board: arm64: Add AArch32 virtual machine support for ROC-RK3588-PC

arch/arm/core/mmu/arm_mmu.c

@@ -33,6 +33,7 @@
 
 #include <zephyr/arch/arm/mmu/arm_mmu.h>
 #include "arm_mmu_priv.h"
+#include "zephyr/cache.h"
 
 LOG_MODULE_DECLARE(os, CONFIG_KERNEL_LOG_LEVEL);
 
@@ -571,7 +572,7 @@ static void arm_mmu_l2_map_page(uint32_t va, uint32_t pa,
 
 	if (l1_page_table.entries[l1_index].undefined.id == ARM_MMU_PTE_ID_INVALID ||
 	    (l1_page_table.entries[l1_index].undefined.id & ARM_MMU_PTE_ID_SECTION) != 0) {
-		l2_page_table = arm_mmu_assign_l2_table(pa);
+		l2_page_table = arm_mmu_assign_l2_table(va);
 		__ASSERT(l2_page_table != NULL,
 			 "Unexpected L2 page table NULL pointer for VA 0x%08X",
 			 va);
@@ -958,6 +959,7 @@ void arch_mem_map(void *virt, uintptr_t phys, size_t size, uint32_t flags)
 		LOG_ERR("__arch_mem_map() returned %d", ret);
 		k_panic();
 	} else {
+		sys_cache_data_flush_all();
 		invalidate_tlb_all();
 	}
 }

boards/firefly/roc_rk3588_pc/Kconfig.roc_rk3588_pc

@@ -2,4 +2,5 @@
 # SPDX-License-Identifier: Apache-2.0
 
 config BOARD_ROC_RK3588_PC
-	select SOC_RK3588
+	select SOC_RK3588_AARCH64 if BOARD_ROC_RK3588_PC_RK3588_AARCH64 || BOARD_ROC_RK3588_PC_RK3588_AARCH64_SMP
+	select SOC_RK3588_AARCH32 if BOARD_ROC_RK3588_PC_RK3588_AARCH32

boards/firefly/roc_rk3588_pc/board.yml

@@ -3,6 +3,7 @@ board:
   full_name: ROC-RK3588-PC (Quad-core Cortex-A55)
   vendor: firefly
   socs:
-  - name: rk3588
+  - name: rk3588_aarch64
     variants:
     - name: smp
+  - name: rk3588_aarch32

boards/firefly/roc_rk3588_pc/doc/index.rst

@@ -6,11 +6,12 @@ Overview
 The ROC-RK3588-PC is an Octa-Core 64-Bit Mini Computer powered by Rockchip RK3588, which supports up to 32GB RAM.
 It features M.2 PCIe3.0 interface for NVMe SSD expansion and provides rich interfaces including HDMI 2.1, DP1.4.
 Supporting WiFi 6 wireless transmission and Gigabit Ethernet, it enables high-speed network connectivity.
+More information can refer to `Firefly website <firefly_website_>`_.
 
-RK3588 octa-core 64-bit processor (4×Cortex-A76+4×Cortex-A55), with 8nm lithography process,
-has frequency up to 2.4GHz. Integrated with ARM Mali-G610 MP4 quad-core GPU and built-in AI accelerator NPU,
-it provides 6Tops computing power. Zephyr OS is ported to run on it.
-
+The RK3588 has a cluster with quad-core Cortex-A55 and quad-core Cortex-A76 of which the
+cores are all single-threaded. Both Cortex-A55 and Cortex-A76 processors implement the ARMv8-A architecture.
+And the processors support both the AArch32 and AArch64 execution states at all Exception levels (EL0 to EL3).
+Zephyr currently supports running natively on bare-metal RK3588 with quad-core Cortex-A55, as well as running as a virtual machine in both AArch64 and AArch32 modes.
 
 - Board features:
 
@@ -24,11 +25,6 @@ it provides 6Tops computing power. Zephyr OS is ported to run on it.
 
     - Supports WiFi 6 (802.11 a/b/g/n/ac/ax)
     - Supports BT 5.0
-  - Display:
-
-    - HDMI 2.1 (8K@60fps)
-    - HDMI 2.0 (4K@60fps)
-    - DP 1.4 (8K@30fps)
   - USB:
 
     - Two USB 3.0
@@ -63,43 +59,61 @@ Cortex-A76 cores run up to 2.4 GHz and Cortex-A55 cores run up to 1.8 GHz.
 Serial Port
 -----------
 
-This board configuration uses a single serial communication channel with the
-CPU's UART2.
+This board configuration uses UART2 and UART3 as the serial ports.
+When Zephyr runs in bare-metal mode, UART2 is used as the serial port.
+When Zephyr runs in virtual machine, UART3 can be used as the serial port.
+The Hypervisor is responsible for correctly initializing UART3.
 
 Programming and Debugging
 *************************
 
-.. zephyr:board-supported-runners::
+Running on Bare Metal or AArch64 Virtual Machine
+=================================================
+
+To run Zephyr on bare-metal RK3588 hardware or within an AArch64 virtual machine, use this configuration for basic Zephyr applications and kernel tests.
+For example, with the :zephyr:code-sample:`synchronization` sample:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/synchronization
+   :host-os: unix
+   :board: roc_rk3588_pc/rk3588_aarch64
+   :goals: build
 
-Use U-Boot to load the zephyr.bin to the memory and kick it:
+Then use U-Boot to load the zephyr.bin to the memory and kick it:
 
 .. code-block:: console
 
     tftp 0x50000000 zephyr.bin; dcache flush; icache flush; dcache off; icache off; go 0x50000000
 
-Use this configuration to run basic Zephyr applications and kernel tests,
-for example, with the :zephyr:code-sample:`synchronization` sample:
+For SMP (Symmetric Multiprocessing) support on ``roc_rk3588_pc//smp``, use this configuration to build Zephyr SMP applications.
+For example, with the :zephyr:code-sample:`synchronization` sample:
 
 .. zephyr-app-commands::
    :zephyr-app: samples/synchronization
    :host-os: unix
-   :board: roc_rk3588_pc
-   :goals: run
+   :board: roc_rk3588_pc/rk3588_aarch64/smp
+   :goals: build
+
+To run Zephyr within an AArch64 virtual machine, use the same build commands as for bare-metal. However, the way to launch Zephyr will depend on the hypervisor.
 
-For ``roc_rk3588_pc//smp`` support, use this configuration to run Zephyr smp applications and subsys tests,
-for example, with the :zephyr:code-sample:`synchronization` sample:
+Running within AArch32 Virtual Machine
+======================================
+
+To run Zephyr within an AArch32 virtual machine, use this configuration for basic Zephyr applications and kernel tests.
+For example, with the :zephyr:code-sample:`synchronization` sample:
 
 .. zephyr-app-commands::
    :zephyr-app: samples/synchronization
    :host-os: unix
-   :board: roc_rk3588_pc//smp
-   :goals: run
+   :board: roc_rk3588_pc/rk3588_aarch32
+   :goals: build
+
+Then launch Zephyr using a hypervisor that supports AArch32 guest mode, such as `hvisor <hvisor_website_>`_.
 
 References
 ==========
 
-More information can refer to Firefly official website:
-`Firefly website`_.
+.. target-notes::
 
-.. _Firefly website:
-   https://en.t-firefly.com/product/industry/rocrk3588pc.html?theme=pc
+.. _firefly_website: https://en.t-firefly.com/product/industry/rocrk3588pc.html?theme=pc
+.. _hvisor_website: https://github.com/syswonder/hvisor

boards/firefly/roc_rk3588_pc/roc_rk3588_pc_rk3588_aarch32.dts

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2025 Syswonder
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <arm64/rockchip/rk3588.dtsi>
+#include <common/mem.h>
+
+/ {
+	model = "Firefly ROC-RK3588";
+	compatible = "rockchip,rk3588";
+
+	chosen {
+		zephyr,console = &uart3;
+		zephyr,shell-uart = &uart3;
+		zephyr,sram = &dram;
+	};
+
+	dram: memory@50000000 {
+		compatible = "mmio-sram";
+		device_type = "memory";
+		reg = <0x50000000 DT_SIZE_M(1)>;
+	};
+};
+
+&uart3 {
+	status = "okay";
+	current-speed = <115200>;
+};

boards/firefly/roc_rk3588_pc/roc_rk3588_pc_rk3588_aarch32.yaml

@@ -0,0 +1,12 @@
+identifier: roc_rk3588_pc/rk3588_aarch32
+name: Rockchip ROC RK3588 PC AArch32
+type: mcu
+arch: arm
+toolchain:
+  - zephyr
+  - cross-compile
+ram: 1024
+testing:
+  ignore_tags:
+    - net
+    - bluetooth

boards/firefly/roc_rk3588_pc/roc_rk3588_pc_rk3588_aarch32_defconfig

@@ -0,0 +1,16 @@
+# Copyright (c) 2025 Syswonder
+# SPDX-License-Identifier: Apache-2.0
+
+# Platform Configuration
+CONFIG_ARM_ARCH_TIMER=y
+
+# Serial Drivers
+CONFIG_SERIAL=y
+CONFIG_UART_NS16550=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+
+# Enable console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+
+CONFIG_CACHE_MANAGEMENT=y

boards/firefly/roc_rk3588_pc/roc_rk3588_pc.yaml → boards/firefly/roc_rk3588_pc/roc_rk3588_pc_rk3588_aarch64.yaml

@@ -1,4 +1,4 @@
-identifier: roc_rk3588_pc
+identifier: roc_rk3588_pc/rk3588_aarch64
 name: Rockchip ROC RK3588 PC
 type: mcu
 arch: arm64

boards/firefly/roc_rk3588_pc/roc_rk3588_pc_smp.dts → boards/firefly/roc_rk3588_pc/roc_rk3588_pc_rk3588_aarch64_smp.dts

@@ -3,4 +3,4 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include "roc_rk3588_pc.dts"
+#include "roc_rk3588_pc_rk3588_aarch64.dts"

boards/firefly/roc_rk3588_pc/roc_rk3588_pc_smp.yaml → boards/firefly/roc_rk3588_pc/roc_rk3588_pc_rk3588_aarch64_smp.yaml

@@ -1,4 +1,4 @@
-identifier: roc_rk3588_pc/rk3588/smp
+identifier: roc_rk3588_pc/rk3588_aarch64/smp
 name: Rockchip ROC RK3588 PC SMP
 type: mcu
 arch: arm64

drivers/interrupt_controller/intc_gicv3.c

@@ -673,6 +673,9 @@ static bool arm_gic_aff_matching(uint64_t gicr_aff, uint64_t aff)
 	uint64_t mask = BIT64_MASK(8);
 
 	return (gicr_aff & mask) == (aff & mask);
+#elif defined(CONFIG_ARM)
+	/* For ARM (AArch32), only compare aff2:aff1:aff0 (lower 24 bits) */
+	return (gicr_aff & 0xFFFFFF) == (aff & 0xFFFFFF);
 #else
 	return gicr_aff == aff;
 #endif

soc/rockchip/rk35/rk3588/CMakeLists.txt

@@ -1,6 +1,11 @@
 # Copyright (c) 2025 Syswonder
 # SPDX-License-Identifier: Apache-2.0
-
-zephyr_sources_ifdef(CONFIG_ARM_MMU mmu_regions.c)
-
-set(SOC_LINKER_SCRIPT ${ZEPHYR_BASE}/include/zephyr/arch/arm64/scripts/linker.ld CACHE INTERNAL "")
+if(CONFIG_SOC_RK3588_AARCH64)
+  zephyr_sources_ifdef(CONFIG_ARM_MMU aarch64/mmu_regions.c)
+  set(SOC_LINKER_SCRIPT ${ZEPHYR_BASE}/include/zephyr/arch/arm64/scripts/linker.ld CACHE INTERNAL "")
+elseif(CONFIG_SOC_RK3588_AARCH32)
+  zephyr_sources_ifdef(CONFIG_ARM_AARCH32_MMU aarch32/mmu_regions.c)
+  zephyr_sources(aarch32/soc.c)
+  zephyr_include_directories(aarch32)
+  set(SOC_LINKER_SCRIPT ${ZEPHYR_BASE}/include/zephyr/arch/arm/cortex_a_r/scripts/linker.ld CACHE INTERNAL "")
+endif()

soc/rockchip/rk35/rk3588/Kconfig

@@ -1,10 +1,11 @@
 # Copyright (c) 2025 Syswonder
 # SPDX-License-Identifier: Apache-2.0
 
-config SOC_RK3588
+config SOC_RK3588_AARCH64
 	select ARM64
 	select CPU_CORTEX_A55
 	select ARM_ARCH_TIMER
 
-config SOC_PART_NUMBER
-	default "RK3588" if SOC_RK3588
+config SOC_RK3588_AARCH32
+	select ARM
+	select CPU_CORTEX_A7

soc/rockchip/rk35/rk3588/Kconfig.defconfig

@@ -3,6 +3,16 @@
 
 if SOC_RK3588
 
-rsource "Kconfig.defconfig.rk3588"
+config FLASH_SIZE
+	default 0
 
-endif # SOC_SERIES_RK3588
+config FLASH_BASE_ADDRESS
+	default 0
+
+config NUM_IRQS
+	default 370
+
+config SYS_CLOCK_HW_CYCLES_PER_SEC
+	default $(dt_node_int_prop_int,/cpus/cpu@0,clock-frequency)
+
+endif

soc/rockchip/rk35/rk3588/Kconfig.soc

@@ -5,5 +5,14 @@ config SOC_RK3588
 	bool
 	select SOC_SERIES_RK35
 
+config SOC_RK3588_AARCH64
+	bool
+	select SOC_RK3588
+
+config SOC_RK3588_AARCH32
+	bool
+	select SOC_RK3588
+
 config SOC
-	default "rk3588" if SOC_RK3588
+	default "rk3588_aarch32" if SOC_RK3588_AARCH32
+	default "rk3588_aarch64" if SOC_RK3588_AARCH64

soc/rockchip/rk35/rk3588/aarch32/mmu_regions.c

@@ -0,0 +1,26 @@
+/*
+ * Copyright (c) 2025 Syswonder
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "zephyr/linker/linker-defs.h"
+#include <zephyr/devicetree.h>
+#include <zephyr/sys/util.h>
+#include <zephyr/arch/arm/mmu/arm_mmu.h>
+#include <mmu.h>
+
+static const struct arm_mmu_region mmu_regions[] = {
+	MMU_REGION_FLAT_ENTRY("vector", (uintptr_t)_vector_start, 0x1000,
+			      MT_NORMAL | MATTR_SHARED | MPERM_R | MPERM_X),
+	MMU_REGION_FLAT_ENTRY("GIC", DT_REG_ADDR_BY_IDX(DT_NODELABEL(gic), 0),
+			      DT_REG_SIZE_BY_IDX(DT_NODELABEL(gic), 0),
+			      MT_STRONGLY_ORDERED | MPERM_R | MPERM_W),
+
+	MMU_REGION_FLAT_ENTRY("GIC", DT_REG_ADDR_BY_IDX(DT_NODELABEL(gic), 1),
+			      DT_REG_SIZE_BY_IDX(DT_NODELABEL(gic), 1),
+			      MT_STRONGLY_ORDERED | MPERM_R | MPERM_W),
+};
+
+const struct arm_mmu_config mmu_config = {
+	.num_regions = ARRAY_SIZE(mmu_regions),
+	.mmu_regions = mmu_regions,
+};

soc/rockchip/rk35/rk3588/aarch32/soc.c

@@ -0,0 +1,17 @@
+/*
+ * Copyright (c) 2025 Syswonder
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <zephyr/device.h>
+#include <zephyr/init.h>
+#include <zephyr/kernel.h>
+#include <zephyr/linker/linker-defs.h>
+
+#define VECTOR_ADDRESS ((uintptr_t)_vector_start)
+
+void relocate_vector_table(void)
+{
+	write_sctlr(read_sctlr() & ~HIVECS);
+	write_vbar(VECTOR_ADDRESS & VBAR_MASK);
+	barrier_isync_fence_full();
+}

soc/rockchip/rk35/rk3588/aarch32/soc.h

@@ -0,0 +1,13 @@
+/*
+ * Copyright (c) 2025 Syswonder
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef _SOC_RK3588_AARCH32_H_
+#define _SOC_RK3588_AARCH32_H_
+
+/* Do not let CMSIS to handle GIC and Timer */
+#define __GIC_PRESENT 0
+#define __TIM_PRESENT 0
+
+#endif /* _SOC_RK3588_AARCH32_H_ */

soc/rockchip/soc.yml

@@ -8,4 +8,5 @@ family:
         socs:
           - name: rk3588s
           - name: rk3568
-          - name: rk3588
+          - name: rk3588_aarch64
+          - name: rk3588_aarch32