diff --git a/Ubiquitous/XiZi_AIoT/Makefile b/Ubiquitous/XiZi_AIoT/Makefile
index 65ec7a2b8..ddd3dab82 100755
--- a/Ubiquitous/XiZi_AIoT/Makefile
+++ b/Ubiquitous/XiZi_AIoT/Makefile
@@ -129,6 +129,7 @@ clean:
 	@rm -rf build
 	@rm -rf temp.txt
 	@rm -rf services/app/bin
+	@rm -f services/app/*.o
 	@rm -rf services/tools/mkfs/mkfs
 	@rm -rf services/app/fs.img
 	@rm -rf services/app/user.map
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/context_switch.S b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/context_switch.S
index 383aee1ab..fe6faae02 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/context_switch.S
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/context_switch.S
@@ -26,25 +26,31 @@ History:
 .global context_switch
 
 context_switch:
-    # Save  store original context to stack
-    stp x29, lr, [sp, #-16]!
-    stp x27, x28, [sp, #-16]!
-    stp x25, x26, [sp, #-16]!
-    stp x23, x24, [sp, #-16]!
-    stp x21, x22, [sp, #-16]!
-    stp x19, x20, [sp, #-16]!
 
-    # Switch stacks
-    mov x19, sp
-    str x19, [x0]
-    mov sp, x1
+    mov x9, sp
+    mov x10, sp
 
-    # restore context from stack
-    ldp x19, x20, [sp], #16
-    ldp x21, x22, [sp], #16
-    ldp x23, x24, [sp], #16
-    ldp x25, x26, [sp], #16
-    ldp x27, x28, [sp], #16
-    ldp x29, lr, [sp], #16
+    sub x9, x9, #16 * 7
+    stp x10/*sp*/, x18, [x9, #16 * 0]
+    stp x19, x20, [x9, #16 * 1]
+    stp x21, x22, [x9, #16 * 2]
+    stp x23, x24, [x9, #16 * 3]
+    stp x25, x26, [x9, #16 * 4]
+    stp x27, x28, [x9, #16 * 5]
+    stp x29, x30, [x9, #16 * 6]
 
+    str x9, [x0]
+    mov x9, x1
+
+    ldp x10/*sp*/, x18, [x9, #16 * 0]
+    ldp x19, x20, [x9, #16 * 1]
+    ldp x21, x22, [x9, #16 * 2]
+    ldp x23, x24, [x9, #16 * 3]
+    ldp x25, x26, [x9, #16 * 4]
+    ldp x27, x28, [x9, #16 * 5]
+    ldp x29, x30, [x9, #16 * 6]
+    add x9, x9, #16 * 7
+
+    mov sp, x9
+    
     ret
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.h b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.h
index afac3c096..d44c18e94 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.h
@@ -77,7 +77,7 @@ Modification:
 
 __attribute__((always_inline)) static inline uint64_t EL0_mode() // Set ARM mode to EL0
 {
-    uint64_t val;
+    uint64_t val = 0;
 
     __asm__ __volatile__(
         "mrs %0, spsr_el1"
@@ -126,7 +126,7 @@ extern void task_prepare_enter(void);
 __attribute__((__always_inline__)) static inline void arch_init_context(struct context* ctx)
 {
     memset(ctx, 0, sizeof(*ctx));
-    ctx->x30 = (uint64_t)(task_prepare_enter);
+    ctx->x30 = (uintptr_t)(task_prepare_enter + 4);
 }
 
 struct trapframe {
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/include/cortex_a72.h b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/include/cortex_a72.h
index 1f85cdb5c..3358e8d12 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/include/cortex_a72.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/include/cortex_a72.h
@@ -63,10 +63,10 @@ Modification:
 #define ISB() __asm__ volatile("isb\n\t")
 
 #define _ARM_MRS(coproc, opcode1, Rt, CRn, CRm, opcode2) \
-    asm volatile("mrc p" #coproc ", " #opcode1 ", %[output], c" #CRn ", c" #CRm ", " #opcode2 "\n" : [output] "=r"(Rt))
+    __asm__ volatile("mrc p" #coproc ", " #opcode1 ", %[output], c" #CRn ", c" #CRm ", " #opcode2 "\n" : [output] "=r"(Rt))
 
 #define _ARM_MSR(coproc, opcode1, Rt, CRn, CRm, opcode2) \
-    asm volatile("mcr p" #coproc ", " #opcode1 ", %[input], c" #CRn ", c" #CRm ", " #opcode2 "\n" ::[input] "r"(Rt))
+    __asm__ volatile("mcr p" #coproc ", " #opcode1 ", %[input], c" #CRn ", c" #CRm ", " #opcode2 "\n" ::[input] "r"(Rt))
 
 // #define WriteReg(value, address) (*(volatile unsigned int*)(address) = (value))
 // #define ReadReg(address) (*(volatile unsigned int*)(address))
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/nxp_ls1028.lds b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/nxp_ls1028.lds
index e39565950..722ddf1e7 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/nxp_ls1028.lds
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/nxp_ls1028.lds
@@ -45,24 +45,13 @@ ENTRY( _ENTRY )
 ENTRY( _boot_start )
 
 MEMORY {
-  /**
-  phy_ddr3 (rwx)      : ORIGIN = 0x0000000040000000, LENGTH = 0x8000000
-  vir_ddr3 (rwx)      : ORIGIN = 0xffffff8040010000, LENGTH = 0x8000000
- */ 
   phy_ddr3 (rwx)      : ORIGIN = 0x0000000040000000, LENGTH = 1024M
   vir_ddr3 (rwx)      : ORIGIN = 0x0000006040635000, LENGTH = 1024M
-  /* vir_ddr3 (rwx)      : ORIGIN = 0xffffffE040635000, LENGTH = 1024M */
 }
 
 
 SECTIONS
 {
-  /*
-   * ensure that entry.S / _entry is at 0x40000000(physical address),
-   * where qemu's -kernel jumps.
-   * 0x40000000(PA) is 0xffffff8040000000(VA);
-   */
-
   .start_sec : {
 		. = ALIGN(0x1000);
 		/* initialization start checkpoint. */
@@ -102,19 +91,21 @@ SECTIONS
   .data : {
     *(.data .data.*)
 
-    . = ALIGN(1000);
+    . = ALIGN(0x1000);
     PROVIDE(_binary_fs_img_start = .);
     *(.rawdata_fs_img*)
 		PROVIDE(_binary_fs_img_end = .);
+    . = ALIGN(0x1000);
 		PROVIDE(_binary_init_start = .);
 		*(.rawdata_init*)
 		PROVIDE(_binary_init_end = .);
+    . = ALIGN(0x1000);
 		PROVIDE(_binary_default_fs_start = .);
 		*(.rawdata_memfs*)
 		PROVIDE(_binary_default_fs_end = .);
   } > vir_ddr3
 
-  . = ALIGN(1000);
+  . = ALIGN(0x1000);
   PROVIDE(kernel_data_begin = .);
 
   _image_size = . - 0x0000006040000000;
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/clock.c b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/clock.c
index dc5669207..6a87e4c05 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/clock.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/clock.c
@@ -1,3 +1,15 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+
 #include "actracer.h"
 #include "core.h"
 #include "generic_timer.h"
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/include/generic_timer.h b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/include/generic_timer.h
index 1bdc394ee..fe84893a1 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/include/generic_timer.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/include/generic_timer.h
@@ -1,3 +1,14 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
 #pragma once
 
 #include <stddef.h>
@@ -7,37 +18,37 @@
 static inline uint64_t r_cntv_ctl_el0()
 {
     uint64_t x;
-    asm volatile("mrs %0, cntv_ctl_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntv_ctl_el0" : "=r"(x));
     return x;
 }
 
 static inline void w_cntv_ctl_el0(uint64_t x)
 {
-    asm volatile("msr cntv_ctl_el0, %0" : : "r"(x));
+    __asm__ volatile("msr cntv_ctl_el0, %0" : : "r"(x));
 }
 
 static inline uint64_t r_cntv_tval_el0()
 {
     uint64_t x;
-    asm volatile("mrs %0, cntv_tval_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntv_tval_el0" : "=r"(x));
     return x;
 }
 
 static inline void w_cntv_tval_el0(uint64_t x)
 {
-    asm volatile("msr cntv_tval_el0, %0" : : "r"(x));
+    __asm__ volatile("msr cntv_tval_el0, %0" : : "r"(x));
 }
 
 static inline uint64_t r_cntvct_el0()
 {
     uint64_t x;
-    asm volatile("mrs %0, cntvct_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntvct_el0" : "=r"(x));
     return x;
 }
 
 static inline uint64_t r_cntfrq_el0()
 {
     uint64_t x;
-    asm volatile("mrs %0, cntfrq_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntfrq_el0" : "=r"(x));
     return x;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c
index 47dede1b9..f76b56719 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c
@@ -89,7 +89,7 @@ static void _sys_irq_init(int cpu_id)
         gic_init();
     }
     /* active hardware irq responser */
-    xizi_trap_driver.switch_hw_irqtbl((uint32_t*)&_vector_jumper);
+    xizi_trap_driver.switch_hw_irqtbl((uintptr_t*)&_vector_jumper);
 }
 
 static void _cpu_irq_enable(void)
@@ -117,7 +117,7 @@ static void _single_irq_disable(int irq, int cpu)
 }
 
 #define VBAR
-static inline uint32_t* _switch_hw_irqtbl(uint32_t* new_tbl_base)
+static inline uintptr_t* _switch_hw_irqtbl(uintptr_t* new_tbl_base)
 {
     // get old irq table base addr
     uint32_t old_tbl_base = 0;
@@ -132,7 +132,7 @@ static inline uint32_t* _switch_hw_irqtbl(uint32_t* new_tbl_base)
     sctlr &= ~(1 << 13);
     _ARM_MCR(15, 0, sctlr, 1, 0, 0);
 
-    return (uint32_t*)old_tbl_base;
+    return (uintptr_t*)old_tbl_base;
 }
 
 static void _bind_irq_handler(int irq, irq_handler_t handler)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/error_debug.c b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/error_debug.c
index fea86cde0..f32c42814 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/error_debug.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/error_debug.c
@@ -51,7 +51,7 @@ Modification:
 void dump_tf(struct trapframe* tf)
 {
     KPrintf("   sp:   0x%x\n", tf->sp);
-    KPrintf("   pc:  0x%x\n", tf->pc);
+    KPrintf("   pc:   0x%x\n", tf->pc);
     KPrintf("   spsr: 0x%x\n", tf->spsr);
     KPrintf("     x0: 0x%x\n", tf->x0);
     KPrintf("     x1: 0x%x\n", tf->x1);
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3.c b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3.c
index 49d493a64..b585dadb6 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3.c
@@ -14,8 +14,7 @@ History:
 Author: AIIT XUOS Lab
 Modification:
 *************************************************/
-#include "string.h"
-#include <stdio.h>
+#include <string.h>
 
 #include "core.h"
 #include "gicv3_common_opa.h"
@@ -169,19 +168,10 @@ void gic_init()
     gicdinit();
 }
 
-static inline uint64_t cpuid()
+void gicv3inithart(uint32_t cpu_id)
 {
-    uint64_t x;
-    __asm__ volatile("mrs %0, mpidr_el1" : "=r"(x));
-    return x & 0xff;
-}
-
-void gicv3inithart()
-{
-    uint32_t cpu = cpuid();
-
     giccinit();
-    gicrinit(cpu);
+    gicrinit(cpu_id);
 
     gic_enable();
 }
@@ -259,7 +249,6 @@ void gic_setup_ppi(uint32_t cpuid, uint32_t intid)
 void gic_setup_spi(uint32_t cpuid, uint32_t intid)
 {
     gic_set_prio0(intid);
-    // all interrupts are handled by cpu0　
     gic_set_target(intid, cpuid);
     gic_clear_pending(intid);
     gic_enable_int(intid);
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_common_opa.h b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_common_opa.h
index cf0b8ca60..68d072b52 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_common_opa.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_common_opa.h
@@ -144,7 +144,7 @@ void gic_set_irq_priority(uint32_t irq_id, uint32_t priority);
 
 void gic_setup_spi(uint32_t cpuid, uint32_t intid);
 
-void gicv3inithart();
+void gicv3inithart(uint32_t cpu_id);
 //! @brief Send a software generated interrupt to a specific CPU.
 //!
 //! @param irq_id The interrupt number to send.
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_registers.h b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_registers.h
index 7d365b7c8..cad07f367 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_registers.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_registers.h
@@ -27,6 +27,8 @@ Modification:
 #ifndef __LINUX_IRQCHIP_ARM_GIC_H
 #define __LINUX_IRQCHIP_ARM_GIC_H
 
+#include "memlayout.h"
+
 // clang-format off
 // interrupt controller GICv3
 #define GICV3               (DEV_VRTMEM_BASE + 0x08000000L)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/exception_registers.h b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/exception_registers.h
index f5a5695ef..c09a91a8e 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/exception_registers.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/exception_registers.h
@@ -8,57 +8,50 @@
 
 static inline void w_vbar_el1(uint64_t x)
 {
-    asm volatile("msr vbar_el1, %0" : : "r"(x));
+    __asm__ volatile("msr vbar_el1, %0" : : "r"(x));
 }
 
-static inline uint64_t
-r_esr_el1()
+static inline uint64_t r_esr_el1()
 {
     uint64_t x;
-    asm volatile("mrs %0, esr_el1" : "=r"(x));
+    __asm__ volatile("mrs %0, esr_el1" : "=r"(x));
     return x;
 }
 
-static inline void
-w_esr_el1(uint64_t x)
+static inline void w_esr_el1(uint64_t x)
 {
-    asm volatile("msr esr_el1, %0" : : "r"(x));
+    __asm__ volatile("msr esr_el1, %0" : : "r"(x));
 }
 
-static inline uint64_t
-r_elr_el1()
+static inline uint64_t r_elr_el1()
 {
     uint64_t x;
-    asm volatile("mrs %0, elr_el1" : "=r"(x));
+    __asm__ volatile("mrs %0, elr_el1" : "=r"(x));
     return x;
 }
 
-static inline uint64_t
-r_far_el1()
+static inline uint64_t r_far_el1()
 {
     uint64_t x;
-    asm volatile("mrs %0, far_el1" : "=r"(x));
+    __asm__ volatile("mrs %0, far_el1" : "=r"(x));
     return x;
 }
 
-static inline uint64_t
-daif()
+static inline uint64_t daif()
 {
     uint64_t x;
-    asm volatile("mrs %0, daif" : "=r"(x));
+    __asm__ volatile("mrs %0, daif" : "=r"(x));
     return x;
 }
 
 // enable interrupts(irq)
-static inline void
-intr_on()
+static inline void intr_on()
 {
-    asm volatile("msr daifclr, #0xf" ::: "memory");
+    __asm__ volatile("msr daifclr, #0xf" ::: "memory");
 }
 
 // disable interrupts(irq)
-static inline void
-intr_off()
+static inline void intr_off()
 {
-    asm volatile("msr daifset, #0xf" ::: "memory");
+    __asm__ volatile("msr daifset, #0xf" ::: "memory");
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap.c b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap.c
index d7889c530..10b8cbd8c 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap.c
@@ -41,7 +41,7 @@ extern void iabort_handler(struct trapframe* r);
 void kernel_abort_handler(struct trapframe* tf)
 {
     uint64_t esr = r_esr_el1();
-    switch ((esr & 0x3F) >> 26) {
+    switch ((esr >> 26) & 0x3F) {
     case 0b100100:
     case 0b100101:
         dabort_handler(tf);
@@ -49,6 +49,11 @@ void kernel_abort_handler(struct trapframe* tf)
     case 0b100001:
         iabort_handler(tf);
     default:
+        uint64_t ec = (esr >> 26) & 0x3f;
+        uint64_t iss = esr & 0x1ffffff;
+        ERROR("esr %p %p %p\n", esr, ec, iss);
+        ERROR("elr = %p far = %p\n", r_elr_el1(), r_far_el1());
+        ERROR("Current Task: %s.\n", cur_cpu()->task->name);
         panic("Unimplemented Error Occured.\n");
     }
     panic("Return from abort handler.\n");
@@ -63,17 +68,10 @@ extern void context_switch(struct context**, struct context*);
 void syscall_arch_handler(struct trapframe* tf)
 {
     uint64_t ec = (r_esr_el1() >> 0x1A) & 0x3F;
-    w_esr_el1(0);
     if (ec == 0b010101) {
+        w_esr_el1(0);
         software_irq_dispatch(tf);
     } else {
-        printf("USYSCALL: unexpected ec %p", r_esr_el1());
-        printf("          elr=%p far=%p\n", r_elr_el1(), r_far_el1());
-        // kill error task
-        xizi_enter_kernel();
-        assert(cur_cpu()->task == NULL);
-        sys_exit(cur_cpu()->task);
-        context_switch(&cur_cpu()->task->thread_context.context, cur_cpu()->scheduler);
-        panic("dabort end should never be reashed.\n");
+        kernel_abort_handler(tf);
     }
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap_common.c b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap_common.c
index e11c01f20..620b64867 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap_common.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap_common.c
@@ -60,16 +60,6 @@ extern uint64_t _vector_jumper;
 extern uint64_t _vector_start;
 extern uint64_t _vector_end;
 
-// void init_cpu_mode_stacks(int cpu_id)
-// {
-//     uint32_t modes[] = { ARM_MODE_EL0_t, ARM_MODE_EL1_t, ARM_MODE_EL2_t, ARM_MODE_EL3_t };
-//     // initialize the stacks for different mode
-//     for (int i = 0; i < sizeof(modes) / sizeof(uint64_t); i++) {
-//         memset(mode_stack_pages[cpu_id][i], 0, MODE_STACK_SIZE);
-//         init_stack(modes[i], (uint64_t)mode_stack_pages[cpu_id][i]);
-//     }
-// }
-
 extern void alltraps();
 static void _sys_irq_init(int cpu_id)
 {
@@ -77,15 +67,13 @@ static void _sys_irq_init(int cpu_id)
     xizi_trap_driver.switch_hw_irqtbl((uintptr_t*)alltraps);
 
     if (cpu_id == 0) {
-        xizi_trap_driver.switch_hw_irqtbl((uintptr_t*)alltraps);
         gic_init();
     }
-    gicv3inithart();
+    gicv3inithart(cpu_id);
 }
 
 static void _cpu_irq_enable(void)
 {
-    // arm_set_interrupt_state(true);
     intr_on();
 }
 
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/trampoline.S b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/trampoline.S
index 573cb5bfa..90b7e431e 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/trampoline.S
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/trampoline.S
@@ -32,117 +32,6 @@ Modification:
 
 #include "core.h"
 
-.global trap_irq_enter
-.global trap_return
-.global usertrapret
-.global init_stack
-
-trap_return:
-    // Restore registers
-    ldp x1, x2, [sp], #16
-    ldp x3, x0, [sp], #16
-    msr sp_el0, x1
-    msr spsr_el1, x2
-    msr elr_el1, x3
-
-    ldp x1, x2, [sp], #16
-    ldp x3, x4, [sp], #16
-    ldp x5, x6, [sp], #16
-    ldp x7, x8, [sp], #16
-    ldp x9, x10, [sp], #16
-    ldp x11, x12, [sp], #16
-    ldp x13, x14, [sp], #16
-    ldp x15, x16, [sp], #16
-    ldp x17, x18, [sp], #16
-    ldp x19, x20, [sp], #16
-    ldp x21, x22, [sp], #16
-    ldp x23, x24, [sp], #16
-    ldp x25, x26, [sp], #16
-    ldp x27, x28, [sp], #16
-    ldp x29, x30, [sp], #16
-
-    eret
-
-user_trap_swi_enter:
-    // Save trapframe to swi stack
-    stp x29, x30, [sp, #-16]!
-    stp x27, x28, [sp, #-16]!
-    stp x25, x26, [sp, #-16]!
-    stp x23, x24, [sp, #-16]!
-    stp x21, x22, [sp, #-16]!
-    stp x19, x20, [sp, #-16]!
-    stp x17, x18, [sp, #-16]!
-    stp x15, x16, [sp, #-16]!
-    stp x13, x14, [sp, #-16]!
-    stp x11, x12, [sp, #-16]!
-    stp x9, x10, [sp, #-16]!
-    stp x7, x8, [sp, #-16]!
-    stp x5, x6, [sp, #-16]!
-    stp x3, x4, [sp, #-16]!
-    stp x1, x2, [sp, #-16]!
-
-    // mrs  x2,    spsr_el1
-    //str     x2, [sp, #-8]       
-    //str     x30, [sp, #-8]
-    //stp sp, elr_el1, [sp, #-16]!         	
-    //str     sp, [sp, #-8] 
-
-    // Call syscall handler
-    mov 	x0, sp
-    bl		software_irq_dispatch
-    b		trap_return
-
-trap_irq_enter:
-    // Build trapframe. 
-    stp x29, x30, [sp, #-16]!
-    stp x27, x28, [sp, #-16]!
-    stp x25, x26, [sp, #-16]!
-    stp x23, x24, [sp, #-16]!
-    stp x21, x22, [sp, #-16]!
-    stp x19, x20, [sp, #-16]!
-    stp x17, x18, [sp, #-16]!
-    stp x15, x16, [sp, #-16]!
-    stp x13, x14, [sp, #-16]!
-    stp x11, x12, [sp, #-16]!
-    stp x9, x10, [sp, #-16]!
-    stp x7, x8, [sp, #-16]!
-    stp x5, x6, [sp, #-16]!
-    stp x3, x4, [sp, #-16]!
-    stp x1, x2, [sp, #-16]!
-
-    mrs x3, elr_el1
-    mrs x2, spsr_el1
-    mrs x1, sp_el0
-    stp x3, x0, [sp, #-16]!
-    stp x1, x2, [sp, #-16]!
-
-    //Call trap(struct trapframe*)
-    mov x0, sp
-    bl      intr_irq_dispatch
-    b  trap_return
-
-
-
-// Help forkret to call trap_return in an expected way
-//usertrapret:
-    // Overlay stack pointer in trap_return
-//    mov sp, x0
-//    b   trap_return
-
-
-init_stack:
-    mrs     x2,  spsr_el1
-    bic     x2,  x2, #SPSR_MODE_MASK
-    orr     x2,  x2, x0
-    msr     spsr_el1, x2
-    mov     sp,  x1
-    bic     x2,  x2, #SPSR_MODE_MASK
-    orr     x2,  x2, #ARM_MODE_EL1_t
-    msr     spsr_el1, x2
-    ret
-
-.section ".text"
-
 .macro savereg
         msr daifset, #0xf
         // make room to save registers.
@@ -197,7 +86,6 @@ init_stack:
 .endm
 
 .macro usavereg
-        msr daifset, #0xf
         sub sp, sp, #272
 
         stp x0, x1, [sp, #16 * 0]
@@ -298,43 +186,39 @@ el1sync:
         savereg
         
         mov x0, sp
-        bl kernel_abort_handler 
+        bl  kernel_abort_handler 
+        b   .
       
-        restorereg
-      
-        eret
 el1irq:
         savereg
         
         mov x0, sp
         # this should never happen by design
-        bl kernel_intr_handler
-      
-        restorereg
-      
-        eret
+        bl  kernel_intr_handler
+        b   .
       
 el0sync:
+        msr daifset, #0xf
         usavereg
       
         mov x0, sp
         bl syscall_arch_handler
       
         urestorereg
+        msr daifclr, #0xf
       
         eret
+
 el0irq:
+        msr daifset, #0xf
         usavereg
       
         mov x0, sp
         bl intr_irq_dispatch
       
-trapret:
+.global trap_return
+trap_return:
         urestorereg
+        msr daifclr, #0xf
 
-        eret
-
-.global usertrapret
-usertrapret:
-        mov sp, x0
-        b trapret
+        eret
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/bootmmu.c b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/bootmmu.c
index 168c558da..e18b2b4c9 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/bootmmu.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/bootmmu.c
@@ -54,19 +54,14 @@ extern uint64_t kernel_data_begin[];
 #define L3_PDE_INDEX(idx) ((idx << LEVEL3_PDE_SHIFT) & L3_IDX_MASK)
 
 uint64_t boot_l2pgdir[NUM_LEVEL2_PDE] __attribute__((aligned(0x1000))) = { 0 };
-// uint64_t boot_lowspace_l2pgdir[NUM_LEVEL2_PDE] __attribute__((aligned(0x4000))) = { 0 };
-// uint64_t boot_highspace_l2pgdir[NUM_LEVEL2_PDE] __attribute__((aligned(0x4000))) = { 0 };
 
 uint64_t boot_dev_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
-// uint64_t boot_identical_dev_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x4000))) = { 0 };
 uint64_t boot_virt_dev_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
 uint64_t boot_kern_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
-// uint64_t boot_identical_kern_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x4000))) = { 0 };
 uint64_t boot_virt_kern_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
 
 uint64_t boot_dev_l4pgdirs[NUM_LEVEL3_PDE][NUM_LEVEL4_PTE] __attribute__((aligned(0x1000))) = { 0 };
 uint64_t boot_kern_l4pgdirs[NUM_LEVEL3_PDE][NUM_LEVEL4_PTE] __attribute__((aligned(0x1000))) = { 0 };
-// uint64_t boot_mem_l4pgdirs[NUM_LEVEL3_PDE][NUM_LEVEL4_PTE] __attribute__((aligned(0x1000))) = { 0 };
 
 static void build_boot_pgdir()
 {
@@ -74,37 +69,25 @@ static void build_boot_pgdir()
     // dev mem
     boot_l2pgdir[(dev_phy_mem_base >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
     boot_l2pgdir[(MMIO_P2V_WO(dev_phy_mem_base) >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
-    // boot_lowspace_l2pgdir[(dev_phy_mem_base >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_identical_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
-    // boot_highspace_l2pgdir[(MMIO_P2V_WO(dev_phy_mem_base) >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_identical_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
 
     uint64_t cur_mem_paddr = (uint64_t)DEV_PHYMEM_BASE & ((uint64_t)IDX_MASK << (uint64_t)LEVEL2_PDE_SHIFT);
     for (size_t i = 0; i < NUM_LEVEL3_PDE; i++) {
         boot_dev_l3pgdir[i] = (uint64_t)boot_dev_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
-        // boot_identical_dev_l3pgdir[i] = (uint64_t)boot_dev_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
-        // boot_virt_dev_l3pgdir[i] = (uint64_t)boot_dev_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
 
         for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
-            // boot_dev_l4pgdirs[i][j] = dev_phy_mem_base | L4_TYPE_PAGE | L4_PTE_DEV | L4_PTE_AF;
             boot_dev_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_DEV | L4_PTE_AF;
 
-            // dev_phy_mem_base += PAGE_SIZE;
             cur_mem_paddr += PAGE_SIZE;
         }
     }
 
     // identical mem
-    // uint64_t phy_mem_base = PHY_MEM_BASE;
     boot_l2pgdir[(PHY_MEM_BASE >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
     boot_l2pgdir[(P2V_WO(PHY_MEM_BASE) >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
-    // boot_lowspace_l2pgdir[(PHY_MEM_BASE >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_identical_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
-    // boot_highspace_l2pgdir[(KERN_MEM_BASE >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_identical_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
 
     cur_mem_paddr = (uint64_t)PHY_MEM_BASE & ((uint64_t)IDX_MASK << (uint64_t)LEVEL2_PDE_SHIFT);
     for (size_t i = 0; i < NUM_LEVEL3_PDE; i++) {
         boot_kern_l3pgdir[i] = (uint64_t)boot_kern_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
-        // boot_identical_kern_l3pgdir[i] = (uint64_t)boot_kern_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
-        //  boot_kern_l3pgdir[i] = (uint64_t)boot_kern_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
-        //   boot_virt_kern_l3pgdir[i] = (uint64_t)boot_kern_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
 
         for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
             boot_kern_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_AF;
@@ -112,34 +95,12 @@ static void build_boot_pgdir()
             cur_mem_paddr += PAGE_SIZE;
         }
     }
-
-    // dev mem
-    // uint64_t dev_mem_end_pgd = PGD_INDEX(DEV_PHYMEM_BASE + DEV_MEM_SZ);
-    // for (uint64_t i = PGD_INDEX(DEV_PHYMEM_BASE); i < dev_mem_end_idx; i++) {
-    //     boot_pgdir[i] = (uint64_t)boot_dev_l3dir[used_boot_dev_l3dir_idx] | L3_TYPE_SEC | L3_SECT_DEV | L3_SECT_AP0;
-    //     boot_pgdir[PGD_INDEX(MMIO_P2V_WO(PGD_INDEX_TO_PA(i)))] = (uint64_t)boot_dev_l3dir[used_boot_dev_l3dir_idx] | L3_TYPE_SEC | L3_SECT_DEV | L3_SECT_AP0;
-    //     used_boot_dev_l3dir_idx++;
-
-    //     for (int64_t j = 0; j < 0b111111111; j++) {
-    //         boot_dev_l3dir[i][j] = (uint64_t)boot_dev_l4dir[used_boot_dev_l4dir_idx] | ();
-    //         // uint64_t dev_mem_end_pmd = PMD_INDEX(DEV_PHYMEM_BASE + DEV_MEM_SZ);
-    //         // for (uint64_t j = PMD_INDEX(DEV_PHYMEM_BASE); j < dev_mem_end_pmd; j++) {
-    //         //     boot_pmd[j] = PGD_INDEX_TO_PA(j) | L4_TYPE_SEC | L4_SECT_DEV | L4_SECT_AP0;
-    //         //     boot_pmd[PGD_INDEX(MMIO_P2V_WO(PGD_INDEX_TO_PA(j)))] = PGD_INDEX_TO_PA(j) | L4_TYPE_SEC | L4_SECT_DEV | L4_SECT_AP0;
-    //         // }
-    //         for (uint64_t k = 0; k < 0b111111111; k++) {
-    //             boot_dev_l4dir[j][k] = DEV_PHYMEM_BASE
-    //         }
-    //     }
-    // }
 }
 
 static void load_boot_pgdir()
 {
     uint64_t val;
 
-    // TTBR0_W((uintptr_t)boot_lowspace_l2pgdir);
-    // TTBR1_W((uintptr_t)boot_highspace_l2pgdir);
     TTBR0_W((uintptr_t)boot_l2pgdir);
     TTBR1_W(0);
 
@@ -167,7 +128,6 @@ void bootmain()
     __asm__ __volatile__("add sp, sp, %0" ::"r"(KERN_MEM_BASE - PHY_MEM_BASE));
     if (!_bss_inited) {
         memset(&kernel_data_begin, 0x00, (size_t)((uint64_t)kernel_data_end - (uint64_t)kernel_data_begin));
-        uintptr_t kde = (uintptr_t)kernel_data_end;
         _bss_inited = true;
     }
     main();
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/mmu.h b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/mmu.h
index f5d20847b..e68042bc1 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/mmu.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/mmu.h
@@ -31,7 +31,6 @@ Modification:
 #include <stdint.h>
 
 #include "memlayout.h"
-#include "page_table_entry.h"
 
 // #define TCR_SH1_INNER (0b11 << 28)
 // #define TCR_ORGN1_IRGN1_WRITEBACK_WRITEALLOC ((0b01 << 26) | (0b01 << 24))
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/page_table_entry.h b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/page_table_entry.h
deleted file mode 100644
index 2742e3452..000000000
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/page_table_entry.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- * Copyright (c) 2008-2012, Freescale Semiconductor, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *
- * o Redistributions of source code must retain the above copyright notice, this list
- *   of conditions and the following disclaimer.
- *
- * o Redistributions in binary form must reproduce the above copyright notice, this
- *   list of conditions and the following disclaimer in the documentation and/or
- *   other materials provided with the distribution.
- *
- * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
- *   contributors may be used to endorse or promote products derived from this
- *   software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
- * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file page_table_entry.h
- * @brief mmu related configure and registers
- * @version 1.0
- * @author AIIT XUOS Lab
- * @date 2024-04-25
- */
-
-/*************************************************
-File name: page_table_entry.h
-Description: mmu related configure and registers
-Others: take imx_platform_sdk sdk/core/src/mmu.c for references
-                https://github.com/flit/imx6_platform_sdk
-History:
-Author: AIIT XUOS Lab
-Modification:
-1. modify the L1-level page table name and properties name to apply hardkernel implementation
-*************************************************/
-#pragma once
-
-#include <stdint.h>
-
-typedef union {
-    uintptr_t entry;
-    struct {
-        uint64_t desc_type : 2; // (Invalid, PageTable, Section, SuperSection)/(Invalid, Table, Block)
-        //uint64_t B : 1; // Bufferable
-       // uint64_t C : 1; // Cacheable
-        uint64_t XN : 1; // Execute-not
-        //uint64_t Domain : 4; // Domain
-        uint64_t _impl_defined : 1; // Implementation defined, should be zero.
-        uint64_t AP1_0 : 2; // Access permissions AP
-        uint64_t TEX : 3; // TEX remap  ==attr_idx      The memory type, Device or Normal.
-        uint64_t AP2 : 1; // Access permissions AP[2]
-        uint64_t S : 1; // Shareable
-        uint64_t NG : 1; // Not-global
-        uint64_t _zero : 1; // Should be zero.
-        uint64_t NS : 1; // Non-secure
-        uint64_t section_addr :36 ; // Section Physical base address
-        uint64_t AF : 1; // Access flag
-    };
-} __attribute__((packed)) PageDirEntry;
-
-typedef union {
-    uint64_t entry;
-    struct {
-        uint64_t desc_type : 2; // (Invalid, Reserved,4kb, 16kb 64kb )
-       // uint64_t B : 1; // Bufferable
-        //uint64_t C : 1; // Cacheable
-        uint64_t AP1_0 : 2;//Access permissions
-        uint64_t TEX : 3;//TEX remap  ==attr_idx      The memory type, Device or Normal.
-        uint64_t AP2 : 1;
-        uint64_t S : 1; // Shareable
-        uint64_t NG : 1; // Not-global
-        uint64_t page_addr :36 ;
-        uint64_t AF : 1; // Access flag
-    };
-} __attribute__((packed)) PageTblEntry;
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/mmu.c b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/mmu.c
index b97ac5a82..336d074e6 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/mmu.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/mmu.c
@@ -41,13 +41,13 @@ static struct MmuDriverRightGroup right_group;
 void load_pgdir(uintptr_t pgdir_paddr)
 {
     /* get cache driver */
-    // struct ICacheDone* p_icache_done = AchieveResource(&right_group.icache_driver_tag);
-    // struct DCacheDone* p_dcache_done = AchieveResource(&right_group.dcache_driver_tag);
+    struct ICacheDone* p_icache_done = AchieveResource(&right_group.icache_driver_tag);
+    struct DCacheDone* p_dcache_done = AchieveResource(&right_group.dcache_driver_tag);
 
     TTBR0_W((uint64_t)pgdir_paddr);
     CLEARTLB(0);
-    // p_icache_done->invalidateall();
-    // p_dcache_done->flushall();
+    p_icache_done->invalidateall();
+    p_dcache_done->flushall();
 }
 
 __attribute__((always_inline)) inline static void _tlb_flush(uintptr_t va)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/ok1028a-c/memlayout.h b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/ok1028a-c/memlayout.h
index a385e6181..46c5074e6 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/ok1028a-c/memlayout.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/ok1028a-c/memlayout.h
@@ -82,7 +82,4 @@ Modification:
 
 #define V2P_WO(x) ((x) - KERN_OFFSET)    // same as V2P, but without casts
 #define P2V_WO(x) ((x) + KERN_OFFSET)    // same as P2V, but without casts
-
-#define TIMER0_IRQ  27
-
 // clang-format on
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/Makefile b/Ubiquitous/XiZi_AIoT/services/Makefile
index 640d3cbaa..02fc50759 100644
--- a/Ubiquitous/XiZi_AIoT/services/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/Makefile
@@ -1,5 +1,4 @@
-SRC_DIR := 
-# SRC_DIR := fs shell lib boards tools app 
+SRC_DIR := fs shell lib boards semaphore drivers tools app 
 
 
 include $(KERNEL_ROOT)/compiler.mk
diff --git a/Ubiquitous/XiZi_AIoT/services/app/Makefile b/Ubiquitous/XiZi_AIoT/services/app/Makefile
index f3c003c85..fa47dbd09 100644
--- a/Ubiquitous/XiZi_AIoT/services/app/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/app/Makefile
@@ -10,6 +10,12 @@ cflags = -std=c11 -O2 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -
 board_specs = stub.o
 #cflags = -Wall -g -std=c11 
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+board_specs = stub.o
+endif
 
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
@@ -29,7 +35,7 @@ INC_DIR = 	-I$(KERNEL_ROOT)/services/shell/letter-shell \
 ifeq ($(BOARD), imx6q-sabrelite)
 all: init test_fault simple_client simple_server shell fs_server semaphore_server test_ipc_null test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server readme.txt | bin
 else 
-all: init test_fault simple_client simple_server shell fs_server test_irq_hdlr readme.txt | bin
+all: init test_fault simple_client simple_server shell fs_server readme.txt | bin
 endif
 	../tools/mkfs/mkfs ./fs.img $^
 	@mv $(filter-out readme.txt, $^) bin
diff --git a/Ubiquitous/XiZi_AIoT/services/app/shell_port.c b/Ubiquitous/XiZi_AIoT/services/app/shell_port.c
index ce2453519..785ad8b6e 100644
--- a/Ubiquitous/XiZi_AIoT/services/app/shell_port.c
+++ b/Ubiquitous/XiZi_AIoT/services/app/shell_port.c
@@ -56,10 +56,10 @@ int main(void)
         printf("session connect faield\n");
         return -1;
     }
-
     shellTask(&shell);
 
     free_session(&session_fs);
 
+    exit(0);
     return 0;
 }
diff --git a/Ubiquitous/XiZi_AIoT/services/app/simple_server.c b/Ubiquitous/XiZi_AIoT/services/app/simple_server.c
index 0a2ba417c..2ae2d9e12 100755
--- a/Ubiquitous/XiZi_AIoT/services/app/simple_server.c
+++ b/Ubiquitous/XiZi_AIoT/services/app/simple_server.c
@@ -44,4 +44,5 @@ int main(int argc, char* argv[])
 
     // never reached
     exit(0);
+    return 0;
 }
diff --git a/Ubiquitous/XiZi_AIoT/services/app/test_irq_handler.c b/Ubiquitous/XiZi_AIoT/services/app/test_irq_handler.c
index 60e97b726..c7836afa9 100644
--- a/Ubiquitous/XiZi_AIoT/services/app/test_irq_handler.c
+++ b/Ubiquitous/XiZi_AIoT/services/app/test_irq_handler.c
@@ -52,4 +52,5 @@ int main()
     ipc_server_loop(&IpcSwIntrHandler);
 
     exit(0);
+    return 0;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile b/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile
index 4d66a2163..54bf014fb 100644
--- a/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile
@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+user_ldflags = -N -Ttext 0
+cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+user_ldflags = -N -Ttext 0
+cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/fs/libfs \
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/Makefile b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/Makefile
new file mode 100644
index 000000000..7dae63969
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/Makefile
@@ -0,0 +1,38 @@
+ifeq ($(BOARD), imx6q-sabrelite)
+toolchain ?= arm-none-eabi-
+user_ldflags = -N -Ttext 0
+cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
+endif
+ifeq ($(BOARD), zynq7000-zc702)
+toolchain ?= arm-xilinx-eabi-
+user_ldflags = -N -Ttext 0
+cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
+endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
+cc = ${toolchain}gcc
+ld = ${toolchain}g++
+objdump = ${toolchain}objdump
+
+c_useropts = -O2
+
+INC_DIR = 	-I$(KERNEL_ROOT)/services/fs/libfs \
+			-I$(KERNEL_ROOT)/services/lib/ipc \
+		  	-I$(KERNEL_ROOT)/services/lib/memory \
+			-I$(KERNEL_ROOT)/services/lib/serial \
+			-I$(KERNEL_ROOT)/services/lib/usyscall \
+			-I$(KERNEL_ROOT)/services/boards/$(BOARD) \
+			-I$(KERNEL_ROOT)/services/app
+
+board: libserial.o arch_usyscall.o stub.o
+	@mv $^ $(KERNEL_ROOT)/services/app
+
+%.o: %.c
+	@echo "cc $^"
+	@${cc} ${cflags} ${c_useropts} ${INC_DIR} -o $@ -c $^
+
+include $(KERNEL_ROOT)/compiler.mk
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/arch_usyscall.c b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/arch_usyscall.c
new file mode 100644
index 000000000..cd1bf7b40
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/arch_usyscall.c
@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+#include "usyscall.h"
+
+int syscall(int sys_num, intptr_t a1, intptr_t a2, intptr_t a3, intptr_t a4)
+{
+    int ret = -1;
+
+    __asm__ volatile(
+        "mov x0, %1;\
+        mov x1, %2;\
+        mov x2, %3;\
+        mov x3, %4;\
+        mov x4, %5;\
+        svc #0;\
+        dsb ish;\
+        isb;\
+        mov %0, x0"
+        : "=r"(ret)
+        : "r"(sys_num), "r"(a1), "r"(a2), "r"(a3), "r"(a4)
+        : "memory", "r0", "r1", "r2", "r3", "r4");
+
+    return ret;
+}
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/libserial.c b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/libserial.c
new file mode 100644
index 000000000..57cb02b86
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/libserial.c
@@ -0,0 +1,113 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+
+/// this file is only used for debug
+#include "libserial.h"
+#include "usyscall.h"
+
+#define USER_UART_BASE 0x6FFFF000
+
+#define UART0_BASE (0x09000000ULL)
+#define UART0_REG(reg) ((volatile uint32_t*)(USER_UART_BASE + reg))
+
+// the UART control registers.
+// pl011
+#define DR 0x00
+#define FR 0x18
+#define FR_RXFE (1 << 4) // recieve fifo empty
+#define FR_TXFF (1 << 5) // transmit fifo full
+#define FR_RXFF (1 << 6) // recieve fifo full
+#define FR_TXFE (1 << 7) // transmit fifo empty
+#define IBRD 0x24
+#define FBRD 0x28
+#define LCRH 0x2c
+#define LCRH_FEN (1 << 4)
+#define LCRH_WLEN_8BIT (3 << 5)
+#define CR 0x30
+#define IMSC 0x38
+#define INT_RX_ENABLE (1 << 4)
+#define INT_TX_ENABLE (1 << 5)
+#define ICR 0x44
+
+#define UART_READ_REG(reg) (*(UART0_REG(reg)))
+#define UART_WRITE_REG(reg, v) (*(UART0_REG(reg)) = (v))
+
+#define UART_TX_BUF_SIZE 32
+static char uart_tx_buf[UART_TX_BUF_SIZE];
+uint64_t uart_tx_w; // write next to uart_tx_buf[uart_tx_w % UART_TX_BUF_SIZE]
+uint64_t uart_tx_r; // read next from uart_tx_buf[uart_tx_r % UART_TX_BUF_SIZE]
+
+bool init_uart_mmio()
+{
+    static int mapped = 0;
+    if (mapped == 0) {
+        if (-1 == mmap(USER_UART_BASE, UART0_BASE, 4096, true)) {
+            return false;
+        }
+        mapped = 1;
+    }
+    return true;
+}
+
+// if the UART is idle, and a character is waiting
+// in the transmit buffer, send it.
+// caller must hold uart_tx_lock.
+// called from both the top- and bottom-half.
+void uartstart()
+{
+    while (1) {
+        if (uart_tx_w == uart_tx_r) {
+            // transmit buffer is empty.
+            return;
+        }
+
+        if (UART_READ_REG(FR) & FR_TXFF) {
+            // the UART transmit holding register is full,
+            // so we cannot give it another byte.
+            // it will interrupt when it's ready for a new byte.
+            return;
+        }
+
+        int c = uart_tx_buf[uart_tx_r % UART_TX_BUF_SIZE];
+        uart_tx_r += 1;
+
+        // maybe uartputc() is waiting for space in the buffer.
+
+        UART_WRITE_REG(DR, c);
+    }
+}
+
+// add a character to the output buffer and tell the
+// UART to start sending if it isn't already.
+// blocks if the output buffer is full.
+// because it may block, it can't be called
+// from interrupts; it's only suitable for use
+// by write().
+void putc(char c)
+{
+    while (uart_tx_w == uart_tx_r + UART_TX_BUF_SIZE)
+        ;
+    uart_tx_buf[uart_tx_w % UART_TX_BUF_SIZE] = c;
+    uart_tx_w += 1;
+    uartstart();
+    return;
+}
+
+// read one input character from the UART.
+// return -1 if none is waiting.
+char getc(void)
+{
+    if (UART_READ_REG(FR) & FR_RXFE)
+        return 0xFF;
+    else
+        return UART_READ_REG(DR);
+}
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/stub.c b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/stub.c
new file mode 100644
index 000000000..c2c3af9d4
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/stub.c
@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+
+#include <stddef.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+
+// _exit: 用于退出程序
+void _exit(int status)
+{
+    while (1) { }
+}
+
+// _sbrk: 用于增加程序的数据空间
+void* _sbrk(ptrdiff_t incr)
+{
+    extern char end; /* Defined by the linker */
+    static char* heap_end;
+    char* prev_heap_end;
+
+    if (heap_end == 0) {
+        heap_end = &end;
+    }
+    prev_heap_end = heap_end;
+
+    // 在这里，你应该添加一些检查来确保堆不会与栈或其他内存区域冲突
+    // 例如，检查 incr 是否会导致堆超出预定的内存区域
+
+    heap_end += incr;
+    return (void*)prev_heap_end;
+}
+
+// _write: 用于将数据写入文件描述符
+ssize_t _write(int file, const void* ptr, size_t len)
+{
+    // 在这里，你需要实现将数据写入文件描述符的逻辑
+    // 如果你的系统不支持文件系统，你可以将数据发送到串口或其他输出
+
+    return len; // 假设所有数据都被写入
+}
+
+// _close: 用于关闭文件描述符
+int _close(int file)
+{
+    return -1; // 表示失败，因为没有实际关闭文件的功能
+}
+
+// _fstat: 用于获取文件状态
+int _fstat(int file, struct stat* st)
+{
+    return 0; // 表示成功
+}
+
+// _isatty: 检查文件描述符是否指向TTY设备
+int _isatty(int file)
+{
+    return 1; // 表示是TTY设备
+}
+
+// _lseek: 用于重新定位文件读/写的位置
+off_t _lseek(int file, off_t offset, int whence)
+{
+    return -1; // 表示失败，因为不支持文件定位
+}
+
+// _read: 用于从文件描述符读取数据
+ssize_t _read(int file, void* ptr, size_t len)
+{
+    return 0; // 表示没有数据被读取
+}
+
+// _kill: 发送信号给进程
+int _kill(int pid, int sig)
+{
+    return -1; // 表示失败，因为不支持信号
+}
+
+// _getpid: 获取进程ID
+int _getpid()
+{
+    return 1; // 返回假设的进程ID
+}
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile b/Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile
index 64cf9c5e2..e54d4cefa 100644
--- a/Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile
@@ -9,6 +9,12 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile
index a1c797551..bc2cc672d 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile
@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
+endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
 endif
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile
index 0203d8bad..101f4a799 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile
@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile
index d26a76275..5b751cf63 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile
@@ -1,15 +1,22 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
-
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/ok1028a-c/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/ok1028a-c/Makefile
new file mode 100644
index 000000000..b14224115
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/ok1028a-c/Makefile
@@ -0,0 +1,3 @@
+SRC_DIR := 
+
+include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile
index 5c15614f5..6b2d71673 100644
--- a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile
@@ -9,6 +9,12 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N 
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/block_io.c b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/block_io.c
index eca003213..864aeda4c 100644
--- a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/block_io.c
+++ b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/block_io.c
@@ -63,7 +63,8 @@ uint32_t BlockAlloc()
         }
     }
 
-    Error("BlockAlloc: out of blocks");
+    printf("BlockAlloc: out of blocks, bit idx: %d, total size: %d\n", bit_index, sb.size);
+    Error("");
     return 0;
 }
 
diff --git a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/fs_server.c b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/fs_server.c
index f84e109df..3bfc42b89 100644
--- a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/fs_server.c
+++ b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/fs_server.c
@@ -63,11 +63,12 @@ int IPC_DO_SERVE_FUNC(Ipc_ls)(char* path)
     }
 
     if (!(ip = InodeSeek(dp, path))) {
-        printf("ls: find target Inode failed, ip: %x(%d), dp: %x(%d)\n", ip, ip->inum, dp, dp->inum);
+        printf("ls: find target Inode failed, dp: %p(%d), path: %s\n", dp, dp->inum, path);
         return -1;
     }
+
     if (ip->type != FS_DIRECTORY) {
-        printf("ls: not a dir\n");
+        printf("ls: not a dir, ip: %d\n", ip->inum);
         return -1;
     }
 
@@ -364,4 +365,5 @@ int main(int argc, char* argv[])
 
     // never reached
     exit(0);
+    return 0;
 }
diff --git a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/include/block_io.h b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/include/block_io.h
index 8fd07762b..f457436fd 100644
--- a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/include/block_io.h
+++ b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/include/block_io.h
@@ -24,7 +24,7 @@
 #define BITS 8
 
 // Bitmap size of one block
-#define BITMAP_SIZE (BLOCK_SIZE * BITS * NR_BIT_BLOCKS)
+#define BITMAP_SIZE (BLOCK_SIZE * BITS)
 
 // Inode size of one block
 #define INODE_SIZE (BLOCK_SIZE / sizeof(struct Inode))
diff --git a/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile b/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile
index 69365fd69..b6a06fe88 100644
--- a/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile
@@ -1,14 +1,19 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
-user_ldflags = --start-group,-lgcc,-lc,--end-group
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
-#cflags = -Wall -g -std=c11 
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N 
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile
index fbcfc9073..0a2c315f7 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile
@@ -9,6 +9,12 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c b/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c
index 83a6e2cfe..7fdb4506d 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c
+++ b/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c
@@ -79,7 +79,7 @@ struct IpcMsg* new_ipc_msg(struct Session* session, const int argc, const int* a
 bool ipc_msg_set_nth_arg(struct IpcMsg* msg, const int arg_num, const void* const data, const int len)
 {
     if (arg_num >= msg->header.nr_args) {
-        printf("[%s] IPC: arg_num out of msg range, arg_num: %d, nr_args: %lu\n", __func__, arg_num, msg->header.nr_args);
+        printf("[%s] IPC: arg_num out of msg range, arg_num: %d, nr_args: %u\n", __func__, arg_num, msg->header.nr_args);
         return false;
     }
     struct IpcArgInfo* nth_arg_info = IPCMSG_ARG_INFO(msg, arg_num);
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile
index bc5bcdd18..811b23061 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile
@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/memory/libmem.c b/Ubiquitous/XiZi_AIoT/services/lib/memory/libmem.c
index feb746b5f..6df9eddc6 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/memory/libmem.c
+++ b/Ubiquitous/XiZi_AIoT/services/lib/memory/libmem.c
@@ -41,7 +41,7 @@
 #define PUT_NOTAG(p, val) (*(unsigned int*)(p) = (val))
 
 // Store predecessor or successor pointer for free blocks
-#define SET_PTR(p, ptr) (*(unsigned int*)(p) = (unsigned int)(ptr))
+#define SET_PTR(p, ptr) (*(uintptr_t*)(p) = (uintptr_t)(ptr))
 
 // Read the size and allocation bit from address p
 #define GET_SIZE(p) (GET(p) & ~0x7)
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile
index ababb7389..4c19c8422 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile
@@ -1,15 +1,24 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile
index 71972c252..39f64140e 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile
@@ -1,15 +1,22 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
-
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
diff --git a/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile b/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile
index 9a1651097..7aaa281e2 100644
--- a/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile
@@ -9,6 +9,12 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile
index 7a195298f..f9781be81 100644
--- a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile
@@ -1,14 +1,19 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
-user_ldflags = --start-group,-lgcc,-lc,--end-group
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
-#cflags = -Wall -g -std=c11 -Wno-unused
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie -nostdlib -static -fno-builtin -nodefaultlibs -Wno-unused
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell.c b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell.c
index 5813d3b37..34b99616e 100644
--- a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell.c
+++ b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell.c
@@ -1735,7 +1735,7 @@ void shellKill(int pid)
  */
 void shellLs(const char* path, ...)
 {
-    if (*path == '\0') {
+    if ((uintptr_t*)path == (uintptr_t*)shellLs || *path == '\0') {
         path = ".";
     }
     ls(&session_fs, (char*)path);
diff --git a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell_ext.c b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell_ext.c
index c8158e769..804058755 100644
--- a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell_ext.c
+++ b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell_ext.c
@@ -8,6 +8,8 @@
  * @copyright (c) 2019 Letter
  *
  */
+#include <stddef.h>
+#include <stdint.h>
 
 #include "shell_ext.h"
 #include "shell.h"
@@ -251,7 +253,7 @@ unsigned int shellExtParsePara(Shell* shell, char* string)
  */
 int shellExtRun(Shell* shell, ShellCommand* command, int argc, char* argv[])
 {
-    unsigned int params[8] = { 0 };
+    uintptr_t params[8] = { 0 };
     int paramNum = command->attr.attrs.paramNum > (argc - 1) ? command->attr.attrs.paramNum : (argc - 1);
     for (int i = 0; i < argc - 1; i++) {
         params[i] = shellExtParsePara(shell, argv[i + 1]);
diff --git a/Ubiquitous/XiZi_AIoT/services/tools/mkfs/mkfs.c b/Ubiquitous/XiZi_AIoT/services/tools/mkfs/mkfs.c
index 027d9dd5c..d76cc62f0 100755
--- a/Ubiquitous/XiZi_AIoT/services/tools/mkfs/mkfs.c
+++ b/Ubiquitous/XiZi_AIoT/services/tools/mkfs/mkfs.c
@@ -263,8 +263,8 @@ void balloc(int used)
     uchar buf[BLOCK_SIZE];
     int i;
     printf("balloc: first %d blocks have been allocated\n", used);
-    bzero(buf, BLOCK_SIZE);
     for (int bmsec = 0; bmsec < bitblocks; bmsec++) {
+        bzero(buf, BLOCK_SIZE);
         for (i = 0; i < ((used > NR_BIT_PER_BYTE * BLOCK_SIZE) ? NR_BIT_PER_BYTE * BLOCK_SIZE : used); i++) {
             buf[i / NR_BIT_PER_BYTE] = buf[i / NR_BIT_PER_BYTE] | (0x1 << (i % NR_BIT_PER_BYTE));
         }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S b/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S
index 5316df458..71d5278bd 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S
+++ b/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S
@@ -28,18 +28,18 @@ Modification:
 1. first version
 *************************************************/
 .section .rawdata_fs_img
-# .globl user_apps
-# user_apps:
-#     .incbin "../services/app/fs.img"
+.globl user_apps
+user_apps:
+    .incbin "../services/app/fs.img"
 
-# .section .rawdata_init
-# .globl initapp
-# initapp:
-#     .incbin "../services/app/bin/init"
+.section .rawdata_init
+.globl initapp
+initapp:
+    .incbin "../services/app/bin/init"
 
-# .section .rawdata_memfs
-# .globl memfs
-# memfs:
-#     .incbin "../services/app/bin/fs_server"
+.section .rawdata_memfs
+.globl memfs
+memfs:
+    .incbin "../services/app/bin/fs_server"
 .end
 
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c
index 8105d30b7..f0795177f 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c
@@ -48,8 +48,8 @@ uintptr_t* _page_walk(uintptr_t* pgdir, uintptr_t vaddr, bool alloc)
 
     uintptr_t* l3_pde_vaddr;
     if (*l2_pde_ptr != 0) {
-        uintptr_t l3_pde_paddr = (*l2_pde_ptr) & ~pde_attr;
-        l3_pde_vaddr = (uintptr_t*)P2V(l3_pde_paddr);
+        uintptr_t l3_table_paddr = (*l2_pde_ptr) & ~pde_attr;
+        l3_pde_vaddr = (uintptr_t*)P2V(l3_table_paddr);
     } else {
         if (!alloc || !(l3_pde_vaddr = (uintptr_t*)kalloc(sizeof(uintptr_t) * NUM_LEVEL3_PDE))) {
             return NULL;
@@ -63,8 +63,8 @@ uintptr_t* _page_walk(uintptr_t* pgdir, uintptr_t vaddr, bool alloc)
 
     uintptr_t* l4_pte_vaddr;
     if (*l3_pde_ptr != 0) {
-        uintptr_t l4_pte_paddr = (*l3_pde_ptr) & ~pde_attr;
-        l4_pte_vaddr = (uintptr_t*)P2V(l4_pte_paddr);
+        uintptr_t l4_table_paddr = (*l3_pde_ptr) & ~pde_attr;
+        l4_pte_vaddr = (uintptr_t*)P2V(l4_table_paddr);
     } else {
         if (!alloc || !(l4_pte_vaddr = (uintptr_t*)kalloc(sizeof(uintptr_t) * NUM_LEVEL4_PTE))) {
             return NULL;
@@ -79,38 +79,44 @@ uintptr_t* _page_walk(uintptr_t* pgdir, uintptr_t vaddr, bool alloc)
 
 void _free_user_pgdir(struct TopLevelPageDirectory* pgdir)
 {
-    // uintptr_t low_bound = kern_virtmem_buddy.mem_start, high_bound = kern_virtmem_buddy.mem_end;
-    // uintptr_t user_low_bound = user_phy_freemem_buddy.mem_start, user_high_bound = user_phy_freemem_buddy.mem_end;
-    // uintptr_t end_idx = (USER_MEM_TOP >> LEVEL2_PDE_SHIFT) & (NUM_LEVEL2_PDE - 1);
+    if (pgdir->pd_addr == NULL) {
+        return;
+    }
 
-    // for (uintptr_t l3_entry_idx = 0; l3_entry_idx < end_idx; l3_entry_idx++) {
-    //     // free each level3 page table
-    //     uintptr_t* l3_pde_paddr = (uintptr_t*)LEVEL3_PDE_ADDR(pgdir->pd_addr[l3_entry_idx]);
-    //     if (l3_pde_paddr != NULL) {
-    //         for (uintptr_t l4_entry_idx = 0; l4_entry_idx < NUM_LEVEL3_PDE; l4_entry_idx++) {
-    //             uintptr_t* l4_pte_paddr = (uintptr_t*)LEVEL4_PTE_ADDR(l3_pde_paddr[l4_entry_idx]);
-    //             if (l4_pte_paddr != NULL) {
-    //                 for (uintptr_t page_entry_idx = 0; page_entry_idx < NUM_LEVEL4_PTE; page_entry_idx++) {
-    //                     uintptr_t vaddr = (l3_entry_idx << LEVEL2_PDE_SHIFT) | (l4_entry_idx << LEVEL3_PDE_SHIFT) | (page_entry_idx << LEVEL4_PTE_SHIFT);
+    uintptr_t low_bound = kern_virtmem_buddy.mem_start, high_bound = kern_virtmem_buddy.mem_end;
+    uintptr_t user_low_bound = user_phy_freemem_buddy.mem_start, user_high_bound = user_phy_freemem_buddy.mem_end;
+    uintptr_t end_idx = (USER_MEM_TOP >> LEVEL2_PDE_SHIFT) & (NUM_LEVEL2_PDE - 1);
 
-    //                     // get page paddr
-    //                     uintptr_t* page_paddr = (uintptr_t*)ALIGNDOWN(((uintptr_t*)P2V(l4_pte_paddr))[page_entry_idx], PAGE_SIZE);
-    //                     if (page_paddr != NULL) {
-    //                         // Ensure the virtual address is not in the IPC address space
-    //                         assert(vaddr < USER_IPC_SPACE_BASE || vaddr >= USER_IPC_SPACE_TOP);
+    for (uintptr_t l2_entry_idx = 0; l2_entry_idx < end_idx; l2_entry_idx++) {
+        // free each level3 page table
+        uintptr_t* l3_table_paddr = (uintptr_t*)ALIGNDOWN(pgdir->pd_addr[l2_entry_idx], PAGE_SIZE);
+        if (l3_table_paddr != NULL) {
+            uintptr_t* l3_table_vaddr = P2V(l3_table_paddr);
+            for (uintptr_t l3_entry_idx = 0; l3_entry_idx < NUM_LEVEL3_PDE; l3_entry_idx++) {
+                uintptr_t* l4_table_paddr = (uintptr_t*)LEVEL4_PTE_ADDR(l3_table_vaddr[l3_entry_idx]);
+                if (l4_table_paddr != NULL) {
+                    uintptr_t* l4_table_vaddr = P2V(l4_table_paddr);
+                    for (uintptr_t page_entry_idx = 0; page_entry_idx < NUM_LEVEL4_PTE; page_entry_idx++) {
+                        uintptr_t vaddr = (l2_entry_idx << LEVEL2_PDE_SHIFT) | (l3_entry_idx << LEVEL3_PDE_SHIFT) | (page_entry_idx << LEVEL4_PTE_SHIFT);
 
-    //                         if (LIKELY((uintptr_t)page_paddr >= low_bound && (uintptr_t)page_paddr < high_bound)) {
-    //                             kfree(P2V(page_paddr));
-    //                         } else if (LIKELY((uintptr_t)page_paddr >= user_low_bound && (uintptr_t)page_paddr < user_high_bound)) {
-    //                             raw_free((char*)page_paddr);
-    //                         }
-    //                     }
-    //                 }
-    //                 kfree(P2V(l4_pte_paddr));
-    //             }
-    //         }
-    //         kfree(P2V(l3_pde_paddr));
-    //     }
-    // }
-    // kfree((char*)pgdir->pd_addr);
+                        // get page paddr
+                        uintptr_t* page_paddr = (uintptr_t*)ALIGNDOWN((l4_table_vaddr)[page_entry_idx], PAGE_SIZE);
+                        if (page_paddr != NULL) {
+                            // Ensure the virtual address is not in the IPC address space
+                            assert(vaddr < USER_IPC_SPACE_BASE || vaddr >= USER_IPC_SPACE_TOP);
+
+                            if (LIKELY((uintptr_t)page_paddr >= low_bound && (uintptr_t)page_paddr < high_bound)) {
+                                kfree(P2V(page_paddr));
+                            } else if (LIKELY((uintptr_t)page_paddr >= user_low_bound && (uintptr_t)page_paddr < user_high_bound)) {
+                                raw_free((char*)page_paddr);
+                            }
+                        }
+                    }
+                    kfree(P2V(l4_table_paddr));
+                }
+            }
+            kfree(P2V(l3_table_paddr));
+        }
+    }
+    kfree((char*)pgdir->pd_addr);
 }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c b/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c
index 06d4aa622..aa9ff1fcf 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c
@@ -113,11 +113,17 @@ static uintptr_t map_task_share_page(struct Thread* task, const uintptr_t paddr,
         // time to use buddy
         if (vaddr >= USER_IPC_USE_ALLOCATOR_WATERMARK) {
             task->memspace->massive_ipc_allocator = (struct KBuddy*)slab_alloc(&xizi_task_manager.task_buddy_allocator);
-            KBuddyInit(task->memspace->massive_ipc_allocator, USER_IPC_USE_ALLOCATOR_WATERMARK, USER_IPC_SPACE_TOP);
             if (!task->memspace->massive_ipc_allocator) {
                 ERROR("Alloc task buddy failed.\n");
                 return (uintptr_t)NULL;
             }
+            if (!KBuddyInit(task->memspace->massive_ipc_allocator, USER_IPC_USE_ALLOCATOR_WATERMARK, USER_IPC_SPACE_TOP)) {
+                ERROR("Alloc task buddy failed.\n");
+                slab_free(&xizi_task_manager.task_buddy_allocator, task->memspace->massive_ipc_allocator);
+                task->memspace->massive_ipc_allocator = NULL;
+                return (uintptr_t)NULL;
+            }
+
             return map_task_share_page(task, paddr, nr_pages);
         }
     }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_spawn.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_spawn.c
index 052a03ed1..fa5994a01 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_spawn.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_spawn.c
@@ -45,7 +45,7 @@ int sys_spawn(char* img_start, char* name, char** argv)
 
     // load memspace
     uintptr_t* entry = load_memspace(pmemspace, img_start);
-    if (NULL == entry) {
+    if (pmemspace->pgdir.pd_addr == NULL) {
         ERROR("Loading memspace from %016x failed.\n", img_start);
         free_memspace(pmemspace);
         return -1;
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c b/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c
index 2e25ef22e..a16509eed 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c
@@ -127,6 +127,7 @@ uintptr_t* load_memspace(struct MemSpace* pmemspace, char* img_start)
         // 1. alloc space
         if ((load_size = xizi_pager.resize_user_pgdir(&pgdir, load_size, ph.vaddr + ph.memsz))
             != ph.vaddr + ph.memsz) {
+            ERROR("Add uspace size failed.\n");
             goto error_exec;
         }
         // 2. copy inode to space
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c b/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c
index 644149a41..9df773558 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c
@@ -42,6 +42,7 @@ struct Thread* max_priority_runnable_task(void)
 
     DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[priority], node)
     {
+        assert(task != NULL);
         if (task->state == READY && !task->dead) {
             // found a runnable task, stop this look up
             return task;