space of ARM processors is only 4 Gigabytes large
 	  and it has to accommodate user address space, kernel address
diff --git a/arch/arm/include/asm/switch_to.h b/arch/arm/include/asm/switch_to.h
index c99e259469f7..f3e3d800c407 100644
--- a/arch/arm/include/asm/switch_to.h
+++ b/arch/arm/include/asm/switch_to.h
@@ -3,6 +3,13 @@
 
 #include <linux/thread_info.h>
 
+#if defined CONFIG_PREEMPT_RT_FULL && defined CONFIG_HIGHMEM
+void switch_kmaps(struct task_struct *prev_p, struct task_struct *next_p);
+#else
+static inline void
+switch_kmaps(struct task_struct *prev_p, struct task_struct *next_p) { }
+#endif
+
 /*
  * For v7 SMP cores running a preemptible kernel we may be pre-empted
  * during a TLB maintenance operation, so execute an inner-shareable dsb
@@ -22,6 +29,7 @@ extern struct task_struct *__switch_to(struct task_struct *, struct thread_info
 
 #define switch_to(prev,next,last)					\
 do {									\
+	switch_kmaps(prev, next);					\
 	last = __switch_to(prev,task_thread_info(prev), task_thread_info(next));	\
 } while (0)
 
diff --git a/arch/arm/mm/highmem.c b/arch/arm/mm/highmem.c
index 3688c8b1fde1..bd41dd8cc561 100644
--- a/arch/arm/mm/highmem.c
+++ b/arch/arm/mm/highmem.c
@@ -38,6 +38,7 @@ EXPORT_SYMBOL(kunmap);
 
 void *kmap_atomic(struct page *page)
 {
+	pte_t pte = mk_pte(page, kmap_prot);
 	unsigned int idx;
 	unsigned long vaddr;
 	void *kmap;
@@ -76,7 +77,10 @@ void *kmap_atomic(struct page *page)
 	 * in place, so the contained TLB flush ensures the TLB is updated
 	 * with the new mapping.
 	 */
-	set_top_pte(vaddr, mk_pte(page, kmap_prot));
+#ifdef CONFIG_PREEMPT_RT_FULL
+	current->kmap_pte[type] = pte;
+#endif
+	set_top_pte(vaddr, pte);
 
 	return (void *)vaddr;
 }
@@ -93,6 +97,9 @@ void __kunmap_atomic(void *kvaddr)
 
 		if (cache_is_vivt())
 			__cpuc_flush_dcache_area((void *)vaddr, PAGE_SIZE);
+#ifdef CONFIG_PREEMPT_RT_FULL
+		current->kmap_pte[type] = __pte(0);
+#endif
 #ifdef CONFIG_DEBUG_HIGHMEM
 		BUG_ON(vaddr != __fix_to_virt(FIX_KMAP_BEGIN + idx));
 #else
@@ -110,6 +117,7 @@ EXPORT_SYMBOL(__kunmap_atomic);
 
 void *kmap_atomic_pfn(unsigned long pfn)
 {
+	pte_t pte = pfn_pte(pfn, kmap_prot);
 	unsigned long vaddr;
 	int idx, type;
 
@@ -121,7 +129,10 @@ void *kmap_atomic_pfn(unsigned long pfn)
 #ifdef CONFIG_DEBUG_HIGHMEM
 	BUG_ON(!pte_none(get_top_pte(vaddr)));
 #endif
-	set_top_pte(vaddr, pfn_pte(pfn, kmap_prot));
+#ifdef CONFIG_PREEMPT_RT_FULL
+	current->kmap_pte[type] = pte;
+#endif
+	set_top_pte(vaddr, pte);
 
 	return (void *)vaddr;
 }
@@ -135,3 +146,29 @@ struct page *kmap_atomic_to_page(const void *ptr)
 
 	return pte_page(get_top_pte(vaddr));
 }
+
+#if defined CONFIG_PREEMPT_RT_FULL
+void switch_kmaps(struct task_struct *prev_p, struct task_struct *next_p)
+{
+	int i;
+
+	/*
+	 * Clear @prev's kmap_atomic mappings
+	 */
+	for (i = 0; i < prev_p->kmap_idx; i++) {
+		int idx = i + KM_TYPE_NR * smp_processor_id();
+
+		set_top_pte(__fix_to_virt(FIX_KMAP_BEGIN + idx), __pte(0));
+	}
+	/*
+	 * Restore @next_p's kmap_atomic mappings
+	 */
+	for (i = 0; i < next_p->kmap_idx; i++) {
+		int idx = i + KM_TYPE_NR * smp_processor_id();
+
+		if (!pte_none(next_p->kmap_pte[i]))
+			set_top_pte(__fix_to_virt(FIX_KMAP_BEGIN + idx),
+					next_p->kmap_pte[i]);
+	}
+}
+#endif
diff --git a/include/linux/highmem.h b/include/linux/highmem.h
index cee935ca0f4f..821d523cf888 100644
--- a/include/linux/highmem.h
+++ b/include/linux/highmem.h
@@ -7,6 +7,7 @@
 #include <linux/mm.h>
 #include <linux/uaccess.h>
 #include <linux/hardirq.h>
+#include <linux/sched.h>
 
 #include <asm/cacheflush.h>