diff --git a/Bender.lock b/Bender.lock
index eca72d58..b08779bb 100644
--- a/Bender.lock
+++ b/Bender.lock
@@ -15,8 +15,8 @@ packages:
     - apb
     - register_interface
   axi:
-    revision: bfee21757bf090ec8e358456314b0b0fd3c90809
-    version: 0.39.0
+    revision: fccffb5953ec8564218ba05e20adbedec845e014
+    version: 0.39.1
     source:
       Git: https://github.com/pulp-platform/axi.git
     dependencies:
@@ -108,8 +108,8 @@ packages:
     dependencies:
     - common_cells
   idma:
-    revision: 437ffa9dac5dea0daccfd3e8ae604d4f6ae2cdf1
-    version: null
+    revision: 2c64e0773fab5a54757646715485fcdf3432c7c1
+    version: 0.5.0
     source:
       Git: https://github.com/pulp-platform/iDMA.git
     dependencies:
diff --git a/Bender.yml b/Bender.yml
index b977a6b7..c9a5c7a4 100644
--- a/Bender.yml
+++ b/Bender.yml
@@ -21,7 +21,7 @@ dependencies:
   common_cells:             { git: "https://github.com/pulp-platform/common_cells.git",           version: 1.29.0 }
   common_verification:      { git: "https://github.com/pulp-platform/common_verification.git",    version: 0.2.0  }
   cva6:                     { git: "https://github.com/pulp-platform/cva6.git",                   rev: pulp-v0.4.3 }
-  iDMA:                     { git: "https://github.com/pulp-platform/iDMA.git",                   rev: 437ffa9    }  # TODO: master commit; use next release once out
+  iDMA:                     { git: "https://github.com/pulp-platform/iDMA.git",                   version: 0.5.0  }
   opentitan_peripherals:    { git: "https://github.com/pulp-platform/opentitan_peripherals.git",  version: 0.4.0  }
   register_interface:       { git: "https://github.com/pulp-platform/register_interface.git",     version: 0.4.1  }
   riscv-dbg:                { git: "https://github.com/pulp-platform/riscv-dbg.git",              version: 0.8.0  }
diff --git a/cheshire.mk b/cheshire.mk
index 4f3dffa7..afbfcc48 100644
--- a/cheshire.mk
+++ b/cheshire.mk
@@ -21,6 +21,7 @@ CHS_LLC_DIR   := $(shell $(BENDER) path axi_llc)
 OTPROOT      := $(shell $(BENDER) path opentitan_peripherals)
 CLINTROOT    := $(shell $(BENDER) path clint)
 AXI_VGA_ROOT := $(shell $(BENDER) path axi_vga)
+IDMA_ROOT    := $(shell $(BENDER) path idma)
 
 REGTOOL ?= $(CHS_REG_DIR)/vendor/lowrisc_opentitan/util/regtool.py
 
diff --git a/docs/um/arch.md b/docs/um/arch.md
index 5c92f26b..83829bbc 100644
--- a/docs/um/arch.md
+++ b/docs/um/arch.md
@@ -236,13 +236,18 @@ The [Serial Link](https://github.com/pulp-platform/serial_link) is a fully digit
 
 ### DMA engine
 
-The [iDMA engine](https://github.com/pulp-platform/iDMA) enables high-throughput asynchronous transfers between any two subordinate address ranges in the system. It exposes the following parameters:
+The [iDMA engine](https://github.com/pulp-platform/iDMA) enables high-throughput asynchronous transfers between any two subordinate address ranges in the system. The hardware supports, if enabled, up to two-dimensional transfers directly in hardware. It exposes the following parameters:
 
 | Parameter                    | Type / Range | Description                                       |
 | ---------------------------- | ------------ | ------------------------------------------------- |
 | `DmaConfMax(Read|Write)Txns` | `dw_bt`      | Max. number of outstanding requests to DMA config |
 | `DmaConfAmoNumCuts`          | `aw_bt`      | Number of timing cuts inside config AMO filter    |
 | `DmaConfAmoPostCut`          | `bit`        | Whether to insert a cut after config AMO filter   |
+| `DmaConfEnableTwoD`          | `bit`        | Whether the 2D hardware extension is present      |
+| `DmaNumAxInFlight`           | `dw_bt`      | Number of outstanding transfers the DMA launches  |
+| `DmaMemSysDepth`             | `dw_bt`      | The *approximate* depth of the memory system      |
+| `DmaJobFifoDepth`            | `aw_bt`      | The depth of the job FIFO                         |
+| `DmaRAWCouplingAvail`        | `bit`        | Whether the R-AW coupling feature is available    |
 
 ### I2C, SPI, GPIOs
 
diff --git a/hw/cheshire_pkg.sv b/hw/cheshire_pkg.sv
index 1d3b09df..028fdb2e 100644
--- a/hw/cheshire_pkg.sv
+++ b/hw/cheshire_pkg.sv
@@ -172,6 +172,11 @@ package cheshire_pkg;
     dw_bt   DmaConfMaxWriteTxns;
     aw_bt   DmaConfAmoNumCuts;
     bit     DmaConfAmoPostCut;
+    bit     DmaConfEnableTwoD;
+    dw_bt   DmaNumAxInFlight;
+    dw_bt   DmaMemSysDepth;
+    aw_bt   DmaJobFifoDepth;
+    bit     DmaRAWCouplingAvail;
     // Parameters for GPIO
     bit     GpioInputSyncs;
     // Parameters for AXI RT
@@ -514,8 +519,8 @@ package cheshire_pkg;
     AxiDataWidth      : 64,
     AxiUserWidth      : 2,  // AMO(2)
     AxiMstIdWidth     : 2,
-    AxiMaxMstTrans    : 8,
-    AxiMaxSlvTrans    : 8,
+    AxiMaxMstTrans    : 24,
+    AxiMaxSlvTrans    : 24,
     AxiUserAmoMsb     : 1, // Convention: lower AMO bits for cores, MSB for serial link
     AxiUserAmoLsb     : 0, // Convention: lower AMO bits for cores, MSB for serial link
     AxiUserDefault    : 0,
@@ -550,8 +555,8 @@ package cheshire_pkg;
     LlcSetAssoc       : 8,
     LlcNumLines       : 256,
     LlcNumBlocks      : 8,
-    LlcMaxReadTxns    : 8,
-    LlcMaxWriteTxns   : 8,
+    LlcMaxReadTxns    : 16,
+    LlcMaxWriteTxns   : 16,
     LlcAmoNumCuts     : 1,
     LlcAmoPostCut     : 1,
     LlcOutConnect     : 1,
@@ -577,6 +582,11 @@ package cheshire_pkg;
     DmaConfMaxWriteTxns : 4,
     DmaConfAmoNumCuts   : 1,
     DmaConfAmoPostCut   : 1,
+    DmaConfEnableTwoD   : 1,
+    DmaNumAxInFlight    : 16,
+    DmaMemSysDepth      : 8,
+    DmaJobFifoDepth     : 2,
+    DmaRAWCouplingAvail : 1,
     // GPIOs
     GpioInputSyncs    : 1,
     // AXI RT
diff --git a/hw/cheshire_soc.sv b/hw/cheshire_soc.sv
index 31812a53..b631db66 100644
--- a/hw/cheshire_soc.sv
+++ b/hw/cheshire_soc.sv
@@ -1460,15 +1460,20 @@ module cheshire_soc import cheshire_pkg::*; #(
     end
 
     dma_core_wrap #(
-      .AxiAddrWidth   ( Cfg.AddrWidth     ),
-      .AxiDataWidth   ( Cfg.AxiDataWidth  ),
-      .AxiIdWidth     ( Cfg.AxiMstIdWidth ),
-      .AxiUserWidth   ( Cfg.AxiUserWidth  ),
-      .AxiSlvIdWidth  ( AxiSlvIdWidth     ),
-      .axi_mst_req_t  ( axi_mst_req_t ),
-      .axi_mst_rsp_t  ( axi_mst_rsp_t ),
-      .axi_slv_req_t  ( axi_slv_req_t ),
-      .axi_slv_rsp_t  ( axi_slv_rsp_t )
+      .AxiAddrWidth       ( Cfg.AddrWidth           ),
+      .AxiDataWidth       ( Cfg.AxiDataWidth        ),
+      .AxiIdWidth         ( Cfg.AxiMstIdWidth       ),
+      .AxiUserWidth       ( Cfg.AxiUserWidth        ),
+      .AxiSlvIdWidth      ( AxiSlvIdWidth           ),
+      .NumAxInFlight      ( Cfg.DmaNumAxInFlight    ),
+      .MemSysDepth        ( Cfg.DmaMemSysDepth      ),
+      .JobFifoDepth       ( Cfg.DmaJobFifoDepth     ),
+      .RAWCouplingAvail   ( Cfg.DmaRAWCouplingAvail ),
+      .IsTwoD             ( Cfg.DmaConfEnableTwoD   ),
+      .axi_mst_req_t      ( axi_mst_req_t           ),
+      .axi_mst_rsp_t      ( axi_mst_rsp_t           ),
+      .axi_slv_req_t      ( axi_slv_req_t           ),
+      .axi_slv_rsp_t      ( axi_slv_rsp_t           )
     ) i_dma (
       .clk_i,
       .rst_ni,
diff --git a/sw/include/dif/dma.h b/sw/include/dif/dma.h
new file mode 100644
index 00000000..f48b0a9f
--- /dev/null
+++ b/sw/include/dif/dma.h
@@ -0,0 +1,130 @@
+// Copyright 2022 ETH Zurich and University of Bologna.
+// Licensed under the Apache License, Version 2.0, see LICENSE for details.
+// SPDX-License-Identifier: Apache-2.0
+//
+// Alessandro Ottaviano <aottaviano@iis.ee.ethz.ch>
+// Thomas Benz <tbenz@iis.ee.ethz.ch>
+
+#include <stdint.h>
+#include "regs/idma.h"
+#include "params.h"
+
+#define DMA_SRC_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_SRC_ADDR_REG_OFFSET)
+#define DMA_DST_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_DST_ADDR_REG_OFFSET)
+#define DMA_NUMBYTES_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_NUM_BYTES_REG_OFFSET)
+#define DMA_CONF_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_CONF_REG_OFFSET)
+#define DMA_STATUS_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_STATUS_REG_OFFSET)
+#define DMA_NEXTID_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_NEXT_ID_REG_OFFSET)
+#define DMA_DONE_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_DONE_REG_OFFSET)
+#define DMA_SRC_STRIDE_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_STRIDE_SRC_REG_OFFSET)
+#define DMA_DST_STRIDE_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_STRIDE_DST_REG_OFFSET)
+#define DMA_NUM_REPS_ADDR(BASE) ((void *)BASE + IDMA_REG64_2D_FRONTEND_NUM_REPETITIONS_REG_OFFSET)
+
+#define DMA_CONF_DECOUPLE 0
+#define DMA_CONF_DEBURST 0
+#define DMA_CONF_SERIALIZE 0
+
+#define X(NAME, BASE_ADDR) \
+    extern volatile uint64_t *NAME##_dma_src_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_dst_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_num_bytes_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_conf_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_status_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_nextid_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_done_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_src_stride_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_dst_stride_ptr(void); \
+    extern volatile uint64_t *NAME##_dma_num_reps_ptr(void); \
+\
+    extern uint64_t NAME##_dma_memcpy(uint64_t dst, uint64_t src, uint64_t size); \
+    extern void NAME##_dma_blk_memcpy(uint64_t dst, uint64_t src, uint64_t size); \
+    extern uint64_t NAME##_dma_2d_memcpy(uint64_t dst, uint64_t src, uint64_t size, \
+                                         uint64_t dst_stride, uint64_t src_stride, \
+                                         uint64_t num_reps); \
+    extern void NAME##_dma_2d_blk_memcpy(uint64_t dst, uint64_t src, uint64_t size, \
+                                         uint64_t dst_stride, uint64_t src_stride, \
+                                         uint64_t num_reps); \
+\
+    inline volatile uint64_t *NAME##_dma_src_ptr(void) { \
+        return (volatile uint64_t *)DMA_SRC_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_dst_ptr(void) { \
+        return (volatile uint64_t *)DMA_DST_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_num_bytes_ptr(void) { \
+        return (volatile uint64_t *)DMA_NUMBYTES_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_conf_ptr(void) { \
+        return (volatile uint64_t *)DMA_CONF_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_status_ptr(void) { \
+        return (volatile uint64_t *)DMA_STATUS_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_nextid_ptr(void) { \
+        return (volatile uint64_t *)DMA_NEXTID_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_done_ptr(void) { \
+        return (volatile uint64_t *)DMA_DONE_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_src_stride_ptr(void) { \
+        return (volatile uint64_t *)DMA_SRC_STRIDE_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_dst_stride_ptr(void) { \
+        return (volatile uint64_t *)DMA_DST_STRIDE_ADDR(BASE_ADDR); \
+    } \
+    inline volatile uint64_t *NAME##_dma_num_reps_ptr(void) { \
+        return (volatile uint64_t *)DMA_NUM_REPS_ADDR(BASE_ADDR); \
+    } \
+\
+    inline uint64_t NAME##_dma_memcpy(uint64_t dst, uint64_t src, uint64_t size) { \
+        *(NAME##_dma_src_ptr()) = (uint64_t)src; \
+        *(NAME##_dma_dst_ptr()) = (uint64_t)dst; \
+        *(NAME##_dma_num_bytes_ptr()) = size; \
+        *(NAME##_dma_num_reps_ptr()) = 0; \
+        *(NAME##_dma_conf_ptr()) = \
+            (DMA_CONF_DECOUPLE << IDMA_REG64_2D_FRONTEND_CONF_DECOUPLE_BIT) | \
+            (DMA_CONF_DEBURST << IDMA_REG64_2D_FRONTEND_CONF_DEBURST_BIT) | \
+            (DMA_CONF_SERIALIZE << IDMA_REG64_2D_FRONTEND_CONF_SERIALIZE_BIT); \
+        return *(NAME##_dma_nextid_ptr()); \
+    } \
+\
+    inline void NAME##_dma_blk_memcpy(uint64_t dst, uint64_t src, uint64_t size) { \
+        volatile uint64_t tf_id = NAME##_dma_memcpy(dst, src, size); \
+        while (*(NAME##_dma_done_ptr()) != tf_id) { \
+            asm volatile("nop"); \
+        } \
+    } \
+\
+    inline uint64_t NAME##_dma_2d_memcpy(uint64_t dst, uint64_t src, uint64_t size, \
+                                         uint64_t dst_stride, uint64_t src_stride, \
+                                         uint64_t num_reps) { \
+        *(NAME##_dma_src_ptr()) = (uint64_t)src; \
+        *(NAME##_dma_dst_ptr()) = (uint64_t)dst; \
+        *(NAME##_dma_num_bytes_ptr()) = size; \
+        *(NAME##_dma_conf_ptr()) = \
+            (DMA_CONF_DECOUPLE << IDMA_REG64_2D_FRONTEND_CONF_DECOUPLE_BIT) | \
+            (DMA_CONF_DEBURST << IDMA_REG64_2D_FRONTEND_CONF_DEBURST_BIT) | \
+            (DMA_CONF_SERIALIZE << IDMA_REG64_2D_FRONTEND_CONF_SERIALIZE_BIT); \
+        *(NAME##_dma_src_stride_ptr()) = src_stride; \
+        *(NAME##_dma_dst_stride_ptr()) = dst_stride; \
+        *(NAME##_dma_num_reps_ptr()) = num_reps; \
+        return *(NAME##_dma_nextid_ptr()); \
+    } \
+\
+    inline void NAME##_dma_2d_blk_memcpy(uint64_t dst, uint64_t src, uint64_t size, \
+                                         uint64_t dst_stride, uint64_t src_stride, \
+                                         uint64_t num_reps) { \
+        volatile uint64_t tf_id = \
+            NAME##_dma_2d_memcpy(dst, src, size, dst_stride, src_stride, num_reps); \
+        while (*(NAME##_dma_done_ptr()) != tf_id) { \
+            asm volatile("nop"); \
+        } \
+    } \
+\
+    inline uint64_t NAME##_dma_get_status(void) { \
+        return *(NAME##_dma_status_ptr()); \
+    }
+
+X(sys, &__base_dma);
+
+#undef X
diff --git a/sw/include/regs/idma.h b/sw/include/regs/idma.h
new file mode 100644
index 00000000..7aa43052
--- /dev/null
+++ b/sw/include/regs/idma.h
@@ -0,0 +1,57 @@
+// Generated register defines for idma_reg64_2d_frontend
+
+// Copyright information found in source file:
+// Copyright 2022 ETH Zurich and University of Bologna.
+
+// Licensing information found in source file:
+// Licensed under Solderpad Hardware License, Version 0.51
+// SPDX-License-Identifier: SHL-0.51
+
+#ifndef _IDMA_REG64_2D_FRONTEND_REG_DEFS_
+#define _IDMA_REG64_2D_FRONTEND_REG_DEFS_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+// Register width
+#define IDMA_REG64_2D_FRONTEND_PARAM_REG_WIDTH 64
+
+// Source Address
+#define IDMA_REG64_2D_FRONTEND_SRC_ADDR_REG_OFFSET 0x0
+
+// Destination Address
+#define IDMA_REG64_2D_FRONTEND_DST_ADDR_REG_OFFSET 0x8
+
+// Number of bytes
+#define IDMA_REG64_2D_FRONTEND_NUM_BYTES_REG_OFFSET 0x10
+
+// Configuration Register for DMA settings
+#define IDMA_REG64_2D_FRONTEND_CONF_REG_OFFSET 0x18
+#define IDMA_REG64_2D_FRONTEND_CONF_DECOUPLE_BIT 0
+#define IDMA_REG64_2D_FRONTEND_CONF_DEBURST_BIT 1
+#define IDMA_REG64_2D_FRONTEND_CONF_SERIALIZE_BIT 2
+
+// DMA Status
+#define IDMA_REG64_2D_FRONTEND_STATUS_REG_OFFSET 0x20
+#define IDMA_REG64_2D_FRONTEND_STATUS_BUSY_BIT 0
+
+// Next ID, launches transfer, returns 0 if transfer not set up properly.
+#define IDMA_REG64_2D_FRONTEND_NEXT_ID_REG_OFFSET 0x28
+
+// Get ID of finished transactions.
+#define IDMA_REG64_2D_FRONTEND_DONE_REG_OFFSET 0x30
+
+// Source Stride
+#define IDMA_REG64_2D_FRONTEND_STRIDE_SRC_REG_OFFSET 0x38
+
+// Destination Stride
+#define IDMA_REG64_2D_FRONTEND_STRIDE_DST_REG_OFFSET 0x40
+
+// Number of 2D repetitions
+#define IDMA_REG64_2D_FRONTEND_NUM_REPETITIONS_REG_OFFSET 0x48
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+#endif  // _IDMA_REG64_2D_FRONTEND_REG_DEFS_
+// End generated register defines for idma_reg64_2d_frontend
\ No newline at end of file
diff --git a/sw/sw.mk b/sw/sw.mk
index aa708bb7..07ed3637 100644
--- a/sw/sw.mk
+++ b/sw/sw.mk
@@ -77,6 +77,7 @@ endef
 $(eval $(call chs_sw_gen_hdr_rule,clint,$(CLINTROOT)/src/clint.hjson $(CLINTROOT)/.generated))
 $(eval $(call chs_sw_gen_hdr_rule,serial_link,$(CHS_ROOT)/hw/serial_link.hjson $(CHS_SLINK_DIR)/.generated))
 $(eval $(call chs_sw_gen_hdr_rule,axi_vga,$(AXI_VGA_ROOT)/data/axi_vga.hjson $(AXI_VGA_ROOT)/.generated))
+$(eval $(call chs_sw_gen_hdr_rule,idma,$(IDMA_ROOT)/src/frontends/register_64bit_2d/idma_reg64_2d_frontend.hjson))
 $(eval $(call chs_sw_gen_hdr_rule,axi_llc,$(CHS_LLC_DIR)/data/axi_llc_regs.hjson))
 $(eval $(call chs_sw_gen_hdr_rule,cheshire,$(CHS_ROOT)/hw/regs/cheshire_regs.hjson))
 $(eval $(call chs_sw_gen_hdr_rule,axi_rt,$(CHS_ROOT)/hw/regs/axi_rt_regs.hjson))
diff --git a/target/xilinx/src/cheshire_top_xilinx.sv b/target/xilinx/src/cheshire_top_xilinx.sv
index f9763f54..188e0ce3 100644
--- a/target/xilinx/src/cheshire_top_xilinx.sv
+++ b/target/xilinx/src/cheshire_top_xilinx.sv
@@ -143,6 +143,11 @@ module cheshire_top_xilinx
     DmaConfMaxWriteTxns : 4,
     DmaConfAmoNumCuts   : 1,
     DmaConfAmoPostCut   : 1,
+    DmaConfEnableTwoD   : 1,
+    DmaNumAxInFlight    : 16,
+    DmaMemSysDepth      : 8,
+    DmaJobFifoDepth     : 2,
+    DmaRAWCouplingAvail : 1,
     // GPIOs
     GpioInputSyncs    : 1,
     // All non-set values should be zero