diff --git a/arch/sim/src/sim/sim_rpmsg_virtio.c b/arch/sim/src/sim/sim_rpmsg_virtio.c
index e06c6f11fcd..737c92bbcb5 100644
--- a/arch/sim/src/sim/sim_rpmsg_virtio.c
+++ b/arch/sim/src/sim/sim_rpmsg_virtio.c
@@ -115,6 +115,8 @@ sim_rpmsg_virtio_get_resource(struct rpmsg_virtio_s *dev)
       rsc->rpmsg_vring1.num         = 8;
       rsc->config.r2h_buf_size      = 2048;
       rsc->config.h2r_buf_size      = 2048;
+      rsc->cmd_master               = 0;
+      rsc->cmd_slave                = 0;
 
       priv->shmem->base = (uintptr_t)priv->shmem;
     }
diff --git a/arch/sim/src/sim/sim_rptun.c b/arch/sim/src/sim/sim_rptun.c
index dde6b6f406c..9f38217abb3 100644
--- a/arch/sim/src/sim/sim_rptun.c
+++ b/arch/sim/src/sim/sim_rptun.c
@@ -148,6 +148,8 @@ sim_rptun_get_resource(struct rptun_dev_s *dev)
       rsc->rpmsg_vring1.notifyid    = RSC_NOTIFY_ID_ANY;
       rsc->config.r2h_buf_size      = 0x800;
       rsc->config.h2r_buf_size      = 0x800;
+      rsc->cmd_master               = 0;
+      rsc->cmd_slave                = 0;
 
       priv->shmem->base             = (uintptr_t)priv->shmem;
 
diff --git a/drivers/rpmsg/rpmsg_virtio.c b/drivers/rpmsg/rpmsg_virtio.c
index e192145b054..da1f815f687 100644
--- a/drivers/rpmsg/rpmsg_virtio.c
+++ b/drivers/rpmsg/rpmsg_virtio.c
@@ -45,6 +45,8 @@
 #define RPMSG_VIRTIO_TIMEOUT_MS 20
 #define RPMSG_VIRTIO_NOTIFYID   0
 
+#define RPMSG_VIRTIO_CMD_PANIC  0x1
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -69,6 +71,7 @@ struct rpmsg_virtio_priv_s
 
 static int rpmsg_virtio_wait(FAR struct rpmsg_s *rpmsg, FAR sem_t *sem);
 static int rpmsg_virtio_post(FAR struct rpmsg_s *rpmsg, FAR sem_t *sem);
+static void rpmsg_virtio_panic(FAR struct rpmsg_s *rpmsg);
 static void rpmsg_virtio_dump(FAR struct rpmsg_s *rpmsg);
 static FAR const char *
 rpmsg_virtio_get_local_cpuname(FAR struct rpmsg_s *rpmsg);
@@ -97,6 +100,7 @@ static const struct rpmsg_ops_s g_rpmsg_virtio_ops =
 {
   .wait               = rpmsg_virtio_wait,
   .post               = rpmsg_virtio_post,
+  .panic              = rpmsg_virtio_panic,
   .dump               = rpmsg_virtio_dump,
   .get_local_cpuname  = rpmsg_virtio_get_local_cpuname,
   .get_cpuname        = rpmsg_virtio_get_cpuname,
@@ -267,6 +271,23 @@ static int rpmsg_virtio_post(FAR struct rpmsg_s *rpmsg, FAR sem_t *sem)
   return ret;
 }
 
+static void rpmsg_virtio_panic(FAR struct rpmsg_s *rpmsg)
+{
+  FAR struct rpmsg_virtio_priv_s *priv =
+      (FAR struct rpmsg_virtio_priv_s *)rpmsg;
+
+  if (RPMSG_VIRTIO_IS_MASTER(priv->dev))
+    {
+      priv->rsc->cmd_master = RPMSG_VIRTIO_CMD_PANIC;
+    }
+  else
+    {
+      priv->rsc->cmd_slave = RPMSG_VIRTIO_CMD_PANIC;
+    }
+
+  rpmsg_virtio_notify(priv->vdev.vrings_info->vq);
+}
+
 #ifdef CONFIG_OPENAMP_DEBUG
 static int rpmsg_virtio_buffer_nused(FAR struct rpmsg_virtio_device *rvdev,
                                      bool rx)
@@ -430,6 +451,33 @@ static void rpmsg_virtio_wakeup_rx(FAR struct rpmsg_virtio_priv_s *priv)
     }
 }
 
+static void rpmsg_virtio_command(FAR struct rpmsg_virtio_priv_s *priv)
+{
+  FAR struct rpmsg_virtio_rsc_s *rsc = priv->rsc;
+  uint32_t cmd;
+
+  if (RPMSG_VIRTIO_IS_MASTER(priv->dev))
+    {
+      cmd = rsc->cmd_slave;
+      rsc->cmd_slave = 0;
+    }
+  else
+    {
+      cmd = rsc->cmd_master;
+      rsc->cmd_master = 0;
+    }
+
+  switch (cmd)
+    {
+      case RPMSG_VIRTIO_CMD_PANIC:
+        PANIC();
+        break;
+
+      default:
+        break;
+    }
+}
+
 static int rpmsg_virtio_callback(FAR void *arg, uint32_t vqid)
 {
   FAR struct rpmsg_virtio_priv_s *priv = arg;
@@ -437,6 +485,8 @@ static int rpmsg_virtio_callback(FAR void *arg, uint32_t vqid)
   FAR struct virtio_device *vdev = rvdev->vdev;
   FAR struct virtqueue *rvq = rvdev->rvq;
 
+  rpmsg_virtio_command(priv);
+
   if (vqid == RPMSG_VIRTIO_NOTIFY_ALL ||
       vqid == vdev->vrings_info[rvq->vq_queue_index].notifyid)
     {
diff --git a/drivers/rpmsg/rpmsg_virtio_ivshmem.c b/drivers/rpmsg/rpmsg_virtio_ivshmem.c
index a08d1057edb..dec7ab147b8 100644
--- a/drivers/rpmsg/rpmsg_virtio_ivshmem.c
+++ b/drivers/rpmsg/rpmsg_virtio_ivshmem.c
@@ -148,6 +148,8 @@ rpmsg_virtio_ivshmem_get_resource(FAR struct rpmsg_virtio_s *dev)
       rsc->rpmsg_vring1.num         = CONFIG_RPMSG_VIRTIO_IVSHMEM_BUFFNUM;
       rsc->config.r2h_buf_size      = CONFIG_RPMSG_VIRTIO_IVSHMEM_BUFFSIZE;
       rsc->config.h2r_buf_size      = CONFIG_RPMSG_VIRTIO_IVSHMEM_BUFFSIZE;
+      rsc->cmd_master               = 0;
+      rsc->cmd_slave                = 0;
 
       priv->shmem->basem = (uint64_t)(uintptr_t)priv->shmem;
     }
diff --git a/drivers/rptun/rptun.c b/drivers/rptun/rptun.c
index a9bd1b3ed53..5243315d489 100644
--- a/drivers/rptun/rptun.c
+++ b/drivers/rptun/rptun.c
@@ -52,10 +52,10 @@
 #  define ALIGN_UP(s, a)            (((s) + (a) - 1) & ~((a) - 1))
 #endif
 
-#define RPTUNIOC_NONE               0
-
 #define RPTUN_TIMEOUT_MS            20
 
+#define RPTUN_CMD_PANIC             0x1
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -372,6 +372,33 @@ static bool rptun_is_recursive(FAR struct rptun_priv_s *priv)
   return nxsched_gettid() == priv->tid;
 }
 
+static void rptun_command(FAR struct rptun_priv_s *priv)
+{
+  FAR struct rptun_rsc_s *rsc = priv->rproc.rsc_table;
+  uint32_t cmd;
+
+  if (RPTUN_IS_MASTER(priv->dev))
+    {
+      cmd = rsc->cmd_slave;
+      rsc->cmd_slave = 0;
+    }
+  else
+    {
+      cmd = rsc->cmd_master;
+      rsc->cmd_master = 0;
+    }
+
+  switch (cmd)
+    {
+      case RPTUN_CMD_PANIC:
+        PANIC();
+        break;
+
+      default:
+        break;
+    }
+}
+
 static int rptun_callback(FAR void *arg, uint32_t vqid)
 {
   FAR struct rptun_priv_s *priv = arg;
@@ -380,6 +407,8 @@ static int rptun_callback(FAR void *arg, uint32_t vqid)
   FAR struct virtqueue *svq = rvdev->svq;
   FAR struct virtqueue *rvq = rvdev->rvq;
 
+  rptun_command(priv);
+
   if (vqid == RPTUN_NOTIFY_ALL ||
       vqid == vdev->vrings_info[rvq->vq_queue_index].notifyid)
     {
@@ -651,8 +680,24 @@ static int rptun_ioctl(FAR struct rpmsg_s *rpmsg, int cmd, unsigned long arg)
 static void rptun_panic(FAR struct rpmsg_s *rpmsg)
 {
   FAR struct rptun_priv_s *priv = (FAR struct rptun_priv_s *)rpmsg;
+  FAR struct rptun_rsc_s *rsc = priv->rproc.rsc_table;
 
-  RPTUN_PANIC(priv->dev);
+  if (priv->dev->ops->panic != NULL)
+    {
+      RPTUN_PANIC(priv->dev);
+      return;
+    }
+
+  if (RPTUN_IS_MASTER(priv->dev))
+    {
+      rsc->cmd_master = RPTUN_CMD_PANIC;
+    }
+  else
+    {
+      rsc->cmd_slave = RPTUN_CMD_PANIC;
+    }
+
+  rptun_notify(&priv->rproc, RPTUN_NOTIFY_ALL);
 }
 
 static void rptun_dump(FAR struct rpmsg_s *rpmsg)
diff --git a/drivers/rptun/rptun_ivshmem.c b/drivers/rptun/rptun_ivshmem.c
index 84e0a992eba..b468f54457d 100644
--- a/drivers/rptun/rptun_ivshmem.c
+++ b/drivers/rptun/rptun_ivshmem.c
@@ -191,6 +191,8 @@ rptun_ivshmem_get_resource(FAR struct rptun_dev_s *dev)
       rsc->rpmsg_vring1.notifyid    = RSC_NOTIFY_ID_ANY;
       rsc->config.r2h_buf_size      = CONFIG_RPTUN_IVSHMEM_BUFFSIZE;
       rsc->config.h2r_buf_size      = CONFIG_RPTUN_IVSHMEM_BUFFSIZE;
+      rsc->cmd_master               = 0;
+      rsc->cmd_slave                = 0;
 
       priv->shmem->rsc_size         = sizeof(struct rptun_rsc_s);
       priv->shmem->cmds             = RPTUN_IVSHMEM_READY;
diff --git a/include/nuttx/rpmsg/rpmsg_virtio.h b/include/nuttx/rpmsg/rpmsg_virtio.h
index ff7d6be7c67..7dc1b9358a9 100644
--- a/include/nuttx/rpmsg/rpmsg_virtio.h
+++ b/include/nuttx/rpmsg/rpmsg_virtio.h
@@ -160,6 +160,8 @@ struct aligned_data(8) rpmsg_virtio_rsc_s
   struct fw_rsc_vdev_vring rpmsg_vring0;
   struct fw_rsc_vdev_vring rpmsg_vring1;
   struct fw_rsc_config     config;
+  uint32_t                 cmd_master;
+  uint32_t                 cmd_slave;
 };
 
 struct rpmsg_virtio_s;
diff --git a/include/nuttx/rptun/rptun.h b/include/nuttx/rptun/rptun.h
index f6827e2dab3..13524bcd1ad 100644
--- a/include/nuttx/rptun/rptun.h
+++ b/include/nuttx/rptun/rptun.h
@@ -294,7 +294,7 @@
  ****************************************************************************/
 
 #define RPTUN_RESET(d,v) ((d)->ops->reset ? \
-                          (d)->ops->reset(d,v) : -ENOSYS)
+                          (d)->ops->reset(d,v) : UNUSED(d))
 
 /****************************************************************************
  * Name: RPTUN_PANIC
@@ -311,7 +311,7 @@
  ****************************************************************************/
 
 #define RPTUN_PANIC(d) ((d)->ops->panic ? \
-                        (d)->ops->panic(d) : -ENOSYS)
+                        (d)->ops->panic(d) : UNUSED(d))
 
 /****************************************************************************
  * Public Types
@@ -335,6 +335,8 @@ struct aligned_data(8) rptun_rsc_s
   struct fw_rsc_vdev_vring rpmsg_vring0;
   struct fw_rsc_vdev_vring rpmsg_vring1;
   struct fw_rsc_config     config;
+  uint32_t                 cmd_master;
+  uint32_t                 cmd_slave;
 };
 
 struct rptun_dev_s;