diff --git a/drivers/gpu/nvgpu/Makefile.shared.configs b/drivers/gpu/nvgpu/Makefile.shared.configs
index f7b276d07..ed02feb3e 100644
--- a/drivers/gpu/nvgpu/Makefile.shared.configs
+++ b/drivers/gpu/nvgpu/Makefile.shared.configs
@@ -132,6 +132,16 @@ NVGPU_COMMON_CFLAGS               += -DCONFIG_NVGPU_CHECKER=1
 # NVGPU_COMMON_CFLAGS             +=      \
 # 	-DCONFIG_NVGPU_CTXSW_FW_ERROR_HEADER_TESTING
 
+# Enable gsp scheduler for safety build
+ifneq ($(NVGPU_HVRTOS),1)
+CONFIG_NVGPU_GSP_SCHEDULER	:= 1
+NVGPU_COMMON_CFLAGS		+= -DCONFIG_NVGPU_GSP_SCHEDULER
+endif
+
+# used by sec2/gsp code
+CONFIG_NVGPU_ENGINE_QUEUE       := 1
+NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_ENGINE_QUEUE
+
 ifeq ($(CONFIG_NVGPU_DGPU),1)
 
 NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_DGPU
@@ -139,10 +149,6 @@ NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_DGPU
 CONFIG_NVGPU_NVLINK             := 1
 NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_NVLINK
 
-# used by sec2 code
-CONFIG_NVGPU_ENGINE_QUEUE       := 1
-NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_ENGINE_QUEUE
-
 # used in ce_app
 CONFIG_NVGPU_FENCE              := 1
 NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_FENCE
@@ -220,9 +226,6 @@ endif
 CONFIG_NVGPU_ACR_LEGACY         := 1
 NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_ACR_LEGACY
 
-CONFIG_NVGPU_ENGINE_QUEUE       := 1
-NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_ENGINE_QUEUE
-
 CONFIG_NVGPU_DEBUGGER           := 1
 NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_DEBUGGER
 
@@ -368,8 +371,14 @@ NVGPU_COMMON_CFLAGS                  += -DCONFIG_NVGPU_MIG
 endif
 
 # Enable gsp scheduler for normal build
+ifneq ($(NVGPU_HVRTOS),1)
 CONFIG_NVGPU_GSP_SCHEDULER	:= 1
 NVGPU_COMMON_CFLAGS		+= -DCONFIG_NVGPU_GSP_SCHEDULER
+endif
+
+# used by sec2/gsp code
+CONFIG_NVGPU_ENGINE_QUEUE       := 1
+NVGPU_COMMON_CFLAGS             += -DCONFIG_NVGPU_ENGINE_QUEUE
 
 # Code to encapsulate the error information into a uniform interface via
 # nvgpu_err_msg is currently used, but might be needed in future by nvgpu_rm
diff --git a/drivers/gpu/nvgpu/Makefile.sources b/drivers/gpu/nvgpu/Makefile.sources
index c30a69da6..36e7c4a27 100644
--- a/drivers/gpu/nvgpu/Makefile.sources
+++ b/drivers/gpu/nvgpu/Makefile.sources
@@ -414,8 +414,10 @@ endif
 ifeq ($(CONFIG_NVGPU_ENGINE_QUEUE),1)
 srcs += common/engine_queues/engine_mem_queue.c \
 	common/engine_queues/engine_dmem_queue.c \
-	common/engine_queues/engine_emem_queue.c \
-	common/engine_queues/engine_fb_queue.c
+	common/engine_queues/engine_emem_queue.c
+ifneq ($(filter 1, $(CONFIG_NVGPU_DGPU) $(NVGPU_HVRTOS)),)
+srcs +=	common/engine_queues/engine_fb_queue.c
+endif
 endif
 
 ifeq ($(CONFIG_NVGPU_GRAPHICS),1)
diff --git a/drivers/gpu/nvgpu/common/engine_queues/engine_dmem_queue.c b/drivers/gpu/nvgpu/common/engine_queues/engine_dmem_queue.c
index 1a4a3286d..71a7fab0e 100644
--- a/drivers/gpu/nvgpu/common/engine_queues/engine_dmem_queue.c
+++ b/drivers/gpu/nvgpu/common/engine_queues/engine_dmem_queue.c
@@ -50,14 +50,20 @@ static int engine_dmem_queue_pop(struct nvgpu_falcon *flcn,
 	struct gk20a *g = queue->g;
 	int err = 0;
 
+#if (defined(CONFIG_NVGPU_FALCON_DEBUG) || defined(CONFIG_NVGPU_FALCON_NON_FUSA))
 	err = nvgpu_falcon_copy_from_dmem(flcn, src, data, size, 0);
 	if (err != 0) {
 		nvgpu_err(g, "flcn-%d, queue-%d", queue->flcn_id, queue->id);
 		nvgpu_err(g, "dmem queue read failed");
-		goto exit;
 	}
-
-exit:
+#else
+	(void)flcn;
+	(void)src;
+	(void)data;
+	(void)size;
+	(void)g;
+	err = -EINVAL;
+#endif
 	return err;
 }
 
diff --git a/drivers/gpu/nvgpu/common/engine_queues/engine_mem_queue.c b/drivers/gpu/nvgpu/common/engine_queues/engine_mem_queue.c
index 76e178221..d8abd7f67 100644
--- a/drivers/gpu/nvgpu/common/engine_queues/engine_mem_queue.c
+++ b/drivers/gpu/nvgpu/common/engine_queues/engine_mem_queue.c
@@ -412,11 +412,9 @@ int nvgpu_engine_mem_queue_init(struct nvgpu_engine_mem_queue **queue_p,
 	case QUEUE_TYPE_DMEM:
 		engine_dmem_queue_init(queue);
 		break;
-#ifdef CONFIG_NVGPU_DGPU
 	case QUEUE_TYPE_EMEM:
 		engine_emem_queue_init(queue);
 		break;
-#endif
 	default:
 		err = -EINVAL;
 		break;
diff --git a/drivers/gpu/nvgpu/common/falcon/falcon.c b/drivers/gpu/nvgpu/common/falcon/falcon.c
index ad89a1fa7..b4a7fdc2d 100644
--- a/drivers/gpu/nvgpu/common/falcon/falcon.c
+++ b/drivers/gpu/nvgpu/common/falcon/falcon.c
@@ -556,11 +556,9 @@ int nvgpu_falcon_sw_init(struct gk20a *g, u32 flcn_id)
 	nvgpu_mutex_init(&flcn->imem_lock);
 	nvgpu_mutex_init(&flcn->dmem_lock);
 
-#ifdef CONFIG_NVGPU_DGPU
 	if (flcn->emem_supported) {
 		nvgpu_mutex_init(&flcn->emem_lock);
 	}
-#endif
 
 	return 0;
 }
@@ -582,11 +580,10 @@ void nvgpu_falcon_sw_free(struct gk20a *g, u32 flcn_id)
 		return;
 	}
 
-#ifdef CONFIG_NVGPU_DGPU
 	if (flcn->emem_supported) {
 		nvgpu_mutex_destroy(&flcn->emem_lock);
 	}
-#endif
+
 	nvgpu_mutex_destroy(&flcn->dmem_lock);
 	nvgpu_mutex_destroy(&flcn->imem_lock);
 }
diff --git a/drivers/gpu/nvgpu/common/gsp/gsp_init.c b/drivers/gpu/nvgpu/common/gsp/gsp_init.c
index 53a8a85c7..71175922d 100644
--- a/drivers/gpu/nvgpu/common/gsp/gsp_init.c
+++ b/drivers/gpu/nvgpu/common/gsp/gsp_init.c
@@ -85,6 +85,10 @@ int nvgpu_gsp_debug_buf_init(struct gk20a *g, u32 queue_no, u32 buffer_size)
 			nvgpu_err(g, "GSP debug init failed");
 		}
 	}
+
+#else
+	(void)queue_no;
+	(void)buffer_size;
 #endif
 	return err;
 }
diff --git a/drivers/gpu/nvgpu/common/gsp_scheduler/gsp_scheduler.c b/drivers/gpu/nvgpu/common/gsp_scheduler/gsp_scheduler.c
index 2d39e8004..24d1f5057 100644
--- a/drivers/gpu/nvgpu/common/gsp_scheduler/gsp_scheduler.c
+++ b/drivers/gpu/nvgpu/common/gsp_scheduler/gsp_scheduler.c
@@ -84,7 +84,7 @@ void nvgpu_gsp_sched_sw_deinit(struct gk20a *g)
 	}
 
 	if (gsp_sched->sequences != NULL) {
-		nvgpu_gsp_sequences_free(g, gsp_sched->sequences);
+		nvgpu_gsp_sequences_free(g, &gsp_sched->sequences);
 	}
 
 	nvgpu_gsp_queues_free(g, gsp_sched->queues);
@@ -119,8 +119,6 @@ static int gsp_sched_wait_for_init(struct gk20a *g,
 int nvgpu_gsp_sched_sw_init(struct gk20a *g)
 {
 	int err = 0;
-	struct nvgpu_gsp_sched *gsp_sched;
-	struct nvgpu_gsp *gsp;
 
 	nvgpu_gsp_dbg(g, " ");
 
@@ -149,17 +147,14 @@ int nvgpu_gsp_sched_sw_init(struct gk20a *g)
 		goto de_init;
 	}
 
-	gsp_sched = g->gsp_sched;
-	gsp = g->gsp_sched->gsp;
-
 	/* gsp falcon software state */
-	gsp->gsp_flcn = &g->gsp_flcn;
-	gsp->g = g;
+	g->gsp_sched->gsp->gsp_flcn = &g->gsp_flcn;
+	g->gsp_sched->gsp->g = g;
 
 	/* Init isr mutex */
-	nvgpu_mutex_init(&gsp->isr_mutex);
+	nvgpu_mutex_init(&g->gsp_sched->gsp->isr_mutex);
 
-	err = nvgpu_gsp_sequences_init(g, gsp_sched);
+	err = nvgpu_gsp_sequences_init(g, &g->gsp_sched);
 	if (err != 0) {
 		nvgpu_err(g, "GSP sequences init failed");
 		goto de_init;
diff --git a/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.c b/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.c
index 67664bfc7..9173c0c05 100644
--- a/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.c
+++ b/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.c
@@ -30,60 +30,61 @@
 #include "gsp_seq.h"
 
 static void gsp_sequences_init(struct gk20a *g,
-			struct gsp_sequences *sequences)
+			struct gsp_sequences **sequences)
 {
 	u16 i = 0;
 
 	nvgpu_gsp_dbg(g, " ");
 
-	(void) memset(sequences->seq, 0,
-		sizeof(*sequences->seq) * GSP_MAX_NUM_SEQUENCES);
+	(void) memset((*sequences)->seq, 0,
+		sizeof(struct gsp_sequence) * GSP_MAX_NUM_SEQUENCES);
 
-	(void) memset(sequences->gsp_seq_tbl, 0,
-		sizeof(sequences->gsp_seq_tbl));
+	(void) memset((*sequences)->gsp_seq_tbl, 0,
+		sizeof((*sequences)->gsp_seq_tbl));
 
 	for (i = 0; i < GSP_MAX_NUM_SEQUENCES; i++) {
-		sequences->seq[i].id = (u8)i;
+		(*sequences)->seq[i].id = (u8)i;
 	}
 }
 
-int nvgpu_gsp_sequences_init(struct gk20a *g, struct nvgpu_gsp_sched *gsp_sched)
+int nvgpu_gsp_sequences_init(struct gk20a *g, struct nvgpu_gsp_sched **gsp_sched)
 {
 	int err = 0;
-	struct gsp_sequences *seqs;
+	struct gsp_sequences *seqs = NULL;
 
 	nvgpu_gsp_dbg(g, " ");
 
-	seqs = (struct gsp_sequences *) nvgpu_kzalloc(g, sizeof(*seqs->seq));
+	seqs = (struct gsp_sequences *) nvgpu_kzalloc(g, sizeof(struct gsp_sequences));
 	if (seqs == NULL) {
 		nvgpu_err(g, "GSP sequences allocation failed");
 		return -ENOMEM;
 	}
 
-	seqs->seq = nvgpu_kzalloc(g,
-			GSP_MAX_NUM_SEQUENCES * sizeof(*seqs->seq));
+	seqs->seq = (struct gsp_sequence *) nvgpu_kzalloc(g,
+			GSP_MAX_NUM_SEQUENCES * sizeof(struct gsp_sequence));
 	if (seqs->seq == NULL) {
 		nvgpu_err(g, "GSP sequence allocation failed");
 		nvgpu_kfree(g, seqs);
 		return -ENOMEM;
 	}
 
-	gsp_sched->sequences = seqs;
-	gsp_sched->sequences->seq = seqs->seq;
-
 	nvgpu_mutex_init(&seqs->gsp_seq_lock);
 
-	gsp_sequences_init(g, seqs);
+	gsp_sequences_init(g, &seqs);
+
+	(*gsp_sched)->sequences = seqs;
 
 	return err;
 }
 
 void nvgpu_gsp_sequences_free(struct gk20a *g,
-			struct gsp_sequences *sequences)
+			struct gsp_sequences **sequences)
 {
-	nvgpu_mutex_destroy(&sequences->gsp_seq_lock);
-	nvgpu_kfree(g, sequences->seq);
-	nvgpu_kfree(g, sequences);
+	nvgpu_mutex_destroy(&(*sequences)->gsp_seq_lock);
+	nvgpu_kfree(g, ((*sequences)->seq));
+	(*sequences)->seq = NULL;
+	nvgpu_kfree(g, (*sequences));
+	*sequences = NULL;
 }
 
 int nvgpu_gsp_seq_acquire(struct gk20a *g,
diff --git a/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.h b/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.h
index 4dfe92f1f..65d498c2d 100644
--- a/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.h
+++ b/drivers/gpu/nvgpu/common/gsp_scheduler/ipc/gsp_seq.h
@@ -56,9 +56,9 @@ struct gsp_sequences {
 	struct nvgpu_mutex gsp_seq_lock;
 };
 
-int nvgpu_gsp_sequences_init(struct gk20a *g, struct nvgpu_gsp_sched *gsp_sched);
+int nvgpu_gsp_sequences_init(struct gk20a *g, struct nvgpu_gsp_sched **gsp_sched);
 void nvgpu_gsp_sequences_free(struct gk20a *g,
-			struct gsp_sequences *sequences);
+			struct gsp_sequences **sequences);
 int nvgpu_gsp_seq_acquire(struct gk20a *g,
 			struct gsp_sequences *sequences,
 			struct gsp_sequence **pseq,
diff --git a/drivers/gpu/nvgpu/common/init/nvgpu_init.c b/drivers/gpu/nvgpu/common/init/nvgpu_init.c
index b04096ca0..14ad089ba 100644
--- a/drivers/gpu/nvgpu/common/init/nvgpu_init.c
+++ b/drivers/gpu/nvgpu/common/init/nvgpu_init.c
@@ -363,9 +363,11 @@ int nvgpu_prepare_poweroff(struct gk20a *g)
 		nvgpu_err(g, "Failed to halt GSP stress test");
 	}
 #endif
-#ifdef CONFIG_NVGPU_GSP_SCHEDULER
-	nvgpu_gsp_sched_suspend(g, g->gsp_sched);
 #endif
+#ifdef CONFIG_NVGPU_GSP_SCHEDULER
+	if (nvgpu_is_enabled(g, NVGPU_SUPPORT_GSP_SCHED)) {
+		nvgpu_gsp_sched_suspend(g, g->gsp_sched);
+	}
 #endif
 
 	nvgpu_falcons_sw_free(g);
@@ -990,13 +992,14 @@ int nvgpu_finalize_poweron(struct gk20a *g)
 		NVGPU_INIT_TABLE_ENTRY(nvgpu_nvs_init, NO_FLAG),
 		NVGPU_INIT_TABLE_ENTRY(g->ops.channel.resume_all_serviceable_ch,
 				       NO_FLAG),
-#ifndef CONFIG_NVGPU_DGPU
 #ifdef CONFIG_NVGPU_GSP_SCHEDULER
 		/* Init gsp ops */
-		NVGPU_INIT_TABLE_ENTRY(&nvgpu_gsp_sched_sw_init, NO_FLAG),
+		NVGPU_INIT_TABLE_ENTRY(&nvgpu_gsp_sched_sw_init, NVGPU_SUPPORT_GSP_SCHED),
 #endif
+#ifndef CONFIG_NVGPU_DGPU
 #ifdef CONFIG_NVGPU_GSP_STRESS_TEST
-		NVGPU_INIT_TABLE_ENTRY(&nvgpu_gsp_stress_test_sw_init, NO_FLAG),
+		NVGPU_INIT_TABLE_ENTRY(&nvgpu_gsp_stress_test_sw_init,
+				NO_FLAG),
 #endif
 #endif
 	};
diff --git a/drivers/gpu/nvgpu/hal/gsp/gsp_ga10b.c b/drivers/gpu/nvgpu/hal/gsp/gsp_ga10b.c
index e27542e33..cd79bb2e7 100644
--- a/drivers/gpu/nvgpu/hal/gsp/gsp_ga10b.c
+++ b/drivers/gpu/nvgpu/hal/gsp/gsp_ga10b.c
@@ -183,7 +183,9 @@ static bool ga10b_gsp_is_interrupted(struct gk20a *g, u32 *intr)
 
 static void ga10b_gsp_handle_swgen1_irq(struct gk20a *g)
 {
+#ifdef CONFIG_NVGPU_FALCON_DEBUG
 	int err = 0;
+#endif
 	struct nvgpu_falcon *flcn = NULL;
 
 	nvgpu_log_fn(g, " ");
diff --git a/drivers/gpu/nvgpu/hal/init/hal_ga10b.c b/drivers/gpu/nvgpu/hal/init/hal_ga10b.c
index 5ae8b42b8..c4d93bc01 100644
--- a/drivers/gpu/nvgpu/hal/init/hal_ga10b.c
+++ b/drivers/gpu/nvgpu/hal/init/hal_ga10b.c
@@ -1955,6 +1955,13 @@ int ga10b_init_hal(struct gk20a *g)
 		nvgpu_set_enabled(g, NVGPU_SUPPORT_PMU_SUPER_SURFACE, true);
 	}
 
+#ifdef CONFIG_NVGPU_GSP_SCHEDULER
+	/*
+	 * enable gsp scheduler
+	 */
+	nvgpu_set_enabled(g, NVGPU_SUPPORT_GSP_SCHED, true);
+#endif
+
 	/*
 	 * enable GSP VM for gsp scheduler firmware
 	 */
diff --git a/drivers/gpu/nvgpu/include/nvgpu/enabled.h b/drivers/gpu/nvgpu/include/nvgpu/enabled.h
index 00b92863a..af62cd45e 100644
--- a/drivers/gpu/nvgpu/include/nvgpu/enabled.h
+++ b/drivers/gpu/nvgpu/include/nvgpu/enabled.h
@@ -229,6 +229,7 @@ struct gk20a;
 			"PES Floorsweeping"), \
 	DEFINE_FLAG(NVGPU_SCHED_EXIT_WAIT_FOR_ERRBAR_SUPPORTED,               \
 			"Implicit ERRBAR support"),		\
+	DEFINE_FLAG(NVGPU_SUPPORT_GSP_SCHED, "To enable gsp sheduler"),			\
 	DEFINE_FLAG(NVGPU_SUPPORT_MULTI_PROCESS_TSG_SHARING, \
 			"Multi process TSG sharing support"), \
 	DEFINE_FLAG(NVGPU_MAX_ENABLED_BITS, "Marks max number of flags"),
diff --git a/drivers/gpu/nvgpu/os/linux/module.c b/drivers/gpu/nvgpu/os/linux/module.c
index aefdfb210..06d7c274f 100644
--- a/drivers/gpu/nvgpu/os/linux/module.c
+++ b/drivers/gpu/nvgpu/os/linux/module.c
@@ -1087,10 +1087,12 @@ void gk20a_remove_support(struct gk20a *g)
 	nvgpu_free_cyclestats_snapshot_data(g);
 #endif
 
-#ifndef CONFIG_NVGPU_DGPU
 #ifdef CONFIG_NVGPU_GSP_SCHEDULER
-	nvgpu_gsp_sched_sw_deinit(g);
+	if (nvgpu_is_enabled(g, NVGPU_SUPPORT_GSP_SCHED)) {
+		nvgpu_gsp_sched_sw_deinit(g);
+	}
 #endif
+#ifndef CONFIG_NVGPU_DGPU
 #ifdef CONFIG_NVGPU_GSP_STRESS_TEST
 	nvgpu_gsp_test_sw_deinit(g);
 #endif