diff --git a/Ubiquitous/XiZi_AIoT/Makefile b/Ubiquitous/XiZi_AIoT/Makefile
index c5402b1ef..4bc6e3b00 100755
--- a/Ubiquitous/XiZi_AIoT/Makefile
+++ b/Ubiquitous/XiZi_AIoT/Makefile
@@ -4,7 +4,7 @@ MAKEFLAGS += --no-print-directory
 .PHONY:COMPILE_APP COMPILE_KERNEL
 
 riscv_support := 
-arm_support += imx6q-sabrelite zynq7000-zc702 ok1028a-c
+arm_support += imx6q-sabrelite zynq7000-zc702 3568
 emulator_support += 
 support := $(riscv_support) $(arm_support) $(emulator_support) 
 SRC_DIR :=
@@ -34,8 +34,8 @@ export UBIQUITOUS_ROOT ?= ..
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
 include $(KERNEL_ROOT)/hardkernel/arch/arm/armv7-a/cortex-a9/preboot_for_$(BOARD)/config.mk
 endif
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-include $(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_$(BOARD)/config.mk
+ifneq ($(findstring $(BOARD), 3568), )
+include $(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_$(BOARD)/config.mk
 endif
 export BSP_BUILD_DIR := $(KERNEL_ROOT)
 export HOSTTOOLS_DIR ?= $(KERNEL_ROOT)/services/tools/hosttools
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/Makefile
index 05e53ecfe..8f7703c39 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/Makefile
@@ -1,5 +1,5 @@
 # The following three platforms support compatiable instructions.
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/Makefile
index f0253e59d..f1319354d 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/Makefile
@@ -1,6 +1,6 @@
 # The following three platforms support compatiable instructions.
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-SRC_DIR := cortex-a72
+ifneq ($(findstring $(BOARD), 3568), )
+SRC_DIR := cortex-a55
 endif
 
 
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/Makefile
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/Makefile
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-a55/context_switch.S
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/context_switch.S
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/context_switch.S
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.c b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.c
similarity index 94%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.c
index fd10e6264..e677d92d6 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.c
@@ -29,7 +29,7 @@ Modification:
 1. first version
 *************************************************/
 
-/*********cortex-a72 general register************
+/*********cortex-a55 general register************
    EL0            |         EL1        |       EL2      |       EL3
 
      x0;
@@ -63,7 +63,7 @@ Modification:
      x28;
      x29;
      x30;
-*********cortex-a72  special register************
+*********cortex-a55  special register************
                                                 XZR
                                                 PC
      SP_EL0             SP_EL1            SP_EL2           SP_EL3
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-a55/core.h
similarity index 95%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.h
index 57d42c303..c9667450f 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/core.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.h
@@ -12,7 +12,7 @@
 
 /**
  * @file core.h
- * @brief cortex-a72 core function
+ * @brief cortex-a55 core function
  * @version 1.0
  * @author AIIT XUOS Lab
  * @date 2024.04.11
@@ -20,7 +20,7 @@
 
 /*************************************************
 File name: core.h
-Description: cortex-a72 core function
+Description: cortex-a55 core function
 Others:
 History:
 Author: AIIT XUOS Lab
@@ -71,7 +71,7 @@ Modification:
 #include <stdint.h>
 #include <string.h>
 
-#include "cortex_a72.h"
+#include "cortex_a55.h"
 
 #define NR_CPU 4 // maximum number of CPUs
 
@@ -79,15 +79,6 @@ __attribute__((always_inline)) static inline uint64_t EL0_mode() // Set ARM mode
 {
     uint64_t val = 0;
 
-    __asm__ __volatile__(
-        "mrs %0, spsr_el1"
-        : "=r"(val)
-        :
-        :);
-    val &= ~DIS_INT;
-    val &= ~SPSR_MODE_MASK;
-    val |= ARM_MODE_EL0_t;
-
     return val;
 }
 
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-a55/preboot_for_3568/3568.lds
similarity index 77%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/nxp_ls1028.lds
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/3568.lds
index 722ddf1e7..66e93e538 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-a55/preboot_for_3568/3568.lds
@@ -45,30 +45,36 @@ ENTRY( _ENTRY )
 ENTRY( _boot_start )
 
 MEMORY {
-  phy_ddr3 (rwx)      : ORIGIN = 0x0000000040000000, LENGTH = 1024M
-  vir_ddr3 (rwx)      : ORIGIN = 0x0000006040635000, LENGTH = 1024M
+  phy_ddr3 (rwx)      : ORIGIN = 0x0000000010000000, LENGTH = 1024M
+  vir_ddr3 (rwx)      : ORIGIN = 0x000000601040E000, LENGTH = 1024M
 }
 
 
 SECTIONS
 {
   .start_sec : {
-		. = ALIGN(0x1000);
+		. = ORIGIN(phy_ddr3);
 		/* initialization start checkpoint. */
 
-  boot.o(.text)
-  bootmmu.o(.text .text.*)
+    _start_image_addr = .;
 
-  boot.o(.rodata .rodata.*)
-  bootmmu.o(.rodata .rodata.*)
+    boot.o(.text)
+    bootmmu.o(.text .text.*)
+    /* ns16550.o(.text .text.*) */
 
-  boot.o(.data .data.*)
-  bootmmu.o(.data .data.*)
+    boot.o(.rodata .rodata.*)
+    bootmmu.o(.rodata .rodata.*)
+    /* ns16550.o(.rodata .rodata.*) */
 
-	PROVIDE(boot_start_addr = .);
+    boot.o(.data .data.*)
+    bootmmu.o(.data .data.*)
+    /* ns16550.o(.data .data.*) */
 
-  boot.o(.bss .bss.* COMMON)
-  bootmmu.o(.bss .bss.* COMMON)
+	  PROVIDE(boot_start_addr = .);
+
+    boot.o(.bss .bss.* COMMON)
+    bootmmu.o(.bss .bss.* COMMON)
+    /* ns16550.o(.bss .bss.* COMMON) */
   
 		/* stack for booting code. */
 		. = ALIGN(0x1000);
@@ -81,7 +87,7 @@ SECTIONS
 		PROVIDE(boot_end_addr = .);
 	} > phy_ddr3
 
-  .text : AT(0x40635000) {
+  .text : AT(0x1040E000) {
     . = ALIGN(0x1000);
     *(.text .text.* .gnu.linkonce.t.*)
   } > vir_ddr3
@@ -103,17 +109,19 @@ SECTIONS
 		PROVIDE(_binary_default_fs_start = .);
 		*(.rawdata_memfs*)
 		PROVIDE(_binary_default_fs_end = .);
+    PROVIDE(__init_array_start = .);
+    PROVIDE(__init_array_end = .);
   } > vir_ddr3
 
   . = ALIGN(0x1000);
-  PROVIDE(kernel_data_begin = .);
+  _image_size = . - 0x0000006010000000;
 
-  _image_size = . - 0x0000006040000000;
   .bss : {
+    PROVIDE(kernel_data_begin = .);
     PROVIDE(__bss_start__ = .);
 		*(.bss .bss.* COMMON)
+    . = ALIGN(0x1000);
 		PROVIDE(__bss_end__ = .);
+	  PROVIDE(kernel_data_end = .);
   } > vir_ddr3
-  . = ALIGN(0x1000);
-	PROVIDE(kernel_data_end = .);
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/Makefile
similarity index 67%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/Makefile
index 6cd6837c6..a195629ce 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/Makefile
@@ -1,5 +1,6 @@
 SRC_FILES := boot.S \
+			 xizi_smp.S \
 			 smp.c \
-			 cortexA72.S
+			 cortexA55.S
 
 include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/boot.S b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/boot.S
new file mode 100644
index 000000000..bf9535a90
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/boot.S
@@ -0,0 +1,120 @@
+/*
+ * 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 "core.h"
+
+#define HCR_VALUE (1 << 31)
+#define SPSR_EL2_VALUE (7 << 6) | (5 << 0)
+#define SCTLR_EL1_VALUE (0x30D00800)
+
+.section ".text", "ax"
+.global _boot_start
+.global primary_cpu_init
+.global el2_setup
+
+_boot_start:
+    bl el2_setup
+
+    /* set NSACR, both Secure and Non-secure access are allowed to NEON */
+    mov     x0,         #(3 << 20)
+    msr     cpacr_el1,  x0
+    isb
+
+    // clear some registers
+    msr     elr_el1,    XZR
+
+    ldr     x0, =stacks_top
+    mov     x1, #MODE_STACK_SIZE
+
+    // get cpu id, and subtract the offset from the stacks base address
+    mrs     x2, mpidr_el1
+    and     x2, x2, #0xFFF
+    lsr     x2, x2, #8
+    mov     x5, x2
+    mul     x3, x2, x1
+    sub     x0, x0, x3
+    mov     sp, x0
+
+    mov     x2,         #ARM_MODE_EL1_h | DIS_INT  
+    msr     spsr_el1,   x2
+
+    // check cpu id - cpu0 is primary cpu
+    mrs     x2, mpidr_el1
+    and     x2, x2, #0xFFF
+    lsr     x2, x2, #8
+    mov     x5, x2
+    cmp     x5, #0
+    beq     primary_cpu_init
+    bl      bootmain     // for secondary cpus, jump to argument function pointer passed in by ROM
+
+    bl      .
+
+primary_cpu_init:
+   	/* init .bss */
+     /* clear the .bss section (zero init) */
+    ldr x1,	=boot_start_addr
+    ldr x2,	=boot_end_addr
+    mov x3,	#0
+1:  
+    cmp x1,	x2
+    stp x3, x3, [x1], #16
+    b.lt    1b  
+
+	bl bootmain
+
+    .func el2_setup
+el2_setup:
+    mrs x0, CurrentEL
+    lsr x0, x0, #2
+    and x0, x0, #3
+    cmp x0, #2
+    beq 1f
+    ret
+
+    /* Hyp configuration. */
+1:
+    mov x0, #(1 << 31)
+    msr hcr_el2, x0
+
+    /* Generic timers. */ 
+    mrs  x0, cnthctl_el2
+    orr  x0, x0, #3       // Enable EL1 physicaltimers
+    msr  cnthctl_el2, x0
+
+    /* Populate ID registers. */
+    mrs  x0,    midr_el1
+    mrs  x1,    mpidr_el1
+    msr  vpidr_el2,  x0
+    msr  vmpidr_el2, x1
+
+    /* Disable Coprocessor traps. */
+    mov x0, #0x33ff
+    msr  cptr_el2, x0 // Disable copro. traps to EL2
+    
+    msr  hstr_el2, xzr // Disable CP15 traps to EL2
+
+    mov x0, sp
+    msr sp_el1, x0
+
+    mrs x0, sctlr_el1
+    orr x0, x0, #(1 << 0)
+    bic x0, x0, #(1 << 1)
+    orr x0, x0, #(1 << 2)
+    msr sctlr_el1, x0
+
+    /* spsr */
+    mov x0, #SPSR_EL2_VALUE
+    msr spsr_el2, x0
+    msr elr_el2, lr
+    eret
+    .endfunc
+
+    .end  
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/config.mk b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/config.mk
similarity index 54%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/config.mk
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/config.mk
index 020fa3ca6..33b1f65a0 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/config.mk
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/config.mk
@@ -1,8 +1,7 @@
 export CROSS_COMPILE ?= aarch64-none-elf-
-export DEVICE = -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie
-export CFLAGS := $(DEVICE) -Wall -Werror -O2 -g -fno-omit-frame-pointer -fPIC 
-# export AFLAGS := -c $(DEVICE) -x assembler-with-cpp -D__ASSEMBLY__ -gdwarf-2
-export LFLAGS := $(DEVICE) -Wl,-T -Wl,$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/nxp_ls1028.lds -Wl,--start-group,-lgcc,-lc,--end-group
+export DEVICE = -mtune=cortex-a55 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie
+export CFLAGS := $(DEVICE) -Wall -Werror -O2 -g -fno-omit-frame-pointer -fPIC
+export LFLAGS := $(DEVICE) -Wl,-T -Wl,$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/3568.lds -Wl,--start-group,-lgcc,-lc,--end-group
 export CXXFLAGS := 
 
 export DEFINES := -DHAVE_CCONFIG_H -DCHIP_LS1028
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/cortexA72.S b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/cortexA55.S
similarity index 77%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/cortexA72.S
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/cortexA55.S
index 72cc33cad..1a63b65b5 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/cortexA72.S
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/cortexA55.S
@@ -1,14 +1,14 @@
 /*!
- * @file cortexA72.s
- * @brief This file contains cortexA72 functions
+ * @file cortexA55.s
+ * @brief This file contains cortexA55 functions
  *
  */
 /*************************************************
-File name: cortexA72.S
+File name: cortexA55.S
 Description: This file contains cortexA9 functions
 Others: 
 History:
-1. Date: 202-05-08
+1. Date: 2024-05-08
 Author: AIIT XUOS Lab
 Modification:
 1. No modifications
@@ -21,7 +21,8 @@ Modification:
     .func cpu_get_current
 cpu_get_current:
     mrs   x0, mpidr_el1
-    and   x0, x0, #3
+    and   x0, x0, #0xFFF
+    lsr   x0, x0, #8
     ret
     .endfunc
 
@@ -32,6 +33,6 @@ psci_call:
 
 
 # ------------------------------------------------------------
-# End of cortexA72.s
+# End of cortexA55.s
 # ------------------------------------------------------------
     .end
\ No newline at end of file
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-a55/preboot_for_3568/include/cortex_a55.h
similarity index 97%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/include/cortex_a72.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/include/cortex_a55.h
index 3358e8d12..ad90943d0 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-a55/preboot_for_3568/include/cortex_a55.h
@@ -28,16 +28,16 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 /**
- * @file cortex_a72.h
- * @brief some cortex A72 core functions
+ * @file cortex_a55.h
+ * @brief some cortex A55 core functions
  * @version 1.0
  * @author AIIT XUOS Lab
  * @date 2024.04.24
  */
 
 /*************************************************
-File name: cortex_a72.h
-Description: some cortex A72 core functions
+File name: cortex_a55.h
+Description: some cortex A55 core functions
 Others:
 History:
 Author: AIIT XUOS Lab
@@ -45,8 +45,8 @@ Modification:
 1. No modifications
 *************************************************/
 
-#if !defined(__CORTEX_A72_H__)
-#define __CORTEX_A72_H__
+#if !defined(__CORTEX_A55_H__)
+#define __CORTEX_A55_H__
 
 #include <stdbool.h>
 #include <stdint.h>
@@ -231,4 +231,4 @@ void scu_secure_invalidate(unsigned int cpu, unsigned int ways);
 }
 #endif
 
-#endif //__CORTEX_A72_H__
\ No newline at end of file
+#endif //__CORTEX_A55_H__
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/include/registers.h b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/include/registers.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/include/registers.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/include/registers.h
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/smp.c b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/smp.c
similarity index 75%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/smp.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/smp.c
index c1e84b58c..395b3e32e 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/smp.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/smp.c
@@ -48,12 +48,34 @@ Modification:
 #include <stdint.h>
 
 #define PSCI_CPUON 0xc4000003
+struct xizi_smccc_res {
+    unsigned long a0;
+    unsigned long a1;
+    unsigned long a2;
+    unsigned long a3;
+};
 
 extern void _boot_start();
-void psci_call(uint64_t fn, uint8_t cpuid, uint64_t entry, uint64_t ctxid);
+extern void __print();
+
+extern void __xizi_smccc_smc(unsigned long a0, unsigned long a1, unsigned long a2,
+    unsigned long a3, unsigned long a4, unsigned long a5,
+    unsigned long a6, unsigned long a7, struct xizi_smccc_res* res);
+
+static struct xizi_smccc_res __invoke_sip_fn_smc(unsigned long function_id,
+    unsigned long arg0,
+    unsigned long arg1,
+    unsigned long arg2)
+{
+    struct xizi_smccc_res res;
+
+    __xizi_smccc_smc(function_id, arg0, arg1, arg2, 0, 0, 0, 0, &res);
+    return res;
+}
+
 void cpu_start_secondary(uint8_t cpu_id)
 {
-    psci_call(PSCI_CPUON, cpu_id, (uintptr_t)&_boot_start, 0);
+    __invoke_sip_fn_smc(PSCI_CPUON, cpu_id, (uintptr_t)0xa00000, 0);
 }
 
 void start_smp_cache_broadcast(int cpu_id)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/xizi_smp.S b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/xizi_smp.S
new file mode 100644
index 000000000..f6082b5e1
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/xizi_smp.S
@@ -0,0 +1,27 @@
+/*
+ * 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.
+ */
+.global __xizi_smccc_smc
+
+.func __xizi_smccc_smc
+__xizi_smccc_smc:
+    smc #0
+    ldr	x4, [sp]
+    stp	x0, x1, [x4, #0]
+    stp	x2, x3, [x4, #16]
+    ldr	x4, [sp, #8]
+    cbz	x4, 1f /* no quirk structure */
+    ldr	x9, [x4, #0]
+    cmp	x9, #1
+    b.ne	1f
+    str	x6, [x4, 8]
+1:  ret
+.endfunc
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/boot.S b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/boot.S
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/boot.S
rename to Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/boot.S
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/boot.S b/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/boot.S
deleted file mode 100644
index 2f88de747..000000000
--- a/Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/boot.S
+++ /dev/null
@@ -1,81 +0,0 @@
-// #include "memlayout.h"
-#include "core.h"
-// #include "registers.h"
-// #include "cortex_a72.h"
-        // qemu -kernel loads the kernel at 0x40000000
-        // and causes each CPU to jump there.
-        // kernel.ld causes the following code to
-        // be placed at 0x40000000.
-.section ".text"
-//.global _entry
-.global _boot_start
-.global primary_cpu_init
-
-_boot_start:
-        // set up a stack for C.
-        // stack0 is declared in start.c,
-        // with a 4096-byte stack per CPU.
-        // sp = stack0 + ((cpuid+1) * 4096)
-        // cpuid = mpidr_el1 & 0xff
-        // save r0 for cores 1-3, r0 arg field passed by ROM
-        // r0 is a function pointer for secondary cpus
-
-        // mov x4, 	x0
-
-        mrs	x0, 	spsr_el1    /* Enter EL1 (Exception Level 1) */
-        bic	x0, 	x0, #0x1f
-        MOV     x1,     #0xC5
-        ORR     x0,     x0, x1
-        msr	spsr_el1,	x0                
-
-
-        /* set NSACR, both Secure and Non-secure access are allowed to NEON */
-        MRS     X1,     CPACR_EL1
-        ORR     X1,     X1, #(0X3 << 20)
-        MSR     CPACR_EL1, X1
-        ISB
-
-        // clear some registers
-        msr     elr_el1, XZR
-
-        ldr     x0, =stacks_top
-        mov     x1, #MODE_STACK_SIZE
-
-         // get cpu id, and subtract the offset from the stacks base address
-        mrs     x2,     mpidr_el1
-        and     x2,     x2, #0x3
-        mov     x5,     x2
-        mul     x3,     x2, x1
-        sub     x0,     x0, x3
-        
-        MOV     X2,     #ARM_MODE_EL1_h | DIS_INT  
-        MSR     SPSR_EL1, X2
-        mov     sp,     x0
-        SUB     x0,     x0,x1
-
-            // check cpu id - cpu0 is primary cpu
-        cmp     x5, 	#0
-        beq     primary_cpu_init
-        bl      bootmain     // for secondary cpus, jump to argument function pointer passed in by ROM
-
-        bl      .
-
-primary_cpu_init:
-   	/* init .bss */
-         /* clear the .bss section (zero init) */
-        ldr     x1,	=boot_start_addr
-        ldr     x2,	=boot_end_addr
-        mov     x3,	#0
-        1:  
-        cmp     x1,	x2
-        stp     x3,     x3, [x1], #16
-        b.lt     1b        
-
-        // branch to c library entry point 
-        mov     x0,		#0 // argc
-        mov     x1,		#0 // argv
-        mov     x2,		#0 // env
-
-	bl bootmain
-
-	.end
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/Makefile
index 2e244bef0..c87f4ca4a 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/Makefile
@@ -1,8 +1,8 @@
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
 SRC_DIR := cortex-a9
 endif
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-SRC_DIR := cortex-a72
+ifneq ($(findstring $(BOARD), 3568), )
+SRC_DIR := cortex-a55
 endif
 
 include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/ok1028a-c/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/Makefile
similarity index 52%
rename from Ubiquitous/XiZi_AIoT/services/drivers/ok1028a-c/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/Makefile
index b14224115..11407977e 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/ok1028a-c/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/Makefile
@@ -1,3 +1,3 @@
-SRC_DIR := 
+SRC_FILES := l1_cache.c cache.S
 
 include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/cache.S b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/cache.S
new file mode 100644
index 000000000..95596c6ce
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/cache.S
@@ -0,0 +1,336 @@
+/*
+ * (C) Copyright 2013
+ * David Feng <fenghua@phytium.com.cn>
+ *
+ * This file is based on sample code from ARMv8 ARM.
+ *
+ * SPDX-License-Identifier:	GPL-2.0+
+ */
+
+
+#define ASM_NL		 ;
+
+#define SYMBOL_NAME(X)		X
+
+// #define SYMBOL_NAME_LABEL(X)	X##:
+
+#define SYMBOL_NAME_LABEL(X)	X:
+
+#ifndef __ALIGN
+#define __ALIGN .align		4
+#endif
+
+#ifndef __ALIGN_STR
+#define __ALIGN_STR		".align 4"
+#endif
+
+#define ALIGN			__ALIGN
+#define ALIGN_STR		__ALIGN_STR
+
+#define LENTRY(name) \
+	ALIGN ASM_NL \
+	SYMBOL_NAME_LABEL(name)
+
+#define ENTRY(name) \
+	.globl SYMBOL_NAME(name) ASM_NL \
+	LENTRY(name)
+
+#define WEAK(name) \
+	.weak SYMBOL_NAME(name) ASM_NL \
+	LENTRY(name)
+
+
+#define END(name) \
+	.size name, .-name
+
+#define ENDPROC(name) \
+	.type name STT_FUNC ASM_NL \
+	END(name)
+
+#define CR_M		(1 << 0)	/* MMU enable			*/
+#define CR_A		(1 << 1)	/* Alignment abort enable	*/
+#define CR_C		(1 << 2)	/* Dcache enable		*/
+#define CR_SA		(1 << 3)	/* Stack Alignment Check Enable	*/
+#define CR_I		(1 << 12)	/* Icache enable		*/
+#define CR_WXN		(1 << 19)	/* Write Permision Imply XN	*/
+#define CR_EE		(1 << 25)	/* Exception (Big) Endian	*/
+
+.macro switch_el, xreg, el3_label, el2_label, el1_label
+	mrs	\xreg, CurrentEL
+	cmp	\xreg, 0xc
+	b.eq	\el3_label
+	cmp	\xreg, 0x8
+	b.eq	\el2_label
+	cmp	\xreg, 0x4
+	b.eq	\el1_label
+.endm
+
+
+/*
+ * void __asm_dcache_level(level)
+ * flush or invalidate one level cache.
+ *
+ * x0: cache level
+ * x1: 0 clean & invalidate, 1 invalidate only
+ * x2~x9: clobbered
+ */
+ENTRY(__asm_dcache_level)
+	lsl	x12, x0, #1
+	msr	csselr_el1, x12		/* select cache level */
+	isb				/* sync change of cssidr_el1 */
+	mrs	x6, ccsidr_el1		/* read the new cssidr_el1 */
+	and	x2, x6, #7		/* x2 <- log2(cache line size)-4 */
+	add	x2, x2, #4		/* x2 <- log2(cache line size) */
+	mov	x3, #0x3ff
+	and	x3, x3, x6, lsr #3	/* x3 <- max number of #ways */
+	clz	w5, w3			/* bit position of #ways */
+	mov	x4, #0x7fff
+	and	x4, x4, x6, lsr #13	/* x4 <- max number of #sets */
+	/* x12 <- cache level << 1 */
+	/* x2 <- line length offset */
+	/* x3 <- number of cache ways - 1 */
+	/* x4 <- number of cache sets - 1 */
+	/* x5 <- bit position of #ways */
+
+loop_set:
+	mov	x6, x3			/* x6 <- working copy of #ways */
+loop_way:
+	lsl	x7, x6, x5
+	orr	x9, x12, x7		/* map way and level to cisw value */
+	lsl	x7, x4, x2
+	orr	x9, x9, x7		/* map set number to cisw value */
+	tbz	w1, #0, 1f
+	dc	isw, x9
+	b	2f
+1:	dc	cisw, x9		/* clean & invalidate by set/way */
+2:	subs	x6, x6, #1		/* decrement the way */
+	b.ge	loop_way
+	subs	x4, x4, #1		/* decrement the set */
+	b.ge	loop_set
+
+	ret
+ENDPROC(__asm_dcache_level)
+
+
+/*
+ * void __asm_flush_dcache_all(int invalidate_only)
+ *
+ * x0: 0 clean & invalidate, 1 invalidate only
+ *
+ * flush or invalidate all data cache by SET/WAY.
+ */
+
+ENTRY(__asm_dcache_all)
+	mov	x1, x0
+	dsb	sy
+	mrs	x10, clidr_el1		/* read clidr_el1 */
+	lsr	x11, x10, #24
+	and	x11, x11, #0x7		/* x11 <- loc */
+	cbz	x11, finished		/* if loc is 0, exit */
+	mov	x15, lr
+	mov	x0, #0			/* start flush at cache level 0 */
+	/* x0  <- cache level */
+	/* x10 <- clidr_el1 */
+	/* x11 <- loc */
+	/* x15 <- return address */
+
+loop_level:
+	lsl	x12, x0, #1
+	add	x12, x12, x0		/* x0 <- tripled cache level */
+	lsr	x12, x10, x12
+	and	x12, x12, #7		/* x12 <- cache type */
+	cmp	x12, #2
+	b.lt	skip			/* skip if no cache or icache */
+	bl	__asm_dcache_level	/* x1 = 0 flush, 1 invalidate */
+skip:
+	add	x0, x0, #1		/* increment cache level */
+	cmp	x11, x0
+	b.gt	loop_level
+
+	mov	x0, #0
+	msr	csselr_el1, x0		/* restore csselr_el1 */
+	dsb	sy
+	isb
+	mov	lr, x15
+
+finished:
+	ret
+ENDPROC(__asm_dcache_all)
+
+
+ENTRY(__asm_flush_dcache_all)
+	mov	x0, #0
+	b	__asm_dcache_all
+ENDPROC(__asm_flush_dcache_all)
+
+
+ENTRY(__asm_invalidate_dcache_all)
+	mov	x0, #0x1
+	b	__asm_dcache_all
+ENDPROC(__asm_invalidate_dcache_all)
+
+
+/*
+ * void __asm_flush_dcache_range(start, end)
+ *
+ * clean & invalidate data cache in the range
+ *
+ * x0: start address
+ * x1: end address
+ */
+
+ENTRY(__asm_flush_dcache_range)
+	isb
+	mrs	x3, ctr_el0
+	lsr	x3, x3, #16
+	and	x3, x3, #0xf
+	mov	x2, #4
+	lsl	x2, x2, x3		/* cache line size */
+
+	/* x2 <- minimal cache line size in cache system */
+	sub	x3, x2, #1
+	bic	x0, x0, x3
+1:	dc	civac, x0	/* clean & invalidate data or unified cache */
+	add	x0, x0, x2
+	cmp	x0, x1
+	b.lo	1b
+	dsb	sy
+	isb
+	ret
+ENDPROC(__asm_flush_dcache_range)
+
+/*
+ * void __asm_invalidate_dcache_range(start, end)
+ *
+ * invalidate data cache in the range
+ *
+ * x0: start address
+ * x1: end address
+ */
+
+ENTRY(__asm_invalidate_dcache_range)
+	mrs	x3, ctr_el0
+	ubfm	x3, x3, #16, #19
+	mov	x2, #4
+	lsl	x2, x2, x3		/* cache line size */
+
+	/* x2 <- minimal cache line size in cache system */
+	sub	x3, x2, #1
+	bic	x0, x0, x3
+1:	dc	ivac, x0	/* invalidate data or unified cache */
+	add	x0, x0, x2
+	cmp	x0, x1
+	b.lo	1b
+	dsb	sy
+	isb
+	ret
+ENDPROC(__asm_invalidate_dcache_range)
+
+
+/*
+ * void __asm_invalidate_icache_all(void)
+ *
+ * invalidate all tlb entries.
+ */
+
+ENTRY(__asm_invalidate_icache_all)
+	ic	ialluis
+	isb	sy
+	ret
+ENDPROC(__asm_invalidate_icache_all)
+
+
+
+ENTRY(__asm_invalidate_l3_dcache)
+	mov	x0, #0			/* return status as success */
+	ret
+ENDPROC(__asm_invalidate_l3_dcache)
+	.weak	__asm_invalidate_l3_dcache
+
+
+
+ENTRY(__asm_flush_l3_dcache)
+	mov	x0, #0			/* return status as success */
+	ret
+ENDPROC(__asm_flush_l3_dcache)
+	.weak	__asm_flush_l3_dcache
+
+
+
+ENTRY(__asm_invalidate_l3_icache)
+	mov	x0, #0			/* return status as success */
+	ret
+ENDPROC(__asm_invalidate_l3_icache)
+	.weak	__asm_invalidate_l3_icache
+
+
+/*
+ * void __asm_switch_ttbr(ulong new_ttbr)
+ *
+ * Safely switches to a new page table.
+ */
+
+ENTRY(__asm_switch_ttbr)
+	/* x2 = SCTLR (alive throghout the function) */
+	switch_el x4, 3f, 2f, 1f
+3:	mrs	x2, sctlr_el3
+	b	0f
+2:	mrs	x2, sctlr_el2
+	b	0f
+1:	mrs	x2, sctlr_el1
+0:
+
+	/* Unset CR_M | CR_C | CR_I from SCTLR to disable all caches */
+	movn	x1, #(CR_M | CR_C | CR_I)
+	and	x1, x2, x1
+	switch_el x4, 3f, 2f, 1f
+3:	msr	sctlr_el3, x1
+	b	0f
+2:	msr	sctlr_el2, x1
+	b	0f
+1:	msr	sctlr_el1, x1
+0:	isb
+
+	/* This call only clobbers x30 (lr) and x9 (unused) */
+	mov	x3, x30
+	bl	__asm_invalidate_tlb_all
+
+	/* From here on we're running safely with caches disabled */
+
+	/* Set TTBR to our first argument */
+	switch_el x4, 3f, 2f, 1f
+3:	msr	ttbr0_el3, x0
+	b	0f
+2:	msr	ttbr0_el2, x0
+	b	0f
+1:	msr	ttbr0_el1, x0
+0:	isb
+
+	/* Restore original SCTLR and thus enable caches again */
+	switch_el x4, 3f, 2f, 1f
+3:	msr	sctlr_el3, x2
+	b	0f
+2:	msr	sctlr_el2, x2
+	b	0f
+1:	msr	sctlr_el1, x2
+0:	isb
+
+	ret	x3
+ENDPROC(__asm_switch_ttbr)
+
+ENTRY(__asm_invalidate_tlb_all)
+	switch_el x9, 3f, 2f, 1f
+3:	tlbi	alle3
+	dsb	sy
+	isb
+	b	0f
+2:	tlbi	alle2
+	dsb	sy
+	isb
+	b	0f
+1:	tlbi	vmalle1
+	dsb	sy
+	isb
+0:
+	ret
+ENDPROC(__asm_invalidate_tlb_all)
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/l1_cache.c b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/l1_cache.c
similarity index 88%
rename from Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/l1_cache.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/l1_cache.c
index eb2dfd2ee..5d9b26ed7 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/l1_cache.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/l1_cache.c
@@ -20,6 +20,10 @@ Modification:
 *************************************************/
 
 #include "l1_cache.h"
+extern void __asm_flush_dcache_all();
+extern void __asm_flush_l3_dcache();
+extern void __asm_invalidate_icache_all();
+extern void __asm_invalidate_l3_icache();
 
 void InvalidateL1Dcache(uintptr_t start, uintptr_t end)
 {
@@ -153,34 +157,14 @@ void FlushL1Dcache(uintptr_t start, uintptr_t end)
 
 void FlushL1DcacheAll(void)
 {
-    uint64_t ccsidr_el1; // Cache Size ID
-    int num_sets; // number of sets
-    int num_ways; // number of ways
-    uint32_t wayset; // wayset parameter
-
-    __asm__ __volatile__("mrs %0, ccsidr_el1" : "=r"(ccsidr_el1)); // Read Cache Size ID
-
-    // Fill number of sets  and number of ways from ccsidr_el1 register  This walues are decremented by 1
-    num_sets = ((ccsidr_el1 >> 32) & 0x7FFF) + 1;
-    num_ways = ((ccsidr_el1 >> 0) & 0x7FFF) + 1;
-
-    // clean and invalidate all lines (all Sets in all ways)
-    for (int way = 0; way < num_ways; way++) {
-        for (int set = 0; set < num_sets; set++) {
-            wayset = (way << 30) | (set << 5);
-            __asm__ __volatile__("dc cisw, %0" : : "r"(wayset));
-        }
-    }
-
-    // All Cache, Branch predictor and TLB maintenance operations before followed instruction complete
-    DSB();
+    __asm_flush_dcache_all();
+    __asm_flush_l3_dcache();
 }
 
 void InvalidateL1IcacheAll()
 {
-    __asm__ __volatile__("ic iallu\n\t");
-    // synchronize context on this processor
-    ISB();
+    __asm_invalidate_icache_all();
+    __asm_invalidate_l3_icache();
 }
 
 void InvalidateL1Icache(uintptr_t start, uintptr_t end)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/l1_cache.h b/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/l1_cache.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/l1_cache.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/l1_cache.h
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/cache/cache_common_ope.c b/Ubiquitous/XiZi_AIoT/hardkernel/cache/cache_common_ope.c
index 8b19d959f..e2b9e8465 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/cache/cache_common_ope.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/cache/cache_common_ope.c
@@ -92,7 +92,7 @@ static inline void invalidate_icache(uintptr_t start, uintptr_t end)
 
 static inline void invalidate_icache_all(void)
 {
-    // InvalidateL1IcacheAll();
+    InvalidateL1IcacheAll();
 }
 
 /****************************************************************************
@@ -151,7 +151,7 @@ static inline void flush_dcache(uintptr_t start, uintptr_t end)
 
 static inline void flush_dcache_all(void)
 {
-    // FlushL1DcacheAll();
+    FlushL1DcacheAll();
     // FlushL2CacheAll();
 }
 
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/Makefile
index dcf1ed644..dec44c751 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/Makefile
@@ -1,4 +1,4 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/Makefile
index 63aabbcc4..37af2eae1 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/Makefile
@@ -1,5 +1,5 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-SRC_DIR := cortex-a72
+ifneq ($(findstring $(BOARD), 3568), )
+SRC_DIR := cortex-a55
 endif
 
 
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/3568/Makefile
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/3568/Makefile
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-a55/3568/clock.c
similarity index 88%
rename from Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/clock.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/3568/clock.c
index 1c401bdcc..39d2995d6 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-a55/3568/clock.c
@@ -22,27 +22,27 @@
 
 static void enable_timer()
 {
-    uint32_t c = r_cntv_ctl_el0();
+    uint32_t c = r_cntp_ctl_el0();
     c |= CNTV_CTL_ENABLE;
     c &= ~CNTV_CTL_IMASK;
-    w_cntv_ctl_el0(c);
+    w_cntp_ctl_el0(c);
 }
 
 static void disable_timer()
 {
-    uint32_t c = r_cntv_ctl_el0();
+    uint32_t c = r_cntp_ctl_el0();
     c |= CNTV_CTL_IMASK;
     c &= ~CNTV_CTL_ENABLE;
-    w_cntv_ctl_el0(c);
+    w_cntp_ctl_el0(c);
 }
 
 static void reload_timer()
 {
-    // interval 100ms
-    static uint32_t ms = 10;
+    // interval 1ms
+    static uint32_t ms = 1;
     uint32_t interval = ms * 1000;
     uint32_t interval_clk = interval * (r_cntfrq_el0() / 1000000);
-    w_cntv_tval_el0(interval_clk);
+    w_cntp_tval_el0(interval_clk);
 }
 
 void _sys_clock_init()
@@ -54,7 +54,7 @@ void _sys_clock_init()
 
 static uint32_t _get_clock_int()
 {
-    return 27;
+    return 30;
 }
 
 static uint64_t _get_tick()
@@ -64,7 +64,7 @@ static uint64_t _get_tick()
 
 static uint64_t _get_second()
 {
-    return 0;
+    return _get_tick() / r_cntfrq_el0();
 }
 
 static bool _is_timer_expired()
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-a55/3568/include/generic_timer.h
similarity index 69%
rename from Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/ok1028a-c/include/generic_timer.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/3568/include/generic_timer.h
index c01e54c6c..a5d4ce6b1 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-a55/3568/include/generic_timer.h
@@ -15,28 +15,28 @@
 #include <stdint.h>
 
 // armv8 generic timer
-static inline uint32_t r_cntv_ctl_el0()
+static inline uint32_t r_cntp_ctl_el0()
 {
     uint32_t x;
-    __asm__ volatile("mrs %0, cntv_ctl_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntp_ctl_el0" : "=r"(x));
     return x;
 }
 
-static inline void w_cntv_ctl_el0(uint32_t x)
+static inline void w_cntp_ctl_el0(uint32_t x)
 {
-    __asm__ volatile("msr cntv_ctl_el0, %0" : : "r"(x));
+    __asm__ volatile("msr cntp_ctl_el0, %0" : : "r"(x));
 }
 
-static inline uint32_t r_cntv_tval_el0()
+static inline uint32_t r_cntp_tval_el0()
 {
     uint32_t x;
-    __asm__ volatile("mrs %0, cntv_tval_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntp_tval_el0" : "=r"(x));
     return x;
 }
 
-static inline void w_cntv_tval_el0(uint32_t x)
+static inline void w_cntp_tval_el0(uint32_t x)
 {
-    __asm__ volatile("msr cntv_tval_el0, %0" : : "r"(x));
+    __asm__ volatile("msr cntp_tval_el0, %0" : : "r"(x));
 }
 
 static inline uint64_t r_cntvct_el0()
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/Makefile
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a72/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/Makefile
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/hardkernel_init.c b/Ubiquitous/XiZi_AIoT/hardkernel/hardkernel_init.c
index 13f6fe7ab..d2d0a6f14 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/hardkernel_init.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/hardkernel_init.c
@@ -220,6 +220,7 @@ bool secondary_cpu_hardkernel_init(int cpu_id, struct TraceTag* _hardkernel_tag)
     p_icache_driver->enable();
     p_dcache_driver->enable();
     // clock
+    p_clock_driver->sys_clock_init();
     p_intr_driver->single_irq_enable(p_clock_driver->get_clock_int(), cpu_id, 0);
     // mmu
     secondary_cpu_load_kern_pgdir(&init_mmu_tag, &init_intr_tag);
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/Makefile
index dcf1ed644..dec44c751 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/Makefile
@@ -1,4 +1,4 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/Makefile
index 63683be72..9daa7e117 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/Makefile
@@ -1,3 +1,3 @@
-SRC_DIR := cortex-a72
+SRC_DIR := cortex-a55
 
 include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
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-a55/3568/exception_registers.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/exception_registers.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/3568/exception_registers.h
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/irq_numbers.h b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/3568/irq_numbers.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/irq_numbers.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/3568/irq_numbers.h
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-a55/3568/trap.c
similarity index 78%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/3568/trap.c
index 9c05f5794..194dc6f93 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-a55/3568/trap.c
@@ -28,13 +28,16 @@ Modification:
 *************************************************/
 #include <stdint.h>
 
+#include "exception_registers.h"
+
 #include "assert.h"
 #include "core.h"
-#include "exception_registers.h"
 #include "multicores.h"
 #include "syscall.h"
 #include "task.h"
 
+#include "mmu.h"
+
 extern void dabort_handler(struct trapframe* r);
 extern void iabort_handler(struct trapframe* r);
 
@@ -73,7 +76,6 @@ void syscall_arch_handler(struct trapframe* tf)
 
     uint64_t esr = r_esr_el1();
     uint64_t ec = (esr >> 0x1A) & 0x3F;
-    w_esr_el1(0);
     switch (ec) {
     case 0B010101:
         software_irq_dispatch(tf);
@@ -87,11 +89,30 @@ void syscall_arch_handler(struct trapframe* tf)
         iabort_handler(tf);
         break;
     default: {
-        ERROR("USYSCALL: unexpected ec: %016lx", esr);
+        ERROR("USYSCALL: unexpected\n");
+        ERROR("          esr: %016lx\n", esr);
         ERROR("          elr = %016lx far = %016lx\n", r_elr_el1(), r_far_el1());
+        w_esr_el1(0);
+        extern void dump_tf(struct trapframe * tf);
+        dump_tf(tf);
+
+        uint32_t sctlr = 0;
+        SCTLR_R(sctlr);
+        DEBUG("SCTLR: %x\n", sctlr);
+        uint32_t spsr = 0;
+        __asm__ volatile("mrs %0, spsr_el1" : "=r"(spsr)::"memory");
+        DEBUG("SPSR: %x\n", spsr);
+        uint64_t tcr = 0;
+        __asm__ volatile("mrs %0, tcr_el1" : "=r"(tcr)::"memory");
+        DEBUG("TCR: %x\n", tcr);
+        uint64_t mair = 0;
+        __asm__ volatile("mrs %0, mair_el1" : "=r"(mair)::"memory");
+        DEBUG("MAIR: %x\n", mair);
+
         // kill error task
         xizi_enter_kernel();
         assert(cur_cpu()->task != NULL);
+        ERROR("Error Task: %s\n", cur_cpu()->task->name);
         sys_exit(cur_cpu()->task);
         context_switch(&cur_cpu()->task->thread_context.context, cur_cpu()->scheduler);
         panic("dabort end should never be reashed.\n");
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-a55/3568/trap_common.c
similarity index 99%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/ok1028a-c/trap_common.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/3568/trap_common.c
index 328634f27..354e2d2ee 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-a55/3568/trap_common.c
@@ -29,7 +29,7 @@ Modification:
 #include <string.h>
 
 #include "core.h"
-#include "cortex_a72.h"
+#include "cortex_a55.h"
 #include "exception_registers.h"
 #include "gicv3_common_opa.h"
 #include "trap_common.h"
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/Makefile
similarity index 86%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/Makefile
index 016576eed..ca24fcc00 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/Makefile
@@ -1,6 +1,6 @@
 SRC_FILES := trampoline.S $(BOARD)/trap_common.c $(BOARD)/trap.c error_debug.c hard_spinlock.S
 
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 SRC_DIR := gicv3
 SRC_FILES += $(BOARD)/
 endif
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-a55/error_debug.c
similarity index 75%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/error_debug.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/error_debug.c
index f32c42814..53b2f0eb0 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-a55/error_debug.c
@@ -39,51 +39,53 @@ Modification:
 2. Modify iabort and dabort handler(in dabort_handler() and iabort_handler())
 *************************************************/
 #include <stddef.h>
+#include <stdint.h>
+
+#include "exception_registers.h"
 
 #include "assert.h"
 #include "core.h"
 #include "log.h"
 #include "multicores.h"
-#include "spinlock.h"
 #include "task.h"
 #include "trap_common.h"
 
 void dump_tf(struct trapframe* tf)
 {
-    KPrintf("   sp:   0x%x\n", tf->sp);
-    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);
-    KPrintf("     x2: 0x%x\n", tf->x2);
-    KPrintf("     x3: 0x%x\n", tf->x3);
-    KPrintf("     x4: 0x%x\n", tf->x4);
-    KPrintf("     x5: 0x%x\n", tf->x5);
-    KPrintf("     x6: 0x%x\n", tf->x6);
-    KPrintf("     x7: 0x%x\n", tf->x7);
-    KPrintf("     x8: 0x%x\n", tf->x8);
-    KPrintf("     x9: 0x%x\n", tf->x9);
-    KPrintf("    x10: 0x%x\n", tf->x10);
-    KPrintf("    x11: 0x%x\n", tf->x11);
-    KPrintf("    x12: 0x%x\n", tf->x12);
-    KPrintf("    x13: 0x%x\n", tf->x13);
-    KPrintf("    x14: 0x%x\n", tf->x14);
-    KPrintf("    x15: 0x%x\n", tf->x15);
-    KPrintf("    x16: 0x%x\n", tf->x16);
-    KPrintf("    x17: 0x%x\n", tf->x17);
-    KPrintf("    x18: 0x%x\n", tf->x18);
-    KPrintf("    x19: 0x%x\n", tf->x19);
-    KPrintf("    x20: 0x%x\n", tf->x20);
-    KPrintf("    x21: 0x%x\n", tf->x21);
-    KPrintf("    x22: 0x%x\n", tf->x22);
-    KPrintf("    x23: 0x%x\n", tf->x23);
-    KPrintf("    x24: 0x%x\n", tf->x24);
-    KPrintf("    x25: 0x%x\n", tf->x25);
-    KPrintf("    x26: 0x%x\n", tf->x26);
-    KPrintf("    x27: 0x%x\n", tf->x27);
-    KPrintf("    x28: 0x%x\n", tf->x28);
-    KPrintf("    x29: 0x%x\n", tf->x29);
-    KPrintf("    x30: 0x%x\n", tf->x30);
+    KPrintf("   sp:   0x%016lx\n", tf->sp);
+    KPrintf("   pc:   0x%016lx\n", tf->pc);
+    KPrintf("   spsr: 0x%016lx\n", tf->spsr);
+    KPrintf("     x0: 0x%016lx\n", tf->x0);
+    KPrintf("     x1: 0x%016lx\n", tf->x1);
+    KPrintf("     x2: 0x%016lx\n", tf->x2);
+    KPrintf("     x3: 0x%016lx\n", tf->x3);
+    KPrintf("     x4: 0x%016lx\n", tf->x4);
+    KPrintf("     x5: 0x%016lx\n", tf->x5);
+    KPrintf("     x6: 0x%016lx\n", tf->x6);
+    KPrintf("     x7: 0x%016lx\n", tf->x7);
+    KPrintf("     x8: 0x%016lx\n", tf->x8);
+    KPrintf("     x9: 0x%016lx\n", tf->x9);
+    KPrintf("    x10: 0x%016lx\n", tf->x10);
+    KPrintf("    x11: 0x%016lx\n", tf->x11);
+    KPrintf("    x12: 0x%016lx\n", tf->x12);
+    KPrintf("    x13: 0x%016lx\n", tf->x13);
+    KPrintf("    x14: 0x%016lx\n", tf->x14);
+    KPrintf("    x15: 0x%016lx\n", tf->x15);
+    KPrintf("    x16: 0x%016lx\n", tf->x16);
+    KPrintf("    x17: 0x%016lx\n", tf->x17);
+    KPrintf("    x18: 0x%016lx\n", tf->x18);
+    KPrintf("    x19: 0x%016lx\n", tf->x19);
+    KPrintf("    x20: 0x%016lx\n", tf->x20);
+    KPrintf("    x21: 0x%016lx\n", tf->x21);
+    KPrintf("    x22: 0x%016lx\n", tf->x22);
+    KPrintf("    x23: 0x%016lx\n", tf->x23);
+    KPrintf("    x24: 0x%016lx\n", tf->x24);
+    KPrintf("    x25: 0x%016lx\n", tf->x25);
+    KPrintf("    x26: 0x%016lx\n", tf->x26);
+    KPrintf("    x27: 0x%016lx\n", tf->x27);
+    KPrintf("    x28: 0x%016lx\n", tf->x28);
+    KPrintf("    x29: 0x%016lx\n", tf->x29);
+    KPrintf("    x30: 0x%016lx\n", tf->x30);
 }
 
 void dabort_reason(struct trapframe* r)
@@ -91,8 +93,9 @@ void dabort_reason(struct trapframe* r)
     uint32_t fault_status, fault_address;
     __asm__ __volatile__("mrs %0, esr_el1" : "=r"(fault_status));
     __asm__ __volatile__("mrs %0, far_el1" : "=r"(fault_address));
-    LOG("program counter: 0x%x caused\n", r->pc);
-    LOG("data abort at 0x%x, status 0x%x\n", fault_address, fault_status);
+    w_esr_el1(0);
+    LOG("program counter: 0x%016lx caused\n", r->pc);
+    LOG("data abort at 0x%016lx, status 0x%016lx\n", fault_address, fault_status);
     if ((fault_status & 0x3f) == 0x21) // Alignment failure
         KPrintf("reason: alignment\n");
     else if ((fault_status & 0x3f) == 0x4) // Translation fault, level 0
@@ -131,8 +134,9 @@ void iabort_reason(struct trapframe* r)
     uint32_t fault_status, fault_address;
     __asm__ __volatile__("mrs %0, esr_el1" : "=r"(fault_status));
     __asm__ __volatile__("mrs %0, far_el1" : "=r"(fault_address));
-    LOG("program counter: 0x%x caused\n", r->pc);
-    LOG("data abort at 0x%x, status 0x%x\n", fault_address, fault_status);
+    LOG("program counter: 0x%016lx caused\n", r->pc);
+    LOG("data abort at 0x%016lx, status 0x%016lx\n", fault_address, fault_status);
+    w_esr_el1(0);
     if ((fault_status & 0x3f) == 0x21) // Alignment failure
         KPrintf("reason: alignment\n");
     else if ((fault_status & 0x3f) == 0x4) // Translation fault, level 0
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3/Makefile
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3/Makefile
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-a55/gicv3/gicv3.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3/gicv3.c
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-a55/gicv3/gicv3_common_opa.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_common_opa.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3/gicv3_common_opa.h
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-a55/gicv3/gicv3_registers.h
similarity index 93%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3/gicv3_registers.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3/gicv3_registers.h
index eb89191b4..389d6a5b1 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-a55/gicv3/gicv3_registers.h
@@ -30,8 +30,8 @@ Modification:
 
 // clang-format off
 // interrupt controller GICv3
-#define GICV3               MMIO_P2V_WO(0x08000000ULL)
-#define GICV3_REDIST        MMIO_P2V_WO(0x080a0000ULL)
+#define GICV3               MMIO_P2V_WO(0xFD400000ULL)
+#define GICV3_REDIST        MMIO_P2V_WO(0xFD460000ULL)
 
 #define D_CTLR 0x0
 #define D_TYPER 0x4
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/hard_spinlock.S b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/hard_spinlock.S
similarity index 63%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/hard_spinlock.S
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/hard_spinlock.S
index 1f568e62c..94c30939c 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/hard_spinlock.S
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/hard_spinlock.S
@@ -55,62 +55,56 @@ Modification:
 #define UNLOCKED 0xFF
 // int spinlock_lock(spinlock_t * lock, uint64_t timeout)
     .global _spinlock_lock
-    .func _spinlock_lock
+.func _spinlock_lock
 _spinlock_lock:
-mov     w2, #1
+    mov     w2, #1
+    sevl
+1: 
+    wfe
 
-sevl
-wfe
+2: 
+    ldaxrb  w1, [x0]                     // check if the spinlock is currently unlocked
+    cmp     w1, #UNLOCKED
+    bne     1b
 
-ldaxrb  w1, [x0]                     // check if the spinlock is currently unlocked
-cmp     w1, #UNLOCKED
-bne     _spinlock_lock
+    mrs     x1, mpidr_el1                // get our CPU ID
+    and     x1, x1, #0xFFF
+    lsr     x1, x1, #8
+    stxrb   w2, w1, [x0]
+    cmp     x2, #0
+    bne     2b        // check if the write was successful, if the write failed, start over
 
-mrs     x1, mpidr_el1                // get our CPU ID
-and     x1, x1, #3
-stxrb   w2, w1, [x0]
-cmp     x2, #0
-bne     _spinlock_lock        // check if the write was successful, if the write failed, start over
+    dmb    ish                        // Ensure that accesses to shared resource have completed
 
-dmb    ish                        // Ensure that accesses to shared resource have completed
-
-mov    x0, #0
-ret
-
-    .endfunc 
+    mov    x0, #0
+    ret
+.endfunc 
 
 
 // void spinlock_unlock(spinlock_t * lock)
     .global _spinlock_unlock
     .func _spinlock_unlock
 _spinlock_unlock:
+    mrs     x1, mpidr_el1                // get our CPU ID
+    and     x1, x1, #0xFFF
+    lsr     x1, x1, #8
 
-mrs     x1, mpidr_el1                // get our CPU ID
-and     x1, x1, #3
+    ldr     w2, [x0]
+    cmp     w1, w2
+    bne     1f                                       //doesn't match,jump to 1
 
-ldr     w2, [x0]
-cmp     w1, w2
-bne     1f                                       //doesn't match,jump to 1
-
-
-dmb     ish
-
-mov     w1, #UNLOCKED 
-str     w1, [x0]
-
-dsb     ish                                //Ensure that no instructions following the barrier execute until
-                                           // all memory accesses prior to the barrier have completed.
-
-
-sevl                                          // send event to wake up other cores waiting on spinlock
-
-mov     x0, #0                               // return success
-ret
+    dmb     ish
+    mov     w1, #UNLOCKED 
+    str     w1, [x0]
+    dsb     ish                                 //Ensure that no instructions following the barrier execute until
+                                                // all memory accesses prior to the barrier have completed.
+    sevl                                          // send event to wake up other cores waiting on spinlock
 
+    mov     x0, #0                               // return success
+    ret
 1:
-mov     x0, #1                              //doesn't match, so exit with failure
-ret
-
+    mov     x0, #1                              //doesn't match, so exit with failure
+    ret
 .endfunc
 
 .end
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-a55/trampoline.S
similarity index 95%
rename from Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/trampoline.S
rename to Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/trampoline.S
index c365de082..82b11c0c7 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a72/trampoline.S
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/trampoline.S
@@ -143,13 +143,13 @@ Modification:
 .balign 0x800
 alltraps:
 // Current EL with sp0
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 
 // Current EL with spx
 .balign 0x80
@@ -157,9 +157,9 @@ alltraps:
 .balign 0x80
   b el1irq
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 
 // Lower EL using aarch64
 .balign 0x80
@@ -167,32 +167,34 @@ alltraps:
 .balign 0x80
   b el0irq
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 
 // Lower EL using aarch32
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
+
+badtrap:
+        savereg
+        mov x0, sp
+        bl  kernel_intr_handler 
+        b   .
 
 el1sync:
-        msr daifset, #0xf
         savereg
-        
         mov x0, sp
         bl  kernel_abort_handler 
         b   .
       
 el1irq:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl intr_irq_dispatch
 
@@ -201,9 +203,7 @@ el1irq:
         eret
       
 el0sync:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl syscall_arch_handler
       
@@ -212,9 +212,7 @@ el0sync:
         eret
 
 el0irq:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl intr_irq_dispatch
       
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.c b/Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.c
index 0f2e09764..1153e5c78 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.c
@@ -59,7 +59,7 @@ __attribute__((optimize("O0"))) void spinlock_init(struct spinlock* lock, char*
 }
 
 extern int _spinlock_lock(struct spinlock* lock, uint32_t timeout);
-extern void _spinlock_unlock(struct spinlock* lock);
+extern int _spinlock_unlock(struct spinlock* lock);
 
 __attribute__((optimize("O0"))) void spinlock_lock(struct spinlock* lock)
 {
@@ -88,7 +88,9 @@ __attribute__((optimize("O0"))) void spinlock_unlock(struct spinlock* lock)
     _double_list_del(p_lock_node->prev, p_lock_node->next);
     _spinlock_unlock(&request_lock);
 
-    _spinlock_unlock(lock);
+    if (_spinlock_unlock(lock) != 0) {
+        ERROR("Core %d trying to unlock a lock belongs to %d.\n", cur_cpuid(), lock->owner_cpu);
+    }
 }
 
 __attribute__((optimize("O0"))) bool spinlock_try_lock(struct spinlock* lock)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/Makefile
index ba7b06cc4..ea7da0fa1 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/Makefile
@@ -1,4 +1,4 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/bootmmu.c b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/bootmmu.c
index bc5b48a2c..dd89b959a 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/bootmmu.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/bootmmu.c
@@ -48,7 +48,7 @@ uint32_t boot_pgdir[NR_PDE_ENTRIES] __attribute__((aligned(0x4000))) = { 0 };
 static void build_boot_pgdir()
 {
     // dev mem
-    uint32_t dev_mem_end_idx = (DEV_PHYMEM_BASE + DEV_MEM_SZ) >> LEVEL3_PDE_SHIFT;
+    uint32_t dev_mem_end_idx = (DEV_PHYMEM_BASE + DEV_MEM_SIZE) >> LEVEL3_PDE_SHIFT;
     for (uint32_t i = DEV_PHYMEM_BASE >> LEVEL3_PDE_SHIFT; i < dev_mem_end_idx; i++) {
         boot_pgdir[i] = (i << LEVEL3_PDE_SHIFT) | L1_TYPE_SEC | L1_SECT_DEV | L1_SECT_AP0;
         boot_pgdir[MMIO_P2V_WO(i << LEVEL3_PDE_SHIFT) >> LEVEL3_PDE_SHIFT] = (i << LEVEL3_PDE_SHIFT) | L1_TYPE_SEC | L1_SECT_DEV | L1_SECT_AP0;
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/imx6q-sabrelite/memlayout.h b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/imx6q-sabrelite/memlayout.h
index 3d7969f92..0a31e0241 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/imx6q-sabrelite/memlayout.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/imx6q-sabrelite/memlayout.h
@@ -67,7 +67,7 @@ Modification:
 /* Deivce memory layout */
 #define DEV_PHYMEM_BASE     (0x00000000)
 #define DEV_VRTMEM_BASE     (0x80000000)
-#define DEV_MEM_SZ          (0x10000000)
+#define DEV_MEM_SIZE          (0x10000000)
 
 /* Kernel memory layout */
 #define KERN_MEM_BASE       (0x90000000) // First kernel virtual address
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/zynq7000-zc702/memlayout.h b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/zynq7000-zc702/memlayout.h
index cf480c399..099fd1487 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/zynq7000-zc702/memlayout.h
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/zynq7000-zc702/memlayout.h
@@ -66,7 +66,7 @@ Modification:
 /* Deivce memory layout */
 #define DEV_PHYMEM_BASE     (0xE0000000)
 #define DEV_VRTMEM_BASE     (0x80000000)
-#define DEV_MEM_SZ          (0x1FFFFFFF)
+#define DEV_MEM_SIZE          (0x1FFFFFFF)
 
 /* Kernel memory layout */
 #define KERN_MEM_BASE       (0xA0000000) // First kernel virtual address
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/Makefile
index 7a9b17009..b2a497f23 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/Makefile
@@ -1,3 +1,3 @@
-SRC_DIR := cortex-a72
+SRC_DIR := cortex-a55
 
 include $(KERNEL_ROOT)/compiler.mk
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-a55/3568/memlayout.h
similarity index 79%
rename from Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/ok1028a-c/memlayout.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/3568/memlayout.h
index b916887dd..ef7e8ef24 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-a55/3568/memlayout.h
@@ -33,11 +33,11 @@ Modification:
 
 #define ARCH_BIT        64
 
-/* A72 physical memory layout */
-#define PHY_MEM_BASE            (0x0000000040000000ULL)
-#define PHY_USER_FREEMEM_BASE   (0x0000000046000000ULL)
-#define PHY_USER_FREEMEM_TOP    (0x0000000048000000ULL)
-#define PHY_MEM_STOP            (0x0000000048000000ULL)
+/* A55 physical memory layout */
+#define PHY_MEM_BASE            (0x0000000010000000ULL)
+#define PHY_USER_FREEMEM_BASE   (0x0000000040000000ULL)
+#define PHY_USER_FREEMEM_TOP    (0x00000000e0000000ULL)
+#define PHY_MEM_STOP            (0x00000000e0000000ULL)
 
 /* PTE-PAGE_SIZE */
 #define LEVEL4_PTE_SHIFT    12
@@ -58,23 +58,23 @@ Modification:
 #define NUM_TOPLEVEL_PDE    NUM_LEVEL2_PDE 
 
 #define PAGE_SIZE           LEVEL4_PTE_SIZE
-#define MAX_NR_FREE_PAGES   ((PHY_MEM_STOP - PHY_MEM_BASE) >> LEVEL4_PTE_SHIFT)
+#define MAX_NR_FREE_PAGES   ((PHY_USER_FREEMEM_BASE - PHY_MEM_BASE) >> LEVEL4_PTE_SHIFT)
 
 /* Deivce memory layout */
-#define DEV_PHYMEM_BASE     (0x0000000000000000ULL)
-#define DEV_VRTMEM_BASE     (0x0000004000000000ULL)
-#define DEV_MEM_SZ          (0x0000000010000000ULL)
+#define DEV_PHYMEM_BASE     (0x00000000F0000000ULL)
+#define DEV_VRTMEM_BASE     (0x00000040F0000000ULL)
+#define DEV_MEM_SIZE        (0x0000000010000000ULL)
 
 /* User memory layout */
 #define USER_STACK_SIZE     PAGE_SIZE
 #define USER_MEM_BASE       (0x0000000000000000ULL)
-#define USER_MEM_TOP        DEV_VRTMEM_BASE
+#define USER_MEM_TOP        (0x0000004000000000ULL)
 #define USER_IPC_SPACE_BASE (0x0000003000000000ULL)
 #define USER_IPC_USE_ALLOCATOR_WATERMARK    (0x0000003000010000ULL)
 #define USER_IPC_SPACE_TOP  (USER_IPC_SPACE_BASE + 0x10000000ULL) 
 
 /* Kernel memory layout */
-#define KERN_MEM_BASE       (0x0000006040000000ULL) // First kernel virtual address
+#define KERN_MEM_BASE       (0x0000006010000000ULL) // First kernel virtual address
 #define KERN_OFFSET         (KERN_MEM_BASE - PHY_MEM_BASE)
 
 #define V2P(a) (((uint64_t)(a)) - KERN_OFFSET)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/Makefile
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/Makefile
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-a55/bootmmu.c
similarity index 53%
rename from Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/bootmmu.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/bootmmu.c
index b01be9923..47a37d422 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/bootmmu.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/bootmmu.c
@@ -51,9 +51,9 @@ extern uint64_t kernel_data_begin[];
 #define L4_PTE_NORMAL       ((0b01) << 2) // Device memory
 #define L4_PTE_AF           (1 << 10) // Data Access Permissions
 
-#define L4_PTE_PXN             (1UL << 53)   // Privileged eXecute Never
-#define L4_PTE_UXN             (1UL << 54)   // Unprivileged(user) eXecute Never
-#define L4_PTE_XN              (PTE_PXN|PTE_UXN)  // eXecute Never
+#define L4_PTE_PXN          (1UL << 53)   // Privileged eXecute Never
+#define L4_PTE_UXN          (1UL << 54)   // Unprivileged(user) eXecute Never
+#define L4_PTE_XN           (PTE_PXN|PTE_UXN)  // eXecute Never
 
 #define IDX_MASK            (0b111111111)
 #define L3_PDE_INDEX(idx)   ((idx << LEVEL3_PDE_SHIFT) & L3_IDX_MASK)
@@ -62,64 +62,69 @@ extern uint64_t kernel_data_begin[];
 uint64_t boot_l2pgdir[NUM_LEVEL2_PDE] __attribute__((aligned(0x1000))) = { 0 };
 
 uint64_t boot_dev_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 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_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 };
 
 static void build_boot_pgdir()
 {
-    uint64_t dev_phy_mem_base = DEV_PHYMEM_BASE;
-    // 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;
+    static bool built = false;
+    if (!built) {
+        uint64_t dev_phy_mem_base = DEV_PHYMEM_BASE;
 
-    uint64_t cur_mem_paddr = ALIGNDOWN((uint64_t)DEV_PHYMEM_BASE, PAGE_SIZE);
-    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;
+        // 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;
 
-        for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
-            boot_dev_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_DEV | L4_PTE_AF | L4_PTE_XN;
+        uint64_t cur_mem_paddr = ALIGNDOWN((uint64_t)DEV_PHYMEM_BASE, LEVEL2_PDE_SIZE);
+        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;
 
-            cur_mem_paddr += PAGE_SIZE;
+            for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
+                boot_dev_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_DEV | L4_PTE_AF | L4_PTE_XN;
+                if (cur_mem_paddr >= DEV_PHYMEM_BASE && cur_mem_paddr < DEV_PHYMEM_BASE + DEV_MEM_SIZE) {
+                    boot_dev_l4pgdirs[i][j] = cur_mem_paddr | 0x403;
+                } else {
+                    boot_dev_l4pgdirs[i][j] = cur_mem_paddr | 0x403;
+                }
+
+                cur_mem_paddr += PAGE_SIZE;
+            }
         }
-    }
 
-    // identical mem
-    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;
+        // identical mem
+        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;
 
-    cur_mem_paddr = ALIGNDOWN((uint64_t)PHY_MEM_BASE, PAGE_SIZE);
-    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;
+        cur_mem_paddr = ALIGNDOWN((uint64_t)0x00000000ULL, PAGE_SIZE);
+        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;
 
-        for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
-            boot_kern_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_NORMAL | L4_PTE_AF;
+            for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
+                boot_kern_l4pgdirs[i][j] = cur_mem_paddr | 0x713;
 
-            cur_mem_paddr += PAGE_SIZE;
+                cur_mem_paddr += PAGE_SIZE;
+            }
         }
+
+        built = true;
     }
 }
 
 static void load_boot_pgdir()
 {
-    uint64_t val;
 
     TTBR0_W((uintptr_t)boot_l2pgdir);
     TTBR1_W(0);
 
-    TCR_W(TCR_VALUE);
-    MAIR_W((MT_DEVICE_nGnRnE << (8 * AI_DEVICE_nGnRnE_IDX)) | (MT_NORMAL_NC << (8 * AI_NORMAL_NC_IDX)));
+#define TCR_TRUE_VALUE (0x0000000080813519ULL)
+    uint64_t tcr = 0;
+    TCR_R(tcr);
+    tcr &= (uint64_t)~0xFF;
+    tcr |= 0x19;
+    TCR_W(tcr);
 
-    // Enable paging using read/modify/write
-    SCTLR_R(val);
-    val |= (1 << 0); // EL1 and EL0 stage 1 address translation enabled.
-    SCTLR_W(val);
-
-    // flush all TLB
-    DSB();
     CLEARTLB(0);
     ISB();
 }
@@ -130,7 +135,7 @@ void bootmain()
 {
     build_boot_pgdir();
     load_boot_pgdir();
-    __asm__ __volatile__("add sp, sp, %0" ::"r"(KERN_MEM_BASE - PHY_MEM_BASE));
+    __asm__ __volatile__("add sp, sp, %0" ::"r"(KERN_OFFSET));
     if (!_bss_inited) {
         memset(&kernel_data_begin, 0x00, (size_t)((uint64_t)kernel_data_end - (uint64_t)kernel_data_begin));
         _bss_inited = true;
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-a55/include/mmu.h
similarity index 91%
rename from Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/include/mmu.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/include/mmu.h
index e68042bc1..aaec82a3c 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-a55/include/mmu.h
@@ -61,35 +61,36 @@ void GetPdeAttr(uintptr_t* attr);
 /*
 Enable MMU, cache, write buffer, etc.
 */
-#define SCTLR_R(val) __asm__ volatile("mrs %0, sctlr_el1" : "=r"(val))
-#define SCTLR_W(val) __asm__ volatile("msr sctlr_el1, %0" ::"r"(val))
+#define SCTLR_R(val) __asm__ volatile("mrs %0, sctlr_el1" : "=r"(val)::"memory")
+#define SCTLR_W(val) __asm__ volatile("msr sctlr_el1, %0" ::"r"(val) : "memory")
 
 /*
 Read and write mmu pagetable register base addr
 */
-#define TTBR0_R(val) __asm__ volatile("mrs %0, ttbr0_el1" : "=r"(val))
-#define TTBR0_W(val) __asm__ volatile("msr ttbr0_el1, %0" ::"r"(val))
+#define TTBR0_R(val) __asm__ volatile("mrs %0, ttbr0_el1" : "=r"(val)::"memory")
+#define TTBR0_W(val) __asm__ volatile("msr ttbr0_el1, %0" ::"r"(val) : "memory")
 
 /*
 Read and write mmu pagetable register base addr
 */
-#define TTBR1_R(val) __asm__ volatile("mrs %0, ttbr1_el1" : "=r"(val))
-#define TTBR1_W(val) __asm__ volatile("msr ttbr1_el1, %0" ::"r"(val))
+#define TTBR1_R(val) __asm__ volatile("mrs %0, ttbr1_el1" : "=r"(val)::"memory")
+#define TTBR1_W(val) __asm__ volatile("msr ttbr1_el1, %0" ::"r"(val) : "memory")
 
 /*
 Translation Control Register（TCR）
 */
-#define TCR_R(val) __asm__ volatile("mrs %0, tcr_el1" : "=r"(val))
-#define TCR_W(val) __asm__ volatile("msr tcr_el1, %0" ::"r"(val))
+#define TCR_R(val) __asm__ volatile("mrs %0, tcr_el1" : "=r"(val)::"memory")
+#define TCR_W(val) __asm__ volatile("msr tcr_el1, %0" ::"r"(val) : "memory")
 
-#define MAIR_R(val) __asm__ volatile("mrs %0, mair_el1" : "=r"(val))
-#define MAIR_W(val) __asm__ volatile("msr mair_el1, %0" ::"r"(val))
+#define MAIR_R(val) __asm__ volatile("mrs %0, mair_el1" : "=r"(val)::"memory")
+#define MAIR_W(val) __asm__ volatile("msr mair_el1, %0" ::"r"(val) : "memory")
 
 /*
 Flush TLB when loading a new page table.
 @note If nG is not set in the pte attribute, process switching need flush tlb.
 */
-#define CLEARTLB(val) __asm__ volatile("tlbi vmalle1")
+// #define CLEARTLB(val) __asm__ volatile("tlbi vmalle1" ::: "memory")
+#define CLEARTLB(val) __asm__ volatile("tlbi vmalle1is" ::: "memory")
 
 /*
 When nG is set in the pte attribute, the process is assigned an ASID, which is stored in the lower 8 bits of the CONTEXTIDR register.
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-a55/mmu.c
similarity index 99%
rename from Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/mmu.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/mmu.c
index 336d074e6..6067c4dc9 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/mmu.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/mmu.c
@@ -45,7 +45,9 @@ void load_pgdir(uintptr_t pgdir_paddr)
     struct DCacheDone* p_dcache_done = AchieveResource(&right_group.dcache_driver_tag);
 
     TTBR0_W((uint64_t)pgdir_paddr);
+    DSB();
     CLEARTLB(0);
+    ISB();
     p_icache_done->invalidateall();
     p_dcache_done->flushall();
 }
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/pagetable_attr.c b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/pagetable_attr.c
similarity index 78%
rename from Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/pagetable_attr.c
rename to Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/pagetable_attr.c
index 18c065897..8085ad036 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a72/pagetable_attr.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/pagetable_attr.c
@@ -52,22 +52,26 @@ Modification:
 
 void GetUsrPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    *attr = 0x713 | ARMV8_PTE_AP_U;
 }
 
 void GetUsrDevPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    *attr = 0x403 | ARMV8_PTE_AP_U;
 }
 
 void GetDevPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    *attr = 0x403ULL;
 }
 
 void GetKernPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    *attr = 0x713ULL;
 }
 
 void GetPdeAttr(uintptr_t* attr)
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/Makefile
index 05e53ecfe..8f7703c39 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/Makefile
@@ -1,5 +1,5 @@
 # The following three platforms support compatiable instructions.
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/Makefile
index 9d15ca4c3..0597d0d36 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/Makefile
@@ -1,4 +1,4 @@
 # The following three platforms support compatiable instructions.
-SRC_DIR := cortex-a72
+SRC_DIR := cortex-a55
 
 include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/Makefile
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/Makefile
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/Makefile
similarity index 53%
rename from Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/Makefile
rename to Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/Makefile
index 23bc22506..a8661f85c 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a72/Makefile
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/Makefile
@@ -1,3 +1,3 @@
-SRC_FILES := l1_cache.c
+SRC_FILES := uart.c ns16550.c
 
 include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/include/ns16550.h b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/include/ns16550.h
new file mode 100644
index 000000000..8847befca
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/include/ns16550.h
@@ -0,0 +1,198 @@
+/*
+ * NS16550 Serial Port
+ * originally from linux source (arch/powerpc/boot/ns16550.h)
+ *
+ * Cleanup and unification
+ * (C) 2009 by Detlev Zundel, DENX Software Engineering GmbH
+ *
+ * modified slightly to
+ * have addresses as offsets from CONFIG_SYS_ISA_BASE
+ * added a few more definitions
+ * added prototypes for ns16550.c
+ * reduced no of com ports to 2
+ * modifications (c) Rob Taylor, Flying Pig Systems. 2000.
+ *
+ * added support for port on 64-bit bus
+ * by Richard Danter (richard.danter@windriver.com), (C) 2005 Wind River Systems
+ */
+
+/*
+ * Note that the following macro magic uses the fact that the compiler
+ * will not allocate storage for arrays of size 0
+ */
+
+#include <stdint.h>
+
+/*
+ * For driver model we always use one byte per register, and sort out the
+ * differences in the driver
+ */
+#define CONFIG_SYS_NS16550_REG_SIZE (-1)
+
+#define UART_REG(x)  \
+    unsigned char x; \
+    unsigned char postpad_##x[-CONFIG_SYS_NS16550_REG_SIZE - 1];
+
+/**
+ * struct ns16550_platdata - information about a NS16550 port
+ *
+ * @base:		Base register address
+ * @reg_shift:		Shift size of registers (0=byte, 1=16bit, 2=32bit...)
+ * @clock:		UART base clock speed in Hz
+ */
+struct ns16550_platdata {
+    unsigned long base;
+    int reg_shift;
+    int clock;
+    int reg_offset;
+    uint32_t fcr;
+};
+
+struct udevice;
+
+struct NS16550 {
+    UART_REG(rbr); /* 0 */
+    UART_REG(ier); /* 1 */
+    UART_REG(fcr); /* 2 */
+    UART_REG(lcr); /* 3 */
+    UART_REG(mcr); /* 4 */
+    UART_REG(lsr); /* 5 */
+    UART_REG(msr); /* 6 */
+    UART_REG(spr); /* 7 */
+#ifdef CONFIG_SOC_DA8XX
+    UART_REG(reg8); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(revid1); /* A */
+    UART_REG(revid2); /* B */
+    UART_REG(pwr_mgmt); /* C */
+    UART_REG(mdr1); /* D */
+#else
+    UART_REG(mdr1); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(regA); /* A */
+    UART_REG(regB); /* B */
+    UART_REG(regC); /* C */
+    UART_REG(regD); /* D */
+    UART_REG(regE); /* E */
+    UART_REG(uasr); /* F */
+    UART_REG(scr); /* 10*/
+    UART_REG(ssr); /* 11*/
+#endif
+#ifdef CONFIG_DM_SERIAL
+    struct ns16550_platdata* plat;
+#endif
+};
+
+#define thr rbr
+#define iir fcr
+#define dll rbr
+#define dlm ier
+
+typedef struct NS16550* NS16550_t;
+
+/*
+ * These are the definitions for the FIFO Control Register
+ */
+#define UART_FCR_FIFO_EN 0x01 /* Fifo enable */
+#define UART_FCR_CLEAR_RCVR 0x02 /* Clear the RCVR FIFO */
+#define UART_FCR_CLEAR_XMIT 0x04 /* Clear the XMIT FIFO */
+#define UART_FCR_DMA_SELECT 0x08 /* For DMA applications */
+#define UART_FCR_TRIGGER_MASK 0xC0 /* Mask for the FIFO trigger range */
+#define UART_FCR_TRIGGER_1 0x00 /* Mask for trigger set at 1 */
+#define UART_FCR_TRIGGER_4 0x40 /* Mask for trigger set at 4 */
+#define UART_FCR_TRIGGER_8 0x80 /* Mask for trigger set at 8 */
+#define UART_FCR_TRIGGER_14 0xC0 /* Mask for trigger set at 14 */
+
+#define UART_FCR_RXSR 0x02 /* Receiver soft reset */
+#define UART_FCR_TXSR 0x04 /* Transmitter soft reset */
+
+/* Ingenic JZ47xx specific UART-enable bit. */
+#define UART_FCR_UME 0x10
+
+/* Clear & enable FIFOs */
+#define UART_FCR_DEFVAL (UART_FCR_FIFO_EN | UART_FCR_RXSR | UART_FCR_TXSR)
+
+/*
+ * These are the definitions for the Modem Control Register
+ */
+#define UART_MCR_DTR 0x01 /* DTR   */
+#define UART_MCR_RTS 0x02 /* RTS   */
+#define UART_MCR_OUT1 0x04 /* Out 1 */
+#define UART_MCR_OUT2 0x08 /* Out 2 */
+#define UART_MCR_LOOP 0x10 /* Enable loopback test mode */
+#define UART_MCR_AFE 0x20 /* Enable auto-RTS/CTS */
+
+#define UART_MCR_DMA_EN 0x04
+#define UART_MCR_TX_DFR 0x08
+
+/*
+ * These are the definitions for the Line Control Register
+ *
+ * Note: if the word length is 5 bits (UART_LCR_WLEN5), then setting
+ * UART_LCR_STOP will select 1.5 stop bits, not 2 stop bits.
+ */
+#define UART_LCR_WLS_MSK 0x03 /* character length select mask */
+#define UART_LCR_WLS_5 0x00 /* 5 bit character length */
+#define UART_LCR_WLS_6 0x01 /* 6 bit character length */
+#define UART_LCR_WLS_7 0x02 /* 7 bit character length */
+#define UART_LCR_WLS_8 0x03 /* 8 bit character length */
+#define UART_LCR_STB 0x04 /* # stop Bits, off=1, on=1.5 or 2) */
+#define UART_LCR_PEN 0x08 /* Parity eneble */
+#define UART_LCR_EPS 0x10 /* Even Parity Select */
+#define UART_LCR_STKP 0x20 /* Stick Parity */
+#define UART_LCR_SBRK 0x40 /* Set Break */
+#define UART_LCR_BKSE 0x80 /* Bank select enable */
+#define UART_LCR_DLAB 0x80 /* Divisor latch access bit */
+
+/*
+ * These are the definitions for the Line Status Register
+ */
+#define UART_LSR_DR 0x01 /* Data ready */
+#define UART_LSR_OE 0x02 /* Overrun */
+#define UART_LSR_PE 0x04 /* Parity error */
+#define UART_LSR_FE 0x08 /* Framing error */
+#define UART_LSR_BI 0x10 /* Break */
+#define UART_LSR_THRE 0x20 /* Xmit holding register empty */
+#define UART_LSR_TEMT 0x40 /* Xmitter empty */
+#define UART_LSR_ERR 0x80 /* Error */
+
+#define UART_MSR_DCD 0x80 /* Data Carrier Detect */
+#define UART_MSR_RI 0x40 /* Ring Indicator */
+#define UART_MSR_DSR 0x20 /* Data Set Ready */
+#define UART_MSR_CTS 0x10 /* Clear to Send */
+#define UART_MSR_DDCD 0x08 /* Delta DCD */
+#define UART_MSR_TERI 0x04 /* Trailing edge ring indicator */
+#define UART_MSR_DDSR 0x02 /* Delta DSR */
+#define UART_MSR_DCTS 0x01 /* Delta CTS */
+
+/*
+ * These are the definitions for the Interrupt Identification Register
+ */
+#define UART_IIR_NO_INT 0x01 /* No interrupts pending */
+#define UART_IIR_ID 0x06 /* Mask for the interrupt ID */
+
+#define UART_IIR_MSI 0x00 /* Modem status interrupt */
+#define UART_IIR_THRI 0x02 /* Transmitter holding register empty */
+#define UART_IIR_RDI 0x04 /* Receiver data interrupt */
+#define UART_IIR_RLSI 0x06 /* Receiver line status interrupt */
+
+/*
+ * These are the definitions for the Interrupt Enable Register
+ */
+#define UART_IER_MSI 0x08 /* Enable Modem status interrupt */
+#define UART_IER_RLSI 0x04 /* Enable receiver line status interrupt */
+#define UART_IER_THRI 0x02 /* Enable Transmitter holding register int. */
+#define UART_IER_RDI 0x01 /* Enable receiver data interrupt */
+
+/* useful defaults for LCR */
+#define UART_LCR_8N1 0x03
+
+void NS16550_init(NS16550_t com_port, int baud_divisor);
+void NS16550_putc(NS16550_t com_port, char c);
+char NS16550_getc(NS16550_t com_port);
+int NS16550_tstc(NS16550_t com_port);
+void NS16550_reinit(NS16550_t com_port, int baud_divisor);
+
+void _debug_uart_init(void);
+void _debug_uart_putc(int ch);
+int _debug_uart_getc(void);
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/include/uart.h b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/include/uart.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/include/uart.h
rename to Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/include/uart.h
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/ns16550.c b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/ns16550.c
new file mode 100644
index 000000000..9631fbf50
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/ns16550.c
@@ -0,0 +1,103 @@
+/*
+ * COM1 NS16550 support
+ * originally from linux source (arch/powerpc/boot/ns16550.c)
+ * modified to use CONFIG_SYS_ISA_MEM and new defines
+ */
+
+#include <stdint.h>
+
+#include "mmio_access.h"
+#include "ns16550.h"
+
+#define UART_ADDR MMIO_P2V_WO(0xFE660000)
+// #define UART_ADDR (0xFE660000)
+
+#define UART_LCRVAL UART_LCR_8N1 /* 8 data, 1 stop, no parity */
+#define UART_MCRVAL (UART_MCR_DTR | UART_MCR_RTS) /* RTS/DTR */
+
+#define out_le32(a, v) (*(volatile uint32_t*)(a) = (v))
+#define in_le32(a) (*(volatile uint32_t*)(a))
+
+#ifndef CONFIG_SYS_NS16550_IER
+#define CONFIG_SYS_NS16550_IER 0x00
+#endif /* CONFIG_SYS_NS16550_IER */
+
+#define serial_dout(reg, value)                                                   \
+    serial_out_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2, value)
+#define serial_din(reg)                                                          \
+    serial_in_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2)
+
+static inline void serial_out_shift(void* addr, int shift, int value)
+{
+    out_le32(addr, value);
+}
+
+static inline int serial_in_shift(void* addr, int shift)
+{
+    return in_le32(addr);
+}
+
+#ifndef CONFIG_SYS_NS16550_CLK
+#define CONFIG_SYS_NS16550_CLK 0
+#endif
+
+#define DIV_ROUND_CLOSEST(x, divisor) (                                                                                                      \
+    {                                                                                                                                        \
+        typeof(x) __x = x;                                                                                                                   \
+        typeof(divisor) __d = divisor;                                                                                                       \
+        (((typeof(x))-1) > 0 || ((typeof(divisor))-1) > 0 || (__x) > 0) ? (((__x) + ((__d) / 2)) / (__d)) : (((__x) - ((__d) / 2)) / (__d)); \
+    })
+
+int ns16550_calc_divisor(NS16550_t port, int clock, int baudrate)
+{
+    const unsigned int mode_x_div = 16;
+
+    return DIV_ROUND_CLOSEST(clock, mode_x_div * baudrate);
+}
+
+void _debug_uart_init(void)
+{
+    struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    /*
+     * We copy the code from above because it is already horribly messy.
+     * Trying to refactor to nicely remove the duplication doesn't seem
+     * feasible. The better fix is to move all users of this driver to
+     * driver model.
+     */
+    int baud_divisor = ns16550_calc_divisor(com_port, 24000000,
+        1500000);
+    serial_dout(&com_port->ier, CONFIG_SYS_NS16550_IER);
+    serial_dout(&com_port->mcr, UART_MCRVAL);
+    serial_dout(&com_port->fcr, UART_FCR_DEFVAL);
+
+    serial_dout(&com_port->lcr, UART_LCR_BKSE | UART_LCRVAL);
+    serial_dout(&com_port->dll, baud_divisor & 0xff);
+    serial_dout(&com_port->dlm, (baud_divisor >> 8) & 0xff);
+    serial_dout(&com_port->lcr, UART_LCRVAL);
+}
+
+void _debug_uart_putc(int ch)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    if (ch == '\n') {
+        _debug_uart_putc('\r');
+    }
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_THRE))
+        ;
+    serial_dout(&com_port->thr, ch);
+}
+
+int _debug_uart_getc(void)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_DR))
+        ;
+
+    return serial_din(&com_port->rbr);
+}
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/uart.c b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/uart.c
new file mode 100644
index 000000000..de03611a2
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/uart.c
@@ -0,0 +1,45 @@
+//
+// low-level driver routines for pl011 UART.
+//
+
+#include "uart.h"
+#include "actracer.h"
+#include "ns16550.h"
+#include "uart_common_ope.h"
+
+// the UART control registers are memory-mapped
+// at address UART0. this macro returns the
+// address of one of the registers.
+
+void uartinit(void)
+{
+    _debug_uart_init();
+}
+
+void uartputc(uint8_t c)
+{
+    _debug_uart_putc((int)c);
+}
+
+static uint8_t uartgetc(void)
+{
+    return (uint8_t)_debug_uart_getc();
+}
+
+static uint32_t UartGetIrqnum()
+{
+    return 0;
+}
+
+static struct XiziSerialDriver hardkernel_serial_driver = {
+    .sys_serial_init = uartinit,
+    .get_serial_irqnum = UartGetIrqnum,
+    .putc = uartputc,
+    .getc = uartgetc,
+};
+
+struct XiziSerialDriver* hardkernel_uart_init(struct TraceTag* hardkernel_tag)
+{
+    hardkernel_serial_driver.sys_serial_init();
+    return &hardkernel_serial_driver;
+}
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/boot.S b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/boot.S
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/boot.S
rename to Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/boot.S
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/Makefile b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/Makefile
deleted file mode 100644
index 7544324de..000000000
--- a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/Makefile
+++ /dev/null
@@ -1,3 +0,0 @@
-SRC_FILES := uart.c
-
-include $(KERNEL_ROOT)/compiler.mk
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/uart.c b/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/uart.c
deleted file mode 100644
index 8324eb35e..000000000
--- a/Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/uart.c
+++ /dev/null
@@ -1,128 +0,0 @@
-//
-// low-level driver routines for pl011 UART.
-//
-
-#include "uart.h"
-#include "actracer.h"
-#include "uart_common_ope.h"
-
-// the UART control registers are memory-mapped
-// at address UART0. this macro returns the
-// address of one of the registers.
-
-// the transmit output buffer.
-#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]
-
-void uartinit(void)
-{
-    // disable uart
-    UART_WRITE_REG(CR, 0);
-
-    // disable interrupts.
-    UART_WRITE_REG(IMSC, 0);
-
-    // in qemu, it is not necessary to set baudrate.
-    // enable FIFOs.
-    // set word length to 8 bits, no parity.
-    UART_WRITE_REG(LCRH, LCRH_FEN | LCRH_WLEN_8BIT);
-
-    // enable RXE, TXE and enable uart.
-    UART_WRITE_REG(CR, 0x301);
-
-    // enable transmit and receive interrupts.
-    UART_WRITE_REG(IMSC, INT_RX_ENABLE | INT_TX_ENABLE);
-}
-
-// 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 uartputc(uint8_t 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.
-static uint8_t uartgetc(void)
-{
-    if (UART_READ_REG(FR) & FR_RXFE)
-        return 0xFF;
-    else
-        return UART_READ_REG(DR);
-}
-
-// handle a uart interrupt, raised because input has
-// arrived, or the uart is ready for more output, or
-// both. called from trap.c.
-void uartintr(void)
-{
-    // read and process incoming characters.
-    while (1) {
-        int c = uartgetc();
-        if (c == 0xFF)
-            break;
-    }
-
-    // send buffered characters.
-    uartstart();
-
-    // clear transmit and receive interrupts.
-    UART_WRITE_REG(ICR, INT_RX_ENABLE | INT_TX_ENABLE);
-}
-
-static uint32_t UartGetIrqnum()
-{
-    return 0;
-}
-
-static struct XiziSerialDriver hardkernel_serial_driver = {
-    .sys_serial_init = uartinit,
-    .get_serial_irqnum = UartGetIrqnum,
-    .putc = uartputc,
-    .getc = uartgetc,
-};
-
-struct XiziSerialDriver* hardkernel_uart_init(struct TraceTag* hardkernel_tag)
-{
-    hardkernel_serial_driver.sys_serial_init();
-    return &hardkernel_serial_driver;
-}
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/kernel_actracer/actracer.c b/Ubiquitous/XiZi_AIoT/kernel_actracer/actracer.c
index 8412f6f59..f74596559 100644
--- a/Ubiquitous/XiZi_AIoT/kernel_actracer/actracer.c
+++ b/Ubiquitous/XiZi_AIoT/kernel_actracer/actracer.c
@@ -147,7 +147,7 @@ void* AchieveResource(TraceTag* tag)
 
 bool CreateResourceTag(TraceTag* new_tag, TraceTag* owner, char* name, tracemeta_ac_type type, void* p_resource)
 {
-    assert(new_tag != NULL && owner != NULL);
+    assert(owner != NULL);
     if (owner->meta == NULL) {
         ERROR("Tracer: Empty owner\n");
         return false;
@@ -168,7 +168,9 @@ bool CreateResourceTag(TraceTag* new_tag, TraceTag* owner, char* name, tracemeta
     doubleListAddOnHead(&new_node->list_node, &owner->meta->children_guard);
     new_node->parent = owner->meta;
 
-    new_tag->meta = new_node;
+    if (new_tag != NULL) {
+        new_tag->meta = new_node;
+    }
     return true;
 }
 
@@ -187,12 +189,42 @@ bool DeleteResource(TraceTag* target, TraceTag* owner)
     if (target->meta->name != NULL) {
         slab_free(&sys_tracer.node_name_allocator, target->meta->name);
     }
+
     // delete all children
-    /// @attention currently donot allow multilevel resource deletion
     if (target->meta->type == TRACER_OWNER) {
-        assert(IS_DOUBLE_LIST_EMPTY(&target->meta->children_guard));
+        while (!IS_DOUBLE_LIST_EMPTY(&target->meta->children_guard)) {
+            TraceTag tmp_node = {
+                .meta = DOUBLE_LIST_ENTRY(target->meta->children_guard.next, TracerNode, list_node),
+            };
+            DeleteResource(&tmp_node, target);
+        }
     }
     slab_free(&sys_tracer.node_allocator, target->meta);
     target->meta = NULL;
     return true;
+}
+
+void debug_list_tracetree_inner(TracerNode* cur_node)
+{
+    DEBUG("[%s] ", cur_node->name);
+    TracerNode* tmp = NULL;
+    DOUBLE_LIST_FOR_EACH_ENTRY(tmp, &cur_node->children_guard, list_node)
+    {
+        if (tmp->name != NULL) {
+            DEBUG("%s ", tmp->name);
+        } else {
+            DEBUG("ANON ");
+        }
+    }
+    DEBUG("\n");
+    DOUBLE_LIST_FOR_EACH_ENTRY(tmp, &cur_node->children_guard, list_node)
+    {
+        debug_list_tracetree_inner(tmp);
+    }
+}
+
+void debug_list_tracetree()
+{
+    TracerNode* ref_root = RequireRootTag()->meta;
+    debug_list_tracetree_inner(ref_root);
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/path_kernel.mk b/Ubiquitous/XiZi_AIoT/path_kernel.mk
index a7b626018..2a8bca965 100755
--- a/Ubiquitous/XiZi_AIoT/path_kernel.mk
+++ b/Ubiquitous/XiZi_AIoT/path_kernel.mk
@@ -38,20 +38,20 @@ KERNELPATHS += \
 	-I$(KERNEL_ROOT)/hardkernel/cache/L2/pl310/ 
 endif
 
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 KERNELPATHS += \
-	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a72/$(BOARD)/include \
-	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_$(BOARD)/include \
-	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/ \
-	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a72/$(BOARD)  \
-	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a72/include  \
-	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a72/include  \
-	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a72/ \
-	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a72/$(BOARD) \
-	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3 \
-	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_$(BOARD)/include \
-	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a72/ \
-	-I$(KERNEL_ROOT)/hardkernel/cache/L1/arm/cortex-a72/ 
+	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a55/$(BOARD)/include \
+	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_$(BOARD)/include \
+	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/ \
+	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a55/$(BOARD)  \
+	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a55/include  \
+	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a55/include  \
+	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a55/ \
+	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a55/$(BOARD) \
+	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3 \
+	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_$(BOARD)/include \
+	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a55/ \
+	-I$(KERNEL_ROOT)/hardkernel/cache/L1/arm/cortex-a55/ 
 endif
 
 KERNELPATHS += \
diff --git a/Ubiquitous/XiZi_AIoT/services/app/Makefile b/Ubiquitous/XiZi_AIoT/services/app/Makefile
index 50d9aca5b..2b5808fe6 100644
--- a/Ubiquitous/XiZi_AIoT/services/app/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/app/Makefile
@@ -10,10 +10,10 @@ cflags = -std=c11 -O2 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -
 board_specs = stub.o
 #cflags = -Wall -g -std=c11 
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O2 -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 board_specs = stub.o
 endif
 
@@ -43,9 +43,9 @@ INC_DIR = 	-I$(KERNEL_ROOT)/services/shell/letter-shell \
 			-I$(KERNEL_ROOT)/services/app 
 
 ifeq ($(BOARD), imx6q-sabrelite)
-all: init test_fault simple_client simple_server shell fs_server semaphore_server test_semaphore test_ipc_null test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server test_net lwip  readme.txt | bin
+all: test_fault simple_client simple_server shell fs_server semaphore_server test_semaphore test_ipc_null test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server test_net lwip  readme.txt | bin
 else 
-all: init test_fault simple_client simple_server shell fs_server semaphore_server test_ipc_null test_thread test_semaphore test_net lwip readme.txt eth_hal | bin
+all: test_fault simple_client simple_server shell fs_server semaphore_server test_ipc_null test_thread test_semaphore test_net lwip readme.txt eth_hal | bin
 endif
 	../tools/mkfs/mkfs ./fs.img $^
 	@mv $(filter-out readme.txt, $^) bin
@@ -97,10 +97,6 @@ shell: shell_port.o libserial.o printf.o shell_cmd_list.o shell.o shell_ext.o li
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
 	
-init: init.o libfs.o libipc.o session.o libserial.o printf.o usyscall.o arch_usyscall.o libmem.o
-	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
-	@${objdump} -S $@ > $@.asm
-
 test_fault: test_fault.o libserial.o printf.o usyscall.o arch_usyscall.o 
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
diff --git a/Ubiquitous/XiZi_AIoT/services/app/init.c b/Ubiquitous/XiZi_AIoT/services/app/init.c
deleted file mode 100755
index dbedd4795..000000000
--- a/Ubiquitous/XiZi_AIoT/services/app/init.c
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * 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.
- */
-// init: The initial user-level program
-#include <stdbool.h>
-
-#include "libfs.h"
-#include "libserial.h"
-#include "usyscall.h"
-
-int main(int argc, char* argv[])
-{
-    struct Session session;
-    printf("init: connecting MemFS\n");
-    while (connect_session(&session, "MemFS", 8092) < 0)
-        ;
-    printf("init: connect MemFS success\n");
-
-    int fd;
-    char* shell_task_param[2] = { "/shell", 0 };
-    if ((fd = open(&session, shell_task_param[0])) < 0) {
-        printf("Open %s failed\n", shell_task_param[0]);
-        exit(1);
-    }
-
-    if (spawn(&session, fd, read, fsize, shell_task_param[0], shell_task_param) < 0) {
-        printf("Syscall Spawn shell failed\n");
-    }
-
-    close(&session, fd);
-
-    exit(0);
-    return 0;
-}
diff --git a/Ubiquitous/XiZi_AIoT/services/app/shell_port.c b/Ubiquitous/XiZi_AIoT/services/app/shell_port.c
index 785ad8b6e..7f9c286c4 100644
--- a/Ubiquitous/XiZi_AIoT/services/app/shell_port.c
+++ b/Ubiquitous/XiZi_AIoT/services/app/shell_port.c
@@ -50,7 +50,7 @@ int main(void)
 
     shellInit(&shell, shellBuffer, 512);
 
-    while (connect_session(&session_fs, "MemFS", 8092) < 0)
+    while (connect_session(&session_fs, "MemFS", 0x10000) < 0)
         ;
     if (!session_fs.buf) {
         printf("session connect faield\n");
diff --git a/Ubiquitous/XiZi_AIoT/services/app/simple_client.c b/Ubiquitous/XiZi_AIoT/services/app/simple_client.c
index 2a23acb6a..191e580d7 100755
--- a/Ubiquitous/XiZi_AIoT/services/app/simple_client.c
+++ b/Ubiquitous/XiZi_AIoT/services/app/simple_client.c
@@ -108,7 +108,7 @@ int main(int argc, char** argv)
     struct Session fs_session;
     static char id_buf[33] = { 0 };
     if (id > 1) {
-        if (connect_session(&fs_session, "MemFS", 8192) < 0) {
+        if (connect_session(&fs_session, "MemFS", 0x4000) < 0) {
             printf("connect fs_session failed\n");
         } else {
             int fd;
diff --git a/Ubiquitous/XiZi_AIoT/services/app/simple_server.c b/Ubiquitous/XiZi_AIoT/services/app/simple_server.c
index e6eafe275..2ae2d9e12 100755
--- a/Ubiquitous/XiZi_AIoT/services/app/simple_server.c
+++ b/Ubiquitous/XiZi_AIoT/services/app/simple_server.c
@@ -30,8 +30,7 @@ int IPC_DO_SERVE_FUNC(Ipc_hello_string)(char* buf, int* len)
     return 0;
 }
 
-// IPC_SERVER_INTERFACE(Ipc_add, 2);
-IPC_SERVER_THREAD_INTERFACE(Ipc_add, 2);
+IPC_SERVER_INTERFACE(Ipc_add, 2);
 IPC_SERVER_INTERFACE(Ipc_hello_string, 2);
 IPC_SERVER_REGISTER_INTERFACES(IpcSimpleServer, 2, Ipc_hello_string, Ipc_add);
 
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/Makefile b/Ubiquitous/XiZi_AIoT/services/boards/3568/Makefile
similarity index 84%
rename from Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/Makefile
rename to Ubiquitous/XiZi_AIoT/services/boards/3568/Makefile
index 856202b4b..f7c02d433 100644
--- a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/boards/3568/Makefile
@@ -8,10 +8,10 @@ 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 ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/arch_usyscall.c b/Ubiquitous/XiZi_AIoT/services/boards/3568/arch_usyscall.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/arch_usyscall.c
rename to Ubiquitous/XiZi_AIoT/services/boards/3568/arch_usyscall.c
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/3568/libserial.c b/Ubiquitous/XiZi_AIoT/services/boards/3568/libserial.c
new file mode 100644
index 000000000..15c5dbd2a
--- /dev/null
+++ b/Ubiquitous/XiZi_AIoT/services/boards/3568/libserial.c
@@ -0,0 +1,250 @@
+/*
+ * 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 <stddef.h>
+#include <stdint.h>
+
+#include "libserial.h"
+#include "usyscall.h"
+
+/*
+ * For driver model we always use one byte per register, and sort out the
+ * differences in the driver
+ */
+#define CONFIG_SYS_NS16550_REG_SIZE (-1)
+
+#define UART_REG(x)  \
+    unsigned char x; \
+    unsigned char postpad_##x[-CONFIG_SYS_NS16550_REG_SIZE - 1];
+
+/**
+ * struct ns16550_platdata - information about a NS16550 port
+ *
+ * @base:		Base register address
+ * @reg_shift:		Shift size of registers (0=byte, 1=16bit, 2=32bit...)
+ * @clock:		UART base clock speed in Hz
+ */
+struct ns16550_platdata {
+    unsigned long base;
+    int reg_shift;
+    int clock;
+    int reg_offset;
+    uint32_t fcr;
+};
+
+struct udevice;
+
+struct NS16550 {
+    UART_REG(rbr); /* 0 */
+    UART_REG(ier); /* 1 */
+    UART_REG(fcr); /* 2 */
+    UART_REG(lcr); /* 3 */
+    UART_REG(mcr); /* 4 */
+    UART_REG(lsr); /* 5 */
+    UART_REG(msr); /* 6 */
+    UART_REG(spr); /* 7 */
+#ifdef CONFIG_SOC_DA8XX
+    UART_REG(reg8); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(revid1); /* A */
+    UART_REG(revid2); /* B */
+    UART_REG(pwr_mgmt); /* C */
+    UART_REG(mdr1); /* D */
+#else
+    UART_REG(mdr1); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(regA); /* A */
+    UART_REG(regB); /* B */
+    UART_REG(regC); /* C */
+    UART_REG(regD); /* D */
+    UART_REG(regE); /* E */
+    UART_REG(uasr); /* F */
+    UART_REG(scr); /* 10*/
+    UART_REG(ssr); /* 11*/
+#endif
+#ifdef CONFIG_DM_SERIAL
+    struct ns16550_platdata* plat;
+#endif
+};
+
+#define thr rbr
+#define iir fcr
+#define dll rbr
+#define dlm ier
+
+typedef struct NS16550* NS16550_t;
+
+/*
+ * These are the definitions for the FIFO Control Register
+ */
+#define UART_FCR_FIFO_EN 0x01 /* Fifo enable */
+#define UART_FCR_CLEAR_RCVR 0x02 /* Clear the RCVR FIFO */
+#define UART_FCR_CLEAR_XMIT 0x04 /* Clear the XMIT FIFO */
+#define UART_FCR_DMA_SELECT 0x08 /* For DMA applications */
+#define UART_FCR_TRIGGER_MASK 0xC0 /* Mask for the FIFO trigger range */
+#define UART_FCR_TRIGGER_1 0x00 /* Mask for trigger set at 1 */
+#define UART_FCR_TRIGGER_4 0x40 /* Mask for trigger set at 4 */
+#define UART_FCR_TRIGGER_8 0x80 /* Mask for trigger set at 8 */
+#define UART_FCR_TRIGGER_14 0xC0 /* Mask for trigger set at 14 */
+
+#define UART_FCR_RXSR 0x02 /* Receiver soft reset */
+#define UART_FCR_TXSR 0x04 /* Transmitter soft reset */
+
+/* Ingenic JZ47xx specific UART-enable bit. */
+#define UART_FCR_UME 0x10
+
+/* Clear & enable FIFOs */
+#define UART_FCR_DEFVAL (UART_FCR_FIFO_EN | UART_FCR_RXSR | UART_FCR_TXSR)
+
+/*
+ * These are the definitions for the Modem Control Register
+ */
+#define UART_MCR_DTR 0x01 /* DTR   */
+#define UART_MCR_RTS 0x02 /* RTS   */
+#define UART_MCR_OUT1 0x04 /* Out 1 */
+#define UART_MCR_OUT2 0x08 /* Out 2 */
+#define UART_MCR_LOOP 0x10 /* Enable loopback test mode */
+#define UART_MCR_AFE 0x20 /* Enable auto-RTS/CTS */
+
+#define UART_MCR_DMA_EN 0x04
+#define UART_MCR_TX_DFR 0x08
+
+/*
+ * These are the definitions for the Line Control Register
+ *
+ * Note: if the word length is 5 bits (UART_LCR_WLEN5), then setting
+ * UART_LCR_STOP will select 1.5 stop bits, not 2 stop bits.
+ */
+#define UART_LCR_WLS_MSK 0x03 /* character length select mask */
+#define UART_LCR_WLS_5 0x00 /* 5 bit character length */
+#define UART_LCR_WLS_6 0x01 /* 6 bit character length */
+#define UART_LCR_WLS_7 0x02 /* 7 bit character length */
+#define UART_LCR_WLS_8 0x03 /* 8 bit character length */
+#define UART_LCR_STB 0x04 /* # stop Bits, off=1, on=1.5 or 2) */
+#define UART_LCR_PEN 0x08 /* Parity eneble */
+#define UART_LCR_EPS 0x10 /* Even Parity Select */
+#define UART_LCR_STKP 0x20 /* Stick Parity */
+#define UART_LCR_SBRK 0x40 /* Set Break */
+#define UART_LCR_BKSE 0x80 /* Bank select enable */
+#define UART_LCR_DLAB 0x80 /* Divisor latch access bit */
+
+/*
+ * These are the definitions for the Line Status Register
+ */
+#define UART_LSR_DR 0x01 /* Data ready */
+#define UART_LSR_OE 0x02 /* Overrun */
+#define UART_LSR_PE 0x04 /* Parity error */
+#define UART_LSR_FE 0x08 /* Framing error */
+#define UART_LSR_BI 0x10 /* Break */
+#define UART_LSR_THRE 0x20 /* Xmit holding register empty */
+#define UART_LSR_TEMT 0x40 /* Xmitter empty */
+#define UART_LSR_ERR 0x80 /* Error */
+
+#define UART_MSR_DCD 0x80 /* Data Carrier Detect */
+#define UART_MSR_RI 0x40 /* Ring Indicator */
+#define UART_MSR_DSR 0x20 /* Data Set Ready */
+#define UART_MSR_CTS 0x10 /* Clear to Send */
+#define UART_MSR_DDCD 0x08 /* Delta DCD */
+#define UART_MSR_TERI 0x04 /* Trailing edge ring indicator */
+#define UART_MSR_DDSR 0x02 /* Delta DSR */
+#define UART_MSR_DCTS 0x01 /* Delta CTS */
+
+/*
+ * These are the definitions for the Interrupt Identification Register
+ */
+#define UART_IIR_NO_INT 0x01 /* No interrupts pending */
+#define UART_IIR_ID 0x06 /* Mask for the interrupt ID */
+
+#define UART_IIR_MSI 0x00 /* Modem status interrupt */
+#define UART_IIR_THRI 0x02 /* Transmitter holding register empty */
+#define UART_IIR_RDI 0x04 /* Receiver data interrupt */
+#define UART_IIR_RLSI 0x06 /* Receiver line status interrupt */
+
+/*
+ * These are the definitions for the Interrupt Enable Register
+ */
+#define UART_IER_MSI 0x08 /* Enable Modem status interrupt */
+#define UART_IER_RLSI 0x04 /* Enable receiver line status interrupt */
+#define UART_IER_THRI 0x02 /* Enable Transmitter holding register int. */
+#define UART_IER_RDI 0x01 /* Enable receiver data interrupt */
+
+/* useful defaults for LCR */
+#define UART_LCR_8N1 0x03
+
+#define UART_ADDR (0xFE660000)
+
+#define UART_LCRVAL UART_LCR_8N1 /* 8 data, 1 stop, no parity */
+#define UART_MCRVAL (UART_MCR_DTR | UART_MCR_RTS) /* RTS/DTR */
+
+#define out_le32(a, v) (*(volatile uint32_t*)(a) = (v))
+#define in_le32(a) (*(volatile uint32_t*)(a))
+
+#ifndef CONFIG_SYS_NS16550_IER
+#define CONFIG_SYS_NS16550_IER 0x00
+#endif /* CONFIG_SYS_NS16550_IER */
+
+#define serial_dout(reg, value)                                                   \
+    serial_out_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2, value)
+#define serial_din(reg)                                                          \
+    serial_in_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2)
+
+static inline void serial_out_shift(void* addr, int shift, int value)
+{
+    out_le32(addr, value);
+}
+
+static inline int serial_in_shift(void* addr, int shift)
+{
+    return in_le32(addr);
+}
+
+#ifndef CONFIG_SYS_NS16550_CLK
+#define CONFIG_SYS_NS16550_CLK 0
+#endif
+
+bool init_uart_mmio()
+{
+    static int mapped = 0;
+    if (mapped == 0) {
+        if (-1 == mmap(UART_ADDR, UART_ADDR, 4096, true)) {
+            return false;
+        }
+        mapped = 1;
+    }
+    return true;
+}
+
+void putc(char ch)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    if (ch == '\n') {
+        putc('\r');
+    }
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_THRE))
+        ;
+    serial_dout(&com_port->thr, ch);
+}
+
+char getc(void)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_DR))
+        ;
+
+    return serial_din(&com_port->rbr);
+}
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/stub.c b/Ubiquitous/XiZi_AIoT/services/boards/3568/stub.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/stub.c
rename to Ubiquitous/XiZi_AIoT/services/boards/3568/stub.c
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile b/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile
index 8704dbb0a..9a4022521 100644
--- a/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile
@@ -8,10 +8,10 @@ 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)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/libserial.c b/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/libserial.c
deleted file mode 100644
index 57cb02b86..000000000
--- a/Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/libserial.c
+++ /dev/null
@@ -1,113 +0,0 @@
-/*
- * 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/zynq7000-zc702/Makefile b/Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile
index d40f0aa3e..699cb7e32 100644
--- a/Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile
@@ -9,10 +9,10 @@ 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)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/3568/Makefile
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/Makefile
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/Makefile
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/Makefile
similarity index 81%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/Makefile
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/Makefile
index 5db88ceb8..17eb018d0 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/Makefile
@@ -19,6 +19,13 @@ cflags =  -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -stati
 board_specs = stub.o
 endif
 
+ifeq ($(BOARD), 3568)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+board_specs = $(KERNEL_ROOT)/services/app/stub.o
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
@@ -28,7 +35,7 @@ c_useropts = -O2
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
 		  	-I$(KERNEL_ROOT)/services/boards/$(BOARD) \
 			-I$(KERNEL_ROOT)/services/lib/serial \
-			-I$(KERNEL_ROOT)/services/drivers/rk-3568/include \
+			-I$(KERNEL_ROOT)/services/drivers/3568/include \
 			-I$(KERNEL_ROOT)/services/lib/usyscall \
 		  	-I$(KERNEL_ROOT)/services/lib/ipc \
 		  	-I$(KERNEL_ROOT)/services/lib/memory 
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_base.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_base.c
similarity index 99%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_base.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_base.c
index 14df77768..f83f62cfe 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_base.c
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_base.c
@@ -122,12 +122,10 @@ __attribute__((always_inline)) static inline HAL_Status TimerDelayUs(uint32_t us
 
     from = HAL_TIMER_GetCount(SYS_TIMER);
     count = PLL_INPUT_OSC_RATE / 1000000 * us;
-
     do {
         now = HAL_TIMER_GetCount(SYS_TIMER);
         pass = now > from ? now - from : from - now;
     } while (pass < count);
-
     return HAL_OK;
 }
 #endif
@@ -314,13 +312,13 @@ __attribute__((weak)) HAL_Status HAL_DelayMs(uint32_t ms)
  */
 HAL_Status HAL_DelayUs(uint32_t us)
 {
-#if defined(SYS_TIMER) && defined(HAL_TIMER_MODULE_ENABLED)
+// #if defined(SYS_TIMER) && defined(HAL_TIMER_MODULE_ENABLED)
 
-    return TimerDelayUs(us);
-#else
+//     return TimerDelayUs(us);
+// #else
 
     return HAL_CPUDelayUs(us);
-#endif
+// #endif
 }
 
 /**
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_bsp.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_bsp.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_bsp.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_bsp.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_cru.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_cru.c
similarity index 83%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_cru.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_cru.c
index 8a48a630c..c685a6149 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_cru.c
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_cru.c
@@ -956,268 +956,6 @@ HAL_Status HAL_CRU_SetPllPowerDown(struct PLL_SETUP *pSetup)
 }
 #endif
 
-#ifdef CRU_CLK_USE_CON_BANK
-static const struct HAL_CRU_DEV *CRU_GetInfo(void)
-{
-    return &g_cruDev;
-}
-
-HAL_Check HAL_CRU_ClkIsEnabled(uint32_t clk)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_GATE_GET_REG_OFFSET(clk);
-    uint32_t shift = CLK_GATE_GET_BITS_SHIFT(clk);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clk);
-    uint32_t reg;
-    HAL_Check ret;
-
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].gateOffset + index * 4;
-    ret = (HAL_Check)(!((CRU_READ(reg) & (1 << shift)) >> shift));
-
-    return ret;
-}
-
-HAL_Status HAL_CRU_ClkEnable(uint32_t clk)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_GATE_GET_REG_OFFSET(clk);
-    uint32_t shift = CLK_GATE_GET_BITS_SHIFT(clk);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clk);
-    uint32_t reg;
-
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].gateOffset + index * 4;
-    CRU_WRITE(reg, shift, 1U << shift, 0U);
-
-    return HAL_OK;
-}
-
-HAL_Status HAL_CRU_ClkDisable(uint32_t clk)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_GATE_GET_REG_OFFSET(clk);
-    uint32_t shift = CLK_GATE_GET_BITS_SHIFT(clk);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clk);
-    uint32_t reg;
-
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].gateOffset + index * 4;
-    CRU_WRITE(reg, shift, 1U << shift, 1U);
-
-    return HAL_OK;
-}
-
-HAL_Status HAL_CRU_ClkDisableUnused(uint32_t bank, uint32_t index, uint32_t val)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t reg;
-
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].gateOffset + index * 4;
-    CRU_WRITE(reg, 0, 0, val);
-
-    return HAL_OK;
-}
-
-HAL_Check HAL_CRU_ClkIsReset(uint32_t clk)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_GATE_GET_REG_OFFSET(clk);
-    uint32_t shift = CLK_GATE_GET_BITS_SHIFT(clk);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clk);
-    uint32_t reg;
-    HAL_Check ret;
-
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].softOffset + index * 4;
-    ret = (HAL_Check)((CRU_READ(reg) & (1 << shift)) >> shift);
-
-    return ret;
-}
-
-HAL_Status HAL_CRU_ClkResetAssert(uint32_t clk)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_RESET_GET_REG_OFFSET(clk);
-    uint32_t shift = CLK_RESET_GET_BITS_SHIFT(clk);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clk);
-    uint32_t reg;
-
-    HAL_ASSERT(shift < 16);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].softOffset + index * 4;
-    CRU_WRITE(reg, shift, 1U << shift, 1U);
-
-    return HAL_OK;
-}
-
-HAL_Status HAL_CRU_ClkResetDeassert(uint32_t clk)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_RESET_GET_REG_OFFSET(clk);
-    uint32_t shift = CLK_RESET_GET_BITS_SHIFT(clk);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clk);
-    uint32_t reg;
-
-    HAL_ASSERT(shift < 16);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].softOffset + index * 4;
-    CRU_WRITE(reg, shift, 1U << shift, 0U);
-
-    return HAL_OK;
-}
-
-HAL_Status HAL_CRU_ClkResetSyncAssert(int numClks, uint32_t *clks)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_RESET_GET_REG_OFFSET(clks[0]);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clks[0]);
-    uint32_t val = 0;
-    uint32_t reg;
-    int i;
-
-    for (i = 0; i < numClks; i++) {
-        val |= HAL_BIT(CLK_RESET_GET_BITS_SHIFT(clks[i]));
-        if (index != CLK_RESET_GET_REG_OFFSET(clks[i])) {
-            return HAL_ERROR;
-        }
-    }
-
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].softOffset + index * 4;
-    CRU_WRITE(reg, 0, val, val);
-    HAL_DBG("%s: index: 0x%lx, val: 0x%lx\n", __func__, index, val);
-
-    return HAL_OK;
-}
-
-HAL_Status HAL_CRU_ClkResetSyncDeassert(int numClks, uint32_t *clks)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t index = CLK_RESET_GET_REG_OFFSET(clks[0]);
-    uint32_t bank = CLK_GATE_GET_REG_BANK(clks[0]);
-    uint32_t val = 0;
-    uint32_t reg;
-    int i;
-
-    for (i = 0; i < numClks; i++) {
-        val |= HAL_BIT(CLK_RESET_GET_BITS_SHIFT(clks[i]));
-        if (index != CLK_RESET_GET_REG_OFFSET(clks[i])) {
-            return HAL_ERROR;
-        }
-    }
-
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].softOffset + index * 4;
-    CRU_WRITE(reg, 0, val, 0);
-    HAL_DBG("%s: index: 0x%lx, val: 0x%lx\n", __func__, index, val);
-
-    return HAL_OK;
-}
-
-HAL_Status HAL_CRU_ClkSetDiv(uint32_t divName, uint32_t divValue)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t shift, mask, index;
-    uint32_t reg, bank;
-
-    index = CLK_DIV_GET_REG_OFFSET(divName);
-    shift = CLK_DIV_GET_BITS_SHIFT(divName);
-    HAL_ASSERT(shift < 16);
-    mask = CLK_DIV_GET_MASK(divName);
-    if (divValue > mask) {
-        divValue = mask;
-    }
-
-    bank = CLK_DIV_GET_BANK(divName);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].selOffset + index * 4;
-    CRU_WRITE(reg, shift, mask, (divValue - 1U));
-
-    return HAL_OK;
-}
-
-uint32_t HAL_CRU_ClkGetDiv(uint32_t divName)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t shift, mask, index, divValue;
-    uint32_t reg, bank;
-
-    index = CLK_DIV_GET_REG_OFFSET(divName);
-    shift = CLK_DIV_GET_BITS_SHIFT(divName);
-    HAL_ASSERT(shift < 16);
-    mask = CLK_DIV_GET_MASK(divName);
-    bank = CLK_DIV_GET_BANK(divName);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].selOffset + index * 4;
-    divValue = ((CRU_READ(reg) & mask) >> shift) + 1;
-
-    return divValue;
-}
-
-HAL_SECTION_SRAM_CODE
-HAL_Status HAL_CRU_ClkSetMux(uint32_t muxName, uint32_t muxValue)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t shift, mask, index;
-    uint32_t reg, bank;
-
-    index = CLK_MUX_GET_REG_OFFSET(muxName);
-    shift = CLK_MUX_GET_BITS_SHIFT(muxName);
-    HAL_ASSERT(shift < 16);
-    mask = CLK_MUX_GET_MASK(muxName);
-    bank = CLK_MUX_GET_BANK(muxName);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].selOffset + index * 4;
-    CRU_WRITE(reg, shift, mask, muxValue);
-
-    return HAL_OK;
-}
-
-HAL_SECTION_SRAM_CODE
-uint32_t HAL_CRU_ClkGetMux(uint32_t muxName)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t shift, mask, index, muxValue;
-    uint32_t reg, bank;
-
-    index = CLK_MUX_GET_REG_OFFSET(muxName);
-    shift = CLK_MUX_GET_BITS_SHIFT(muxName);
-    HAL_ASSERT(shift < 16);
-    mask = CLK_MUX_GET_MASK(muxName);
-    bank = CLK_MUX_GET_BANK(muxName);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].selOffset + index * 4;
-    muxValue = ((CRU_READ(reg) & mask) >> shift);
-
-    return muxValue;
-}
-
-HAL_Status HAL_CRU_ClkSetFracDiv(uint32_t fracDivName,
-                                 uint32_t numerator,
-                                 uint32_t denominator)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t reg, bank;
-    uint32_t index;
-
-    index = CLK_DIV_GET_REG_OFFSET(fracDivName);
-    bank = CLK_DIV_GET_BANK(fracDivName);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].selOffset + index * 4;
-    CRU_WRITE(reg, 0, 0, ((numerator << 16) | denominator));
-
-    return HAL_OK;
-}
-
-HAL_Status HAL_CRU_ClkGetFracDiv(uint32_t fracDivName,
-                                 uint32_t *numerator,
-                                 uint32_t *denominator)
-{
-    const struct HAL_CRU_DEV *ctrl = CRU_GetInfo();
-    uint32_t reg, bank;
-    uint32_t index;
-    uint32_t val;
-
-    index = CLK_DIV_GET_REG_OFFSET(fracDivName);
-    bank = CLK_DIV_GET_BANK(fracDivName);
-    reg = ctrl->banks[bank].cruBase + ctrl->banks[bank].selOffset + index * 4;
-    val = CRU_READ(reg);
-
-    *numerator = (val & 0xffff0000) >> 16;
-    *denominator = (val & 0x0000ffff);
-
-    return HAL_OK;
-}
-#else /* CRU_CLK_USE_CON_BANK */
-
 HAL_Check HAL_CRU_ClkIsEnabled(uint32_t clk)
 {
     uint32_t index = CLK_GATE_GET_REG_OFFSET(clk);
@@ -1575,7 +1313,7 @@ HAL_Status HAL_CRU_ClkGetFracDiv(uint32_t fracDivName,
 
     return HAL_OK;
 }
-#endif /* CRU_CLK_USE_CON_BANK */
+
 
 HAL_Status HAL_CRU_FracdivGetConfig(uint32_t rateOut, uint32_t rate,
                                     uint32_t *numerator,
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_cru_rk3568.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_cru_rk3568.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_cru_rk3568.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_cru_rk3568.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_debug.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_debug.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_debug.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_debug.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_gmac.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_gmac.c
similarity index 97%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_gmac.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_gmac.c
index ccd9c5dac..f4fdeb357 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_gmac.c
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_gmac.c
@@ -284,7 +284,6 @@
 #define GMAC_DESC3_LD    (0x1 << 28)
 #define GMAC_DESC3_BUF1V (0x1 << 24)
 
-#define DES3_ERROR_SUMMARY (1 << 15)
 #define DES3_ERROR_SUMMARY (1 << 15)
 
 /* Generic MII registers. */
@@ -1515,19 +1514,24 @@ void HAL_GMAC_DisableDmaIRQ(struct GMAC_HANDLE *pGMAC)
   */
 HAL_Status HAL_GMAC_DMATxDescInit(struct GMAC_HANDLE *pGMAC,
                                   struct GMAC_Desc *txDescs,
-                                  uint8_t *txBuff, uint32_t count)
+                                  struct GMAC_Desc *txDescs_dma,
+                                  uint8_t *txBuff, uint8_t *txBuff_dma, uint32_t count)
 {
     struct GMAC_Desc *desc;
     uint32_t i = 0;
 
     HAL_ASSERT(pGMAC != NULL);
     HAL_ASSERT(txDescs != NULL);
+    HAL_ASSERT(txDescs_dma != NULL);
     HAL_ASSERT(txBuff != NULL);
+    HAL_ASSERT(txBuff_dma != NULL);
 
     pGMAC->txDescIdx = 0;
 
     pGMAC->txDescs = txDescs;
+    pGMAC->txDescs_dma = txDescs_dma;
     pGMAC->txBuf = txBuff;
+    pGMAC->txBuf_dma = txBuff_dma;
     pGMAC->txSize = count;
 
     /* Fill each DMATxDesc descriptor with the right values */
@@ -1557,19 +1561,24 @@ HAL_Status HAL_GMAC_DMATxDescInit(struct GMAC_HANDLE *pGMAC,
   */
 HAL_Status HAL_GMAC_DMARxDescInit(struct GMAC_HANDLE *pGMAC,
                                   struct GMAC_Desc *rxDescs,
-                                  uint8_t *rxBuff, uint32_t count)
+                                  struct GMAC_Desc *rxDescs_dma,
+                                  uint8_t *rxBuff, uint8_t *rxBuff_dma, uint32_t count)
 {
     struct GMAC_Desc *desc;
     uint32_t i = 0;
 
     HAL_ASSERT(pGMAC != NULL);
     HAL_ASSERT(rxDescs != NULL);
+    HAL_ASSERT(rxDescs_dma != NULL);
     HAL_ASSERT(rxBuff != NULL);
+    HAL_ASSERT(rxBuff_dma != NULL);
 
     pGMAC->rxDescIdx = 0;
 
     pGMAC->rxDescs = rxDescs;
+    pGMAC->rxDescs_dma = rxDescs_dma;
     pGMAC->rxBuf = rxBuff;
+    pGMAC->rxBuf_dma = rxBuff_dma;
     pGMAC->rxSize = count;
 
     /* Fill each DMARxDesc descriptor with the right values */
@@ -1577,7 +1586,7 @@ HAL_Status HAL_GMAC_DMARxDescInit(struct GMAC_HANDLE *pGMAC,
         /* Get the pointer on the ith member of the Rx Desc list */
         desc = rxDescs + i;
 
-        desc->des0 = (uint64_t)(rxBuff + i * HAL_GMAC_MAX_PACKET_SIZE);
+        desc->des0 = (uint32_t)(uint64_t)(rxBuff_dma + i * HAL_GMAC_MAX_PACKET_SIZE);
         desc->des1 = 0;
         desc->des2 = 0;
         desc->des3 = GMAC_DESC3_OWN | GMAC_DESC3_BUF1V | GMAC_DESC3_IOC;
@@ -1771,7 +1780,7 @@ HAL_Status HAL_GMAC_Start(struct GMAC_HANDLE *pGMAC, uint8_t *addr)
 
     /* DMA init */
     WRITE_REG(pGMAC->pReg->DMA_SYSBUS_MODE, DMA_SYSBUS_MODE_BLEN16 |
-              DMA_SYSBUS_MODE_BLEN8 | DMA_SYSBUS_MODE_BLEN4);
+              DMA_SYSBUS_MODE_BLEN8 | DMA_SYSBUS_MODE_BLEN4 | 1 << 12 | 1 << 14);
 
     /* Mask interrupts by writing to CSR7 */
     WRITE_REG(pGMAC->pReg->DMA_CH0_INTERRUPT_ENABLE, DMA_CHAN_INTR_DEFAULT_MASK);
@@ -1787,9 +1796,9 @@ HAL_Status HAL_GMAC_Start(struct GMAC_HANDLE *pGMAC, uint8_t *addr)
     value |= (rxFifosz << DMA_CH0_RX_CONTROL_RBSZ_SHIFT) & DMA_CH0_RX_CONTROL_RBSZ_MASK;
     value = value | (8 << DMA_CH0_RX_CONTROL_RXPBL_SHIFT);
     WRITE_REG(pGMAC->pReg->DMA_CH0_RX_CONTROL, value);
-    WRITE_REG(pGMAC->pReg->DMA_CH0_RXDESC_LIST_ADDRESS, (uint64_t)pGMAC->rxDescs);
+    WRITE_REG(pGMAC->pReg->DMA_CH0_RXDESC_LIST_ADDRESS, (uint32_t)(uint64_t)pGMAC->rxDescs_dma);
     WRITE_REG(pGMAC->pReg->DMA_CH0_RXDESC_TAIL_POINTER,
-              (uint64_t)(pGMAC->rxDescs + pGMAC->rxSize));
+              (uint32_t)(uint64_t)(pGMAC->rxDescs_dma + pGMAC->rxSize));
 
     /* init tx chan */
     value = READ_REG(pGMAC->pReg->DMA_CH0_TX_CONTROL);
@@ -1797,8 +1806,8 @@ HAL_Status HAL_GMAC_Start(struct GMAC_HANDLE *pGMAC, uint8_t *addr)
     value |= DMA_CH0_TX_CONTROL_OSF;
     WRITE_REG(pGMAC->pReg->DMA_CH0_TX_CONTROL, value);
 
-    WRITE_REG(pGMAC->pReg->DMA_CH0_TXDESC_LIST_ADDRESS, (uint64_t)pGMAC->txDescs);
-    WRITE_REG(pGMAC->pReg->DMA_CH0_TXDESC_TAIL_POINTER, (uint64_t)pGMAC->txDescs);
+    WRITE_REG(pGMAC->pReg->DMA_CH0_TXDESC_LIST_ADDRESS, (uint32_t)(uint64_t)pGMAC->txDescs_dma);
+    WRITE_REG(pGMAC->pReg->DMA_CH0_TXDESC_TAIL_POINTER, (uint32_t)(uint64_t)pGMAC->txDescs_dma);
 
     HAL_GMAC_WriteHWAddr(pGMAC, addr);
 
@@ -1935,6 +1944,12 @@ uint8_t *HAL_GMAC_GetTXBuffer(struct GMAC_HANDLE *pGMAC)
     return pGMAC->txBuf + pGMAC->txDescIdx * HAL_GMAC_MAX_PACKET_SIZE;
 }
 
+uint8_t *HAL_GMAC_GetTXBufferDMA(struct GMAC_HANDLE *pGMAC)
+{
+    HAL_ASSERT(pGMAC != NULL);
+
+    return pGMAC->txBuf_dma + pGMAC->txDescIdx * HAL_GMAC_MAX_PACKET_SIZE;
+}
 /**
   * @brief  Get current RX buffer.
   * @param  pGMAC: pointer to a GMAC_HANDLE structure that contains
@@ -1949,6 +1964,13 @@ uint8_t *HAL_GMAC_GetRXBuffer(struct GMAC_HANDLE *pGMAC)
     return pGMAC->rxBuf + pGMAC->rxDescIdx * HAL_GMAC_MAX_PACKET_SIZE;
 }
 
+uint8_t *HAL_GMAC_GetRXBufferDMA(struct GMAC_HANDLE *pGMAC)
+{
+    HAL_ASSERT(pGMAC != NULL);
+
+    return pGMAC->rxBuf_dma + pGMAC->rxDescIdx * HAL_GMAC_MAX_PACKET_SIZE;
+}
+
 /**
   * @brief  Send a packet with the length, clean packet' dcached memory before send.
   * @param  pGMAC: pointer to a GMAC_HANDLE structure that contains
@@ -1977,8 +1999,8 @@ HAL_Status HAL_GMAC_Send(struct GMAC_HANDLE *pGMAC, void *packet,
 
     pGMAC->txDescIdx++;
     pGMAC->txDescIdx %= pGMAC->txSize;
-
-    desc->des0 = (uint64_t)packet;
+    
+    desc->des0 = (uint32_t)(uint64_t)packet;
     desc->des1 = 0;
     desc->des2 = length;
     /*
@@ -1986,9 +2008,8 @@ HAL_Status HAL_GMAC_Send(struct GMAC_HANDLE *pGMAC, void *packet,
      * writes to the rest of the descriptor too.
      */
     desc->des3 = GMAC_DESC3_OWN | GMAC_DESC3_FD | GMAC_DESC3_LD;
-
     WRITE_REG(pGMAC->pReg->DMA_CH0_TXDESC_TAIL_POINTER,
-              (uint64_t)(pGMAC->txDescs + pGMAC->txDescIdx));
+              (uint32_t)(uint64_t)(pGMAC->txDescs_dma + pGMAC->txDescIdx));
 
     for (i = 0; i < 1000000; i++) {
         if (!(desc->des3 & GMAC_DESC3_OWN)) {
@@ -2025,6 +2046,7 @@ uint8_t *HAL_GMAC_Recv(struct GMAC_HANDLE *pGMAC, int32_t *length)
 
     *length = 0;
     desc = pGMAC->rxDescs + pGMAC->rxDescIdx;
+    HAL_DBG("Rx at %p\n", desc->des0);
     des3 = desc->des3;
     if (des3 & GMAC_DESC3_OWN) {
         HAL_DBG("%s: RX packet not available\n", __func__);
@@ -2072,18 +2094,22 @@ uint8_t *HAL_GMAC_Recv(struct GMAC_HANDLE *pGMAC, int32_t *length)
 void HAL_GMAC_CleanRX(struct GMAC_HANDLE *pGMAC)
 {
     struct GMAC_Desc *desc;
+    struct GMAC_Desc *desc_dma;
 
     HAL_ASSERT(pGMAC != NULL);
 
     /* Get the pointer on the ith member of the Tx Desc list */
     desc = pGMAC->rxDescs + pGMAC->rxDescIdx;
 
-    desc->des0 = (uint64_t)(pGMAC->rxBuf + (pGMAC->rxDescIdx *
+    desc->des0 = (uint32_t)(uint64_t)(pGMAC->rxBuf_dma + (pGMAC->rxDescIdx *
                                             HAL_GMAC_MAX_PACKET_SIZE));
     desc->des1 = 0;
     desc->des2 = 0;
     desc->des3 = GMAC_DESC3_OWN | GMAC_DESC3_BUF1V | GMAC_DESC3_IOC;
-    WRITE_REG(pGMAC->pReg->DMA_CH0_RXDESC_TAIL_POINTER, (uint64_t)desc);
+    HAL_DBG("Clean buff  %p\n", desc->des0);
+    desc_dma = pGMAC->rxDescs_dma + pGMAC->rxDescIdx;
+    HAL_DBG("Clean desc %p\n", desc_dma);
+    WRITE_REG(pGMAC->pReg->DMA_CH0_RXDESC_TAIL_POINTER, (uint32_t)(uint64_t)desc_dma);
 
     pGMAC->rxDescIdx++;
     pGMAC->rxDescIdx %= pGMAC->rxSize;
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_gmac_3568.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_gmac_3568.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_gmac_3568.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_gmac_3568.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_gpio.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_gpio.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_gpio.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_gpio.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_pinctrl_v2.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_pinctrl_v2.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_pinctrl_v2.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_pinctrl_v2.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_timer.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_timer.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/hal_timer.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/hal_timer.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/system_rk3568.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/system_rk3568.c
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/system_rk3568.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/system_rk3568.c
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/test_gmac.c b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/test_gmac.c
similarity index 71%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/test_gmac.c
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/test_gmac.c
index 740b49e30..35d9bb0fa 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/hal/test_gmac.c
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/3568/hal/test_gmac.c
@@ -6,7 +6,7 @@
 #include "hal_bsp.h"
 #include "hal_base.h"
 #include "hal_gmac.h"
-
+#include "usyscall.h"
 #if (defined(HAL_GMAC_MODULE_ENABLED) || defined(HAL_GMAC1000_MODULE_ENABLED))
 
 /*************************** GMAC DRIVER ****************************/
@@ -14,11 +14,6 @@
 /***************************** MACRO Definition ******************************/
 #define __is_print(ch) ((unsigned int)((ch) - ' ') < 127u - ' ')
 
-#define CONFIG_SYS_NONCACHED_MEMORY (4 << 20) /* 4M */
-
-/* 1MB granularity */
-#define MMU_SECTION_SIZE (1 << 20)
-
 /***************************** Structure Definition **************************/
 
 /***************************** Function Declare ******************************/
@@ -51,7 +46,7 @@
 #define BMCR_RESET     0x8000     /* Reset to default state      */
 #define BMCR_SPEED10   0x0000     /* Select 10Mbps               */
 
-#define GMAC_TEST_TIMES 1600
+#define GMAC_TEST_TIMES 16
 
 /********************* Private Structure Definition **************************/
 /* GMAC consumer config data. */
@@ -74,33 +69,23 @@ struct GMAC_ETH_CONFIG {
     int32_t rxDelay;
 
     struct GMAC_Desc *txDescs;
+    struct GMAC_Desc *txDescs_dma;
     struct GMAC_Desc *rxDescs;
+    struct GMAC_Desc *rxDescs_dma;
 
     uint8_t *txBuff;
+    uint8_t *txBuff_dma;
     uint8_t *rxBuff;
+    uint8_t *rxBuff_dma;
 
     /* MAC address info, hw address */
     uint8_t macAddr[6];
 };
 
 /********************* Private Variable Definition ***************************/
-#ifdef NC_MEM_BASE
-static const unsigned long os_no_cache_start = (unsigned long)NC_MEM_BASE;
-#else
-static const unsigned long os_no_cache_start = 0;
-#endif
 
-/*
- * Reserve one MMU section worth of address space below the malloc() area that
- * will be mapped uncached.
- */
-static unsigned long noncached_start;
-static unsigned long noncached_end;
-static unsigned long noncached_next;
 
-static unsigned int m_nocachemem_inited = 0;
-
-static uint8_t dstAddr[6] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t dstAddr[6] = { 0x00, 0x0C, 0x29, 0xf8, 0x7a, 0x6b };
 
 #if defined(HAL_GMAC_MODULE_ENABLED) && defined(SOC_RK3568)
 static struct GMAC_ETH_CONFIG ethConfigTable[] =
@@ -113,31 +98,30 @@ static struct GMAC_ETH_CONFIG ethConfigTable[] =
 
         .extClk = false,
 
-        .resetGpioBank = GPIO2,
-        .resetGpioNum = GPIO_PIN_D3,
+        .resetGpioBank = GPIO3,
+        .resetGpioNum = GPIO_PIN_A4,
         .resetDelayMs = { 0, 20, 100 },
 
-        .txDelay = 0x3C,
-        .rxDelay = 0x2f,
+        .txDelay = 0x2f,
+        .rxDelay = 0x00,
     },
 
-#ifdef HAL_GMAC1
-    {
-        .halDev = &g_gmac1Dev,
-        .mode = PHY_INTERFACE_MODE_RGMII,
-        .maxSpeed = 1000,
-        .phyAddr = 1,
 
-        .extClk = false,
+    // {
+    //     .halDev = &g_gmac1Dev,
+    //     .mode = PHY_INTERFACE_MODE_RGMII,
+    //     .maxSpeed = 1000,
+    //     .phyAddr = 1,
 
-        .resetGpioBank = GPIO2,
-        .resetGpioNum = GPIO_PIN_D1,
-        .resetDelayMs = { 0, 20, 100 },
+    //     .extClk = false,
 
-        .txDelay = 0x4f,
-        .rxDelay = 0x26,
-    },
-#endif
+    //     .resetGpioBank = GPIO4,
+    //     .resetGpioNum = GPIO_PIN_B6,
+    //     .resetDelayMs = { 0, 20, 100 },
+
+    //     .txDelay = 0x4f,
+    //     .rxDelay = 0x26,
+    // },
 };
 #endif
 
@@ -223,31 +207,6 @@ static void Dump_Regs(struct GMAC_HANDLE *pGMAC)
     }
 }
 
-static void PHY_Read(struct GMAC_HANDLE *pGMAC, uint32_t phyReg)
-{
-    int data;
-
-    data = HAL_GMAC_MDIORead(pGMAC, pGMAC->phyConfig.phyAddress, phyReg);
-    if (data >= 0) {
-        printf("PHY_Read: %02lX --> %08X\n", phyReg, data);
-    } else {
-        printf("PHY_Read: %02lX --> faild\n", phyReg);
-    }
-}
-
-static void PHY_Write(struct GMAC_HANDLE *pGMAC, uint32_t phyReg, uint32_t data)
-{
-    // struct GMAC_HANDLE *pGMAC;
-    int status;
-
-    status = HAL_GMAC_MDIOWrite(pGMAC, pGMAC->phyConfig.phyAddress, phyReg, data);
-    if (!status) {
-        printf("PHY_Write: %02lX --> %08lX\n", phyReg, data);
-    } else {
-        printf("PHY_Write: %02lX --> faild\n", phyReg);
-    }
-}
-
 static void PHY_Dump(struct GMAC_ETH_CONFIG *eth, struct GMAC_HANDLE *pGMAC)
 {
     int data, i;
@@ -277,14 +236,11 @@ static void GMAC_PHY_Reset(struct GMAC_ETH_CONFIG *config)
         HAL_GPIO_SetPinLevel(config->resetGpioBank,
                              config->resetGpioNum,
                              GPIO_HIGH);
-
         HAL_DelayMs(config->resetDelayMs[0]);
-
         HAL_GPIO_SetPinLevel(config->resetGpioBank,
                              config->resetGpioNum,
                              GPIO_LOW);
         HAL_DelayMs(config->resetDelayMs[1]);
-
         HAL_GPIO_SetPinLevel(config->resetGpioBank,
                              config->resetGpioNum,
                              GPIO_HIGH);
@@ -294,15 +250,12 @@ static void GMAC_PHY_Reset(struct GMAC_ETH_CONFIG *config)
 
 static inline void NET_Random_ETHAddr(uint8_t *addr)
 {
-    unsigned int seed = HAL_TIMER_GetCount(SYS_TIMER) | 0xffffffff;
-    uint8_t i;
-
-    for (i = 0; i < 6; i++) {
-        addr[i] = rand();
-    }
-
-    addr[0] &= 0xfe;    /* clear multicast bit */
-    addr[0] |= 0x02;    /* set local assignment bit (IEEE802) */
+    addr[0] = 0xe6;
+    addr[1] = 0x47;
+    addr[2] = 0xcd;
+    addr[3] = 0x20;
+    addr[4] = 0xcf;
+    addr[5] = 0xd9;
 }
 
 static inline void NET_Random_Package(uint8_t *addr, uint16_t len)
@@ -326,7 +279,7 @@ static void PHY_Update_Links(struct GMAC_ETH_CONFIG *eth, struct GMAC_HANDLE *pG
 
         return;
     }
-    HAL_DelayMs(7000);
+    HAL_DelayMs(10000);
 
     status = HAL_GMAC_PHYUpdateLink(pGMAC);
     if (status == HAL_OK) {
@@ -383,74 +336,42 @@ static HAL_Status GMAC_ETH_IRQ(struct GMAC_HANDLE *pGMAC)
     /* rt_interrupt_leave(); */
 }
 
-static HAL_Status noncached_init(void)
-{
-    unsigned long start, end;
-    size_t size;
 
-    if (os_no_cache_start <= 0) {
-	printf("Noncached_init failed, plase defined no cached memort\n");
-	return -1;
-    }
-
-    start = HAL_GMAC_ALIGN(os_no_cache_start, 64);
-    size = HAL_GMAC_ALIGN(CONFIG_SYS_NONCACHED_MEMORY, MMU_SECTION_SIZE);
-    end = start + size;
-
-    noncached_start = start;
-    noncached_end = end;
-    noncached_next = start;
-    m_nocachemem_inited = 1;
-
-    return 0;
-}
-
-static unsigned long noncached_alloc(size_t size, size_t align)
-{
-    if (!m_nocachemem_inited) {
-        if (noncached_init())
-	    return (unsigned long)NULL;
-    }
-
-    unsigned long next = HAL_GMAC_ALIGN(noncached_next, align);
-
-    if (next >= noncached_end || (noncached_end - next) < size) {
-        return 0;
-    }
-
-    noncached_next = next + size;
-
-    return next;
-}
-
-static void *malloc_align(size_t size, size_t align)
+static void *malloc_align(size_t size, size_t align, uintptr_t va, uintptr_t *pa)
 {
     void *align_ptr;
-    void *ptr;
+    // void *ptr;
     size_t align_size;
 
     /* align the alignment size to 4 byte */
     align = ((align + 0x03) & ~0x03);
 
     /* get total aligned size */
-    align_size = ((size + 0x03) & ~0x03) + align;
+    align_size = ((size + 0x03) & ~0x03);
     /* allocate memory block from heap */
-    ptr = malloc(align_size);
-    if (ptr != NULL) {
-        /* the allocated memory block is aligned */
-        if (((uint64_t)ptr & (align - 1)) == 0) {
-            align_ptr = (void *)((uint64_t)ptr + align);
-        } else {
-            align_ptr = (void *)(((uint64_t)ptr + (align - 1)) & ~(align - 1));
-        }
+    HAL_DBG("size: %d, align:%d\n",align_size, align);
+    // ptr = malloc(align_size);
 
-        /* set the pointer before alignment pointer to the real pointer */
-        *((uint64_t *)((uint64_t)align_ptr - sizeof(void *))) = (uint64_t)ptr;
-
-        ptr = align_ptr;
+    if (naive_mmap(&va, pa, align_size, true) < 0){
+        HAL_DBG("Alloc failed\n");
     }
+    // printf("%p,%p\n",(void *)va, *pa);
+    // void* ptr = (void *)va;
+    // if (ptr != 0) {
+    //     /* the allocated memory block is aligned */
+    //     if (((uint64_t)ptr & (align - 1)) == 0) {
+    //         align_ptr = (void *)((uint64_t)ptr + align);
+    //     } else {
+    //         align_ptr = (void *)(((uint64_t)ptr + (align - 1)) & ~(align - 1));
+    //     }
 
-    return ptr;
+    //     /* set the pointer before alignment pointer to the real pointer */
+    //     *((uint64_t *)((uint64_t)align_ptr - sizeof(void *))) = (uint64_t)ptr;
+
+    //     ptr = align_ptr;
+    // }
+
+    return (void *)va;
 }
 
 static void free_align(void *ptr)
@@ -459,6 +380,7 @@ static void free_align(void *ptr)
 
     real_ptr = (void *)*(uint64_t *)((uint64_t)ptr - sizeof(void *));
     free(real_ptr);
+
 }
 
 /********************* Public Function Definition ****************************/
@@ -470,6 +392,7 @@ static HAL_Status GMAC_Send_Test(struct GMAC_ETH_CONFIG *eth, struct GMAC_HANDLE
     HAL_Status status;
 
     if (!pGMAC->phyStatus.link) {
+        HAL_DBG("pGMAC->phyStatus.link: %d", pGMAC->phyStatus.link);
         return -1;
     }
 
@@ -479,6 +402,7 @@ static HAL_Status GMAC_Send_Test(struct GMAC_ETH_CONFIG *eth, struct GMAC_HANDLE
     }
 
     ptr = (uint8_t *)HAL_GMAC_GetTXBuffer(pGMAC);
+    HAL_DBG("txPtr:%p\n", ptr);
     memcpy(ptr, dstAddr, 6);
     memcpy(ptr + 6, eth->macAddr, 6);
     ptr[12] = 0x40;
@@ -493,14 +417,16 @@ static HAL_Status GMAC_Send_Test(struct GMAC_ETH_CONFIG *eth, struct GMAC_HANDLE
     }
 
     /* dump packages */
-    Dump_Hex("Tx", ptr, len);
+    // Dump_Hex("Tx", ptr, len);
 
     // HAL_DCACHE_CleanByRange((uint64_t)ptr, len);
-    status = HAL_GMAC_Send(pGMAC, ptr, len);
+    uint8_t * ptr_dma = (uint8_t *)HAL_GMAC_GetTXBufferDMA(pGMAC);
+    status = HAL_GMAC_Send(pGMAC, ptr_dma, len);
     if (status) {
         printf("GMAC send failed: %d\n", status);
     }
-
+    
+    print_desc(pGMAC);
     return status;
 }
 
@@ -511,12 +437,14 @@ static uint16_t GMAC_Recv_Test(struct GMAC_HANDLE *pGMAC)
     int32_t size;
 
     if (!pGMAC->phyStatus.link) {
+        HAL_DBG("pGMAC->phyStatus.link: %d", pGMAC->phyStatus.link);
         return -1;
     }
 
     status = GMAC_ETH_IRQ(pGMAC);
     ptr = HAL_GMAC_Recv(pGMAC, &size);
     while (status && ptr) {
+        print_desc(pGMAC);
         if (size > 0 && ptr) {
             /* dump packages */
             Dump_Hex("Rx", ptr, size);
@@ -529,35 +457,59 @@ static uint16_t GMAC_Recv_Test(struct GMAC_HANDLE *pGMAC)
         }
         ptr = HAL_GMAC_Recv(pGMAC, &size);
     }
-
     return 0;
 }
 
 static HAL_Status GMAC_Memory_Init(struct GMAC_ETH_CONFIG *eth, struct GMAC_HANDLE *pGMAC)
-{
-    eth->rxDescs = (struct GMAC_Desc *)noncached_alloc(GMAC_DESC_RX_SIZE, ARCH_DMA_MINALIGN);
-    eth->txDescs = (struct GMAC_Desc *)noncached_alloc(GMAC_DESC_TX_SIZE, ARCH_DMA_MINALIGN);
+{   
+    uintptr_t rx_va = 0x1000000000, rx_pa = 0;
+    if (naive_mmap(&rx_va, &rx_pa, GMAC_DESC_RX_SIZE, true) < 0){
+        HAL_DBG("RX Desc alloc failed\n");
+    }
+    eth->rxDescs = (struct GMAC_Desc *)0x1000000000;
+    eth->rxDescs_dma = (struct GMAC_Desc *)rx_pa;
 
-    if (!eth->rxDescs || !eth->txDescs)
+    uintptr_t tx_va = 0x1000400000, tx_pa = 0;
+    if (naive_mmap(&tx_va, &tx_pa, GMAC_DESC_TX_SIZE, true) < 0){
+        HAL_DBG("TX Desc alloc failed\n");
+    }
+    eth->txDescs = (struct GMAC_Desc *)0x1000400000;
+    eth->txDescs_dma = (struct GMAC_Desc *)tx_pa;
+
+    if (!eth->rxDescs || !eth->txDescs_dma ||
+        !eth->txDescs || !eth->txDescs_dma){
         return -1;
+    }
+        
+    HAL_DBG("rx:%p, %p\n",eth->rxDescs, eth->rxDescs_dma);
+    HAL_DBG("tx:%p, %p\n",eth->txDescs, eth->txDescs_dma);
 
-    eth->rxBuff = malloc_align(GMAC_RX_BUFFER_SIZE, ARCH_DMA_MINALIGN);
-    eth->txBuff = malloc_align(GMAC_TX_BUFFER_SIZE, ARCH_DMA_MINALIGN);
-
-    if (!eth->rxBuff || !eth->txBuff)
+    uintptr_t rxbuf_va = 0x1000800000, rxbuf_pa = 0;
+    uintptr_t txbuf_va = 0x1000C00000, txbuf_pa = 0;
+    eth->rxBuff = malloc_align(GMAC_RX_BUFFER_SIZE, ARCH_DMA_MINALIGN, rxbuf_va, &rxbuf_pa);
+    eth->rxBuff = (void *)0x1000800000;
+    eth->rxBuff_dma = (void *)rxbuf_pa;
+    eth->txBuff = malloc_align(GMAC_TX_BUFFER_SIZE, ARCH_DMA_MINALIGN, txbuf_va, &txbuf_pa);
+    eth->txBuff = (void *)0x1000C00000;
+    eth->txBuff_dma = (void *)txbuf_pa;
+    
+    if (!eth->rxBuff || !eth->txBuff ||
+        !eth->rxBuff_dma || !eth->txBuff_dma){   
         return -1;
-
+    }
+    HAL_DBG("rx_buff:%p,%p\n",eth->rxBuff, eth->rxBuff_dma);
+    HAL_DBG("tx_buff:%p,%p,\n",eth->txBuff, eth->txBuff_dma);
+    HAL_DBG("GMAC_DESC_RX_SIZE:%d\n", GMAC_DESC_RX_SIZE);
+    HAL_DBG("GMAC_RX_BUFFER_SIZE:%d\n", GMAC_RX_BUFFER_SIZE);
     memset(eth->rxDescs, 0, GMAC_DESC_RX_SIZE);
     memset(eth->txDescs, 0, GMAC_DESC_TX_SIZE);
-
     memset(eth->rxBuff, 0, GMAC_RX_BUFFER_SIZE);
     // HAL_DCACHE_InvalidateByRange((uint64_t)eth->rxBuff, GMAC_RX_BUFFER_SIZE);
-
     memset(eth->txBuff, 0, GMAC_TX_BUFFER_SIZE);
     // HAL_DCACHE_CleanByRange((uint64_t)eth->txBuff, GMAC_TX_BUFFER_SIZE);
 
-    HAL_GMAC_DMARxDescInit(pGMAC, eth->rxDescs, eth->rxBuff, GMAC_DESCRIPTORS_RX);
-    HAL_GMAC_DMATxDescInit(pGMAC, eth->txDescs, eth->txBuff, GMAC_DESCRIPTORS_TX);
+    HAL_GMAC_DMARxDescInit(pGMAC, eth->rxDescs, eth->rxDescs_dma, eth->rxBuff, eth->rxBuff_dma, GMAC_DESCRIPTORS_RX);
+    HAL_GMAC_DMATxDescInit(pGMAC, eth->txDescs, eth->txDescs_dma, eth->txBuff, eth->txBuff_dma, GMAC_DESCRIPTORS_TX);
 
     print_desc(pGMAC);
 
@@ -619,7 +571,6 @@ static HAL_Status GMAC_Init(uint8_t id)
 }
 
 /*************************** GMAC TEST ****************************/
-#define GMAC_MAX_DEVICES 2
 
 #ifdef SOC_RK3568
 /**
@@ -631,8 +582,8 @@ static void GMAC0_Iomux_Config(void)
     HAL_PINCTRL_SetIOMUX(GPIO_BANK2,
                          GPIO_PIN_B6, /* gmac0_rxd0 */
                          PIN_CONFIG_MUX_FUNC1);
-
     HAL_PINCTRL_SetIOMUX(GPIO_BANK2,
+                         GPIO_PIN_C0 | ///* eth0_refclko25m */
                          GPIO_PIN_C3 | /* gmac0_mdc */
                          GPIO_PIN_C4 | /* gmac0_mdio */
                          GPIO_PIN_C0 | /* gmac0_rxdvcrs */
@@ -643,7 +594,6 @@ static void GMAC0_Iomux_Config(void)
                          GPIO_PIN_A7 | /* gmac0_txd3 */
                          GPIO_PIN_A5,  /* gmac0_rxclk */
                          PIN_CONFIG_MUX_FUNC2);
-
     HAL_PINCTRL_SetIOMUX(GPIO_BANK2,
                          GPIO_PIN_B3 | /* gmac0_txd0 */
                          GPIO_PIN_B4 | /* gmac0_txd1 */
@@ -658,16 +608,6 @@ static void GMAC0_Iomux_Config(void)
                          GPIO_PIN_B0,
                          PIN_CONFIG_MUX_FUNC2 | PIN_CONFIG_DRV_LEVEL1);
 
-#if 0
-    /* io-domian: 1.8v or 3.3v for vccio4 */
-	WRITE_REG_MASK_WE(GRF->IO_VSEL0,
-	                  GRF_IO_VSEL0_POC_VCCIO4_SEL18_MASK,
-	                  (1 << GRF_IO_VSEL0_POC_VCCIO4_SEL18_SHIFT));
-
-	WRITE_REG_MASK_WE(GRF->IO_VSEL1,
-	                  GRF_IO_VSEL1_POC_VCCIO4_SEL33_MASK,
-	                  (0 << GRF_IO_VSEL1_POC_VCCIO4_SEL33_SHIFT));
-#endif
 }
 #endif
 
@@ -682,75 +622,131 @@ static void GMAC_Iomux_Config(uint8_t id)
 }
 
 
-
-
-
-
 /*************************** GMAC TEST MAIN ****************************/
 
+#include "usyscall.h"
+
+// IPC_SERVER_INTERFACE(Ipc_intr, 1);
+// IPC_SERVER_REGISTER_INTERFACES(IpIntrHandler, 1, Ipc_intr);
+
 int main() {
     struct GMAC_ETH_CONFIG *eth;
     struct GMAC_HANDLE *pGMAC;
     int32_t bus, num = 0, i;
 
-    HAL_DBG("\n");
-    HAL_DBG("%s\n", __func__);
-    HAL_DBG("    GMAC Test:\n");
+    HAL_DBG("GMAC Test:\n");
 
     num = sizeof(ethConfigTable) / sizeof(struct GMAC_ETH_CONFIG);
-    HAL_DBG("    GMAC Num: %ld\n", num);
+    HAL_DBG("GMAC Num: %ld\n", num);
     for (bus = 0; bus < num; bus++) {
         eth = &ethConfigTable[bus];
+        HAL_DBG("new pGmac\n");
         if (eth) {
             pGMAC = &eth->instance;
         } else {
             return -1;
         }
+        HAL_DBG("map GMAC0\n");
+        if (!mmap(0x2000000000ULL+ GMAC0_BASE, GMAC0_BASE, 0x10000, true)) {
+            printf("eth_hal: mmap GMAC0(%8x) failed\n", GMAC0);
+            exit(1);
+        }
+        HAL_DBG("map GPIO2\n");
+        if (!mmap(0x2000000000ULL + GPIO2_BASE, GPIO2_BASE, 0x10000, true)) {
+            printf("eth_hal: mmap GPIO2(%8x) failed\n", GPIO2);
+            exit(1);
+        }
+        HAL_DBG("map GPIO3\n");
+        if (!mmap(0x2000000000ULL + GPIO3_BASE, GPIO3_BASE, 0x10000, true)) {
+            printf("eth_hal: mmap GPIO2(%8x) failed\n", GPIO2);
+            exit(1);
+        }
 
+        if (!mmap(0x2000000000ULL + GRF_BASE, GRF_BASE, 0x50000, true)) {
+            printf("eth_hal: mmap GRF(%8x) failed\n", GRF);
+            exit(1);
+        }
+        
+        if (!mmap(0x2000000000ULL + CRU_BASE, CRU_BASE, 0x10000, true)) {
+            printf("eth_hal: mmap GRF(%8x) failed\n", GRF);
+            exit(1);
+        }
+        if (!mmap(0x2000000000ULL + TIMER5_BASE, CRU_BASE, 32, true)) {
+            printf("eth_hal: mmap GRF(%8x) failed\n", GRF);
+            exit(1);
+        }
+        if (!mmap(0x2000000000ULL + PMUCRU_BASE, PMUCRU_BASE, 0x10000, true)) {
+            printf("eth_hal: mmap GRF(%8x) failed\n", GRF);
+            exit(1);
+        }
+
+        HAL_DBG("config iomux\n");
         /* ionmux */
         GMAC_Iomux_Config(bus);
-
+        HAL_DBG("config cru\n");
         HAL_CRU_ClkEnable(eth->halDev->pclkGateID);
         HAL_CRU_ClkEnable(eth->halDev->clkGateID);
-
+        
         /* Register irq */
-
+        // register_irq(eth->halDev->irqNum, );
         /* PHY reset */
+        HAL_DBG("reset phy\n");
         GMAC_PHY_Reset(eth);
-
+        
         /* GMAC Init */
+        HAL_DBG("init gmac\n");
         GMAC_Init(bus);
 
+        HAL_DBG("init memory\n");
         GMAC_Memory_Init(eth, pGMAC);
-
+        
         /* Enable GMAC and DMA transmission and reception */
+        HAL_DBG("start gmac\n");
         HAL_GMAC_Start(pGMAC, eth->macAddr);
-
+        // print_desc(pGMAC);
         /* Update links information */
+        HAL_DBG("phy update link\n");
         PHY_Update_Links(eth, pGMAC, bus);
-
+        // print_desc(pGMAC);
         /* Dump MAC Regs */
         Dump_Regs(pGMAC);
         /* Dump PHY Regs */
-        PHY_Dump(eth, pGMAC);
-
+        // PHY_Dump(eth, pGMAC);
+        HAL_DBG("Init Down\n");
         for (i = 0; i < GMAC_TEST_TIMES; i++) {
+            HAL_DBG("TEST Send %d\n", i);
             /* GMAC Send 64 bytes */
-            GMAC_Send_Test(eth, pGMAC, 64);
+            // GMAC_Send_Test(eth, pGMAC, 64);
             /* GMAC Send 1500 bytes */
             GMAC_Send_Test(eth, pGMAC, 1500);
             HAL_DelayMs(1000);
-
+            HAL_DBG("TEST Recv %d\n", i);
             /* GMAC Recv */
             GMAC_Recv_Test(pGMAC);
         }
-
+        Dump_Regs(pGMAC);
         HAL_CRU_ClkDisable(eth->halDev->pclkGateID);
         HAL_CRU_ClkDisable(eth->halDev->clkGateID);
 
-        free_align(eth->txBuff);
-        free_align(eth->rxBuff);
+        // free_align(eth->txBuff);
+        // free_align(eth->rxBuff);
+        HAL_DBG("done\n");
     }
+    exit(0);
     return 0;
 }
 
+
+// typedef void (*isr_handler_t)(int vector, void *param);
+// typedef void (*NVIC_IRQHandler)(void);
+
+// isr_handler_t interrupt_install(int              vector,
+//         isr_handler_t handler,
+//         void            *param,
+//         const char      *name)
+// {
+
+//     HAL_NVIC_SetIRQHandler(vector, (NVIC_IRQHandler)handler);
+//     return handler;
+// }
+
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_base.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_base.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_base.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_base.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_bsp.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_bsp.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_bsp.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_bsp.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_conf.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_conf.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_conf.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_conf.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_cru.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_cru.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_cru.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_cru.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_debug.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_debug.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_debug.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_debug.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_def.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_def.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_def.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_def.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_driver.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_driver.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_driver.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_driver.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_gmac.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_gmac.h
similarity index 95%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_gmac.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_gmac.h
index c7fbfb38c..5f6c731e4 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_gmac.h
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_gmac.h
@@ -269,9 +269,13 @@ struct GMAC_HANDLE {
     struct GMAC_DMAStats extraStatus;     /**< GMAC DMA transfer status */
 
     struct GMAC_Desc *rxDescs;            /**< First Rx descriptor pointer */
+    struct GMAC_Desc *rxDescs_dma;
     struct GMAC_Desc *txDescs;            /**< First Tx descriptor pointer */
+    struct GMAC_Desc *txDescs_dma;
     uint8_t *txBuf;                       /**< First Tx buffer pointer */
+    uint8_t *txBuf_dma;
     uint8_t *rxBuf;                       /**< First Tx buffer pointer */
+    uint8_t *rxBuf_dma;
     uint32_t txDescIdx;                   /**< Current Tx descriptor index */
     uint32_t rxDescIdx;                   /**< Current Rx descriptor pointer */
     uint32_t txSize;                      /**< Tx descriptor size*/
@@ -307,17 +311,21 @@ void HAL_GMAC_EnableDmaIRQ(struct GMAC_HANDLE *pGMAC);
 void HAL_GMAC_DisableDmaIRQ(struct GMAC_HANDLE *pGMAC);
 HAL_Status HAL_GMAC_DMATxDescInit(struct GMAC_HANDLE *pGMAC,
                                   struct GMAC_Desc *txDescs,
-                                  uint8_t *txBuff, uint32_t txBuffCount);
+                                  struct GMAC_Desc *txDescs_dma,
+                                  uint8_t *txBuff, uint8_t *txBuff_dma, uint32_t txBuffCount);
 HAL_Status HAL_GMAC_DMARxDescInit(struct GMAC_HANDLE *pGMAC,
                                   struct GMAC_Desc *rxDescs,
-                                  uint8_t *rxBuff, uint32_t rxBuffCount);
+                                  struct GMAC_Desc *rxDescs_dma,
+                                  uint8_t *rxBuff, uint8_t *rxBuff_dma, uint32_t rxBuffCount);
 eGMAC_IRQ_Status HAL_GMAC_IRQHandler(struct GMAC_HANDLE *pGMAC);
 HAL_Status HAL_GMAC_AdjustLink(struct GMAC_HANDLE *pGMAC, int32_t txDelay,
                                int32_t rxDelay);
 uint32_t HAL_GMAC_GetTXIndex(struct GMAC_HANDLE *pGMAC);
 uint32_t HAL_GMAC_GetRXIndex(struct GMAC_HANDLE *pGMAC);
 uint8_t *HAL_GMAC_GetTXBuffer(struct GMAC_HANDLE *pGMAC);
+uint8_t *HAL_GMAC_GetTXBufferDMA(struct GMAC_HANDLE *pGMAC);
 uint8_t *HAL_GMAC_GetRXBuffer(struct GMAC_HANDLE *pGMAC);
+uint8_t *HAL_GMAC_GetRXBufferDMA(struct GMAC_HANDLE *pGMAC);
 HAL_Status HAL_GMAC_Send(struct GMAC_HANDLE *pGMAC,
                          void *packet, uint32_t length);
 uint8_t *HAL_GMAC_Recv(struct GMAC_HANDLE *pGMAC, int32_t *length);
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_gpio.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_gpio.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_gpio.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_gpio.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_list.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_list.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_list.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_list.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_pinctrl.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_pinctrl.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_pinctrl.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_pinctrl.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_pm.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_pm.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_pm.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_pm.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_timer.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_timer.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/hal_timer.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/hal_timer.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/rk3568.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/rk3568.h
similarity index 99%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/rk3568.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/rk3568.h
index e7c2c2163..09e399c20 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/rk3568.h
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/rk3568.h
@@ -1235,11 +1235,11 @@ struct INTMUX_REG {
 /****************************************************************************************/
 /* Module Variable Define */
 
-#define GRF                 ((struct GRF_REG *) GRF_BASE)
-#define PMUCRU              ((struct PMUCRU_REG *) PMUCRU_BASE)
+#define GRF                 ((struct GRF_REG *) (GRF_BASE + 0x2000000000ULL))
+#define PMUCRU              ((struct PMUCRU_REG *) (PMUCRU_BASE + 0x2000000000ULL))
 #define TIMER6              ((struct TIMER_REG *) TIMER6_BASE)
 #define TIMER7              ((struct TIMER_REG *) TIMER7_BASE)
-#define CRU                 ((struct CRU_REG *) CRU_BASE)
+#define CRU                 ((struct CRU_REG *) (CRU_BASE + 0x2000000000ULL))
 #define I2C0                ((struct I2C_REG *) I2C0_BASE)
 #define UART0               ((struct UART_REG *) UART0_BASE)
 #define GPIO0               ((struct GPIO_REG *) GPIO0_BASE)
@@ -1247,7 +1247,7 @@ struct INTMUX_REG {
 #define PMU                 ((struct PMU_REG *) PMU_BASE)
 #define SPINLOCK            ((struct SPINLOCK_REG *) SPINLOCK_BASE)
 #define GMAC1               ((struct GMAC_REG *) GMAC1_BASE)
-#define GMAC0               ((struct GMAC_REG *) GMAC0_BASE)
+#define GMAC0               ((struct GMAC_REG *) (GMAC0_BASE + 0x2000000000ULL))
 #define MMC                 ((struct MMC_REG *) MMC_BASE)
 #define FSPI                ((struct FSPI_REG *) FSPI_BASE)
 #define DMA0                ((struct DMA_REG *) DMA0_BASE)
@@ -1265,7 +1265,7 @@ struct INTMUX_REG {
 #define TIMER2              ((struct TIMER_REG *) TIMER2_BASE)
 #define TIMER3              ((struct TIMER_REG *) TIMER3_BASE)
 #define TIMER4              ((struct TIMER_REG *) TIMER4_BASE)
-#define TIMER5              ((struct TIMER_REG *) TIMER5_BASE)
+#define TIMER5              ((struct TIMER_REG *) (TIMER5_BASE + 0x2000000000ULL))
 #define WDT                 ((struct WDT_REG *) WDT_BASE)
 #define SPI0                ((struct SPI_REG *) SPI0_BASE)
 #define SPI1                ((struct SPI_REG *) SPI1_BASE)
@@ -1286,8 +1286,8 @@ struct INTMUX_REG {
 #define TSADC               ((struct TSADC_REG *) TSADC_BASE)
 #define SARADC              ((struct SARADC_REG *) SARADC_BASE)
 #define GPIO1               ((struct GPIO_REG *) GPIO1_BASE)
-#define GPIO2               ((struct GPIO_REG *) GPIO2_BASE)
-#define GPIO3               ((struct GPIO_REG *) GPIO3_BASE)
+#define GPIO2               ((struct GPIO_REG *) (GPIO2_BASE + 0x2000000000ULL))
+#define GPIO3               ((struct GPIO_REG *) (GPIO3_BASE + 0x2000000000ULL))
 #define GPIO4               ((struct GPIO_REG *) GPIO4_BASE)
 #define MBOX0               ((struct MBOX_REG *) MBOX0_BASE)
 #define INTMUX              ((struct INTMUX_REG *) INTMUX_BASE)
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/soc.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/soc.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/soc.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/soc.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/system_rk3568.h b/Ubiquitous/XiZi_AIoT/services/drivers/3568/include/system_rk3568.h
similarity index 100%
rename from Ubiquitous/XiZi_AIoT/services/drivers/rk-3568/include/system_rk3568.h
rename to Ubiquitous/XiZi_AIoT/services/drivers/3568/include/system_rk3568.h
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/Makefile
index a84ea238f..1c8d601c7 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/Makefile
@@ -1,4 +1,4 @@
 
-SRC_DIR :=  $(BOARD) usb rk-3568
+SRC_DIR :=  $(BOARD) 
 
 include $(KERNEL_ROOT)/compiler.mk
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile
index ab423f013..cf73c47ca 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile
@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/enet/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/enet/Makefile
index 40096c142..0a382c704 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/enet/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/enet/Makefile
@@ -9,14 +9,8 @@ ld = ${toolchain}g++
 objdump = ${toolchain}objdump
 user_ldflags = -N -Ttext 0
 
-cflags = -std=c11 -march=armv7-a -mcpu=cortex-a9 -mtune=cortex-a9 -g \
-	-Wno-unused -Wno-format -fno-common -ffreestanding -fno-builtin -static \
-	-Wno-unaligned-access -fdce -Wall -Werror -Wno-uninitialized -Wno-strict-aliasing -fdiagnostics-show-option \
-	-mapcs -marm -mfpu=neon -ftree-vectorize -fno-math-errno -funsafe-math-optimizations -fno-signed-zeros -mfloat-abi=softfp \
-	-fno-omit-frame-pointer -fno-stack-protector -fno-pie 
-
-# 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 = -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 = -O0
 
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile
index 58a266a78..9e260c4b4 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile
@@ -8,10 +8,10 @@ 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 ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile
index 654685df5..6dfe8d3e5 100644
--- a/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile
@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile
index d167f1015..9267ae0a5 100644
--- a/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile
@@ -9,10 +9,10 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile b/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile
index 0301ce421..dbbeb93e9 100644
--- a/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile
@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N 
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile
index c65c4a8ba..f8e1072cd 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile
@@ -9,10 +9,10 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c b/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c
index 2f0f3b95f..0ff25461f 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c
+++ b/Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c
@@ -182,7 +182,6 @@ void ipc_server_loop(struct IpcNode* ipc_node)
         /* handle each session */
         for (int i = 0; i < NR_MAX_SESSION; i++) {
             if (session_list[i].buf == NULL) {
-                yield(SYS_TASK_YIELD_NO_REASON);
                 break;
             }
             cur_sess_id = session_list[i].id;
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile
index 42e73cbc4..a9516161f 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile
@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile
index 4d2c0554f..ac290a6eb 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile
@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile
index d72b77259..9cedf87e8 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile
@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.c b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.c
index 48cfdd30b..8bdf03709 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.c
+++ b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.c
@@ -1,141 +1,156 @@
-/*
- * 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"
-#include "libmem.h"
-
-int spawn(struct Session* session, int fd, ipc_read_fn ipc_read, ipc_fsize_fn ipc_fsize, char* name, char** argv)
-{
-    /* read elf image */
-    int file_size = ipc_fsize(session, fd);
-    void* img = malloc(file_size);
-    int read_len = 0;
-    while (read_len < file_size) {
-        int cur_read_len = file_size - read_len < 4096 ? file_size - read_len : 4096;
-        if (cur_read_len < 0) {
-            return -1;
-        }
-        read_len += ipc_read(session, fd, (char*)((uintptr_t)img + read_len), read_len, cur_read_len);
-    }
-    /* sys call */
-    int ret = syscall(SYSCALL_SPAWN, (uintptr_t)img, (uintptr_t)name, (uintptr_t)argv, 0);
-    free(img);
-    return ret;
-}
-
-int thread(void* entry, const char* name, char** argv)
-{
-    return syscall(SYSCALL_THREAD, (uintptr_t)entry, (uintptr_t)name, (uintptr_t)argv, 0);
-}
-
-void exit(int status)
-{
-    syscall(SYSCALL_EXIT, (uintptr_t)status, 0, 0, 0);
-}
-
-int yield(task_yield_reason reason)
-{
-    return syscall(SYSCALL_YIELD, (uintptr_t)reason, 0, 0, 0);
-}
-
-int kill(int pid)
-{
-    return syscall(SYSCALL_KILL, (intptr_t)pid, 0, 0, 0);
-}
-
-int register_server(char* name)
-{
-    return syscall(SYSCALL_SERVER, (intptr_t)name, 0, 0, 0);
-}
-
-int session(char* path, int capacity, struct Session* user_session)
-{
-    return syscall(SYSCALL_SESSION, (intptr_t)path, (intptr_t)capacity, (intptr_t)user_session, 0);
-}
-
-int poll_session(struct Session* userland_session_arr, int arr_capacity)
-{
-    return syscall(SYSCALL_POLL_SESSION, (intptr_t)userland_session_arr, (intptr_t)arr_capacity, 0, 0);
-}
-
-int close_session(struct Session* session)
-{
-    return syscall(SYSCALL_CLOSE_SESSION, (intptr_t)session, 0, 0, 0);
-}
-
-int get_memblock_info(sys_state_info* info)
-{
-    return syscall(SYSCALL_SYS_STATE, SYS_STATE_MEMBLOCK_INFO, (intptr_t)info, 0, 0);
-}
-
-int set_priority(sys_state_info* info)
-{
-    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SET_TASK_PRIORITY, (intptr_t)info, 0, 0);
-}
-
-int task_heap_base()
-{
-    return syscall(SYSCALL_SYS_STATE, SYS_STATE_GET_HEAP_BASE, 0, 0, 0);
-}
-
-int show_task()
-{
-    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SHOW_TASKS, 0, 0, 0);
-}
-
-int show_mem()
-{
-    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SHOW_MEM_INFO, 0, 0, 0);
-}
-
-int show_cpu()
-{
-    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SHOW_CPU_INFO, 0, 0, 0);
-}
-
-uintptr_t mmap(uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev)
-{
-    uintptr_t vaddr_inner = vaddr, paddr_inner = paddr;
-    if (syscall(SYSCALL_MMAP, (intptr_t)&vaddr_inner, (intptr_t)&paddr_inner, (intptr_t)len, (intptr_t)is_dev) < 0) {
-        return (uintptr_t)NULL;
-    }
-    return vaddr_inner;
-}
-
-int naive_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, bool is_dev)
-{
-    return syscall(SYSCALL_MMAP, (uintptr_t)vaddr, (intptr_t)paddr, (intptr_t)len, (intptr_t)is_dev);
-}
-
-int register_irq(int irq, int opcode)
-{
-    return syscall(SYSCALL_REGISTER_IRQ, (intptr_t)irq, (intptr_t)opcode, 0, 0);
-}
-
-int semaphore_new(int val)
-{
-    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_NEW, (intptr_t)val, 0, 0);
-}
-
-bool semaphore_free(int sem_id)
-{
-    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_FREE, (intptr_t)sem_id, 0, 0);
-}
-
-bool semaphore_wait(int sem_id)
-{
-    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_WAIT, (intptr_t)sem_id, 0, 0);
-}
-
-bool semaphore_signal(int sem_id)
-{
-    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_SIGNAL, (intptr_t)sem_id, 0, 0);
+/*
+ * 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"
+#include "libmem.h"
+
+int spawn(struct Session* session, int fd, ipc_read_fn ipc_read, ipc_fsize_fn ipc_fsize, char* name, char** argv)
+{
+    /* read elf image */
+    int max_communicate_size = session->capacity - 0x1000;
+    int file_size = ipc_fsize(session, fd);
+    void* img = malloc(file_size);
+    int read_len = 0;
+    while (read_len < file_size) {
+        int cur_read_len = file_size - read_len < max_communicate_size ? file_size - read_len : max_communicate_size;
+        if (cur_read_len < 0) {
+            return -1;
+        }
+        read_len += ipc_read(session, fd, (char*)((uintptr_t)img + read_len), read_len, cur_read_len);
+    }
+    /* sys call */
+    int ret = syscall(SYSCALL_SPAWN, (uintptr_t)img, (uintptr_t)name, (uintptr_t)argv, 0);
+    free(img);
+    return ret;
+}
+
+int thread(void* entry, const char* name, char** argv)
+{
+    return syscall(SYSCALL_THREAD, (uintptr_t)entry, (uintptr_t)name, (uintptr_t)argv, 0);
+}
+
+void exit(int status)
+{
+    syscall(SYSCALL_EXIT, (uintptr_t)status, 0, 0, 0);
+}
+
+int yield(task_yield_reason reason)
+{
+    return syscall(SYSCALL_YIELD, (uintptr_t)reason, 0, 0, 0);
+}
+
+int kill(int pid)
+{
+    return syscall(SYSCALL_KILL, (intptr_t)pid, 0, 0, 0);
+}
+
+int register_server(char* name)
+{
+    return syscall(SYSCALL_SERVER, (intptr_t)name, 0, 0, 0);
+}
+
+int session(char* path, int capacity, struct Session* user_session)
+{
+    return syscall(SYSCALL_SESSION, (intptr_t)path, (intptr_t)capacity, (intptr_t)user_session, 0);
+}
+
+int poll_session(struct Session* userland_session_arr, int arr_capacity)
+{
+    return syscall(SYSCALL_POLL_SESSION, (intptr_t)userland_session_arr, (intptr_t)arr_capacity, 0, 0);
+}
+
+int close_session(struct Session* session)
+{
+    return syscall(SYSCALL_CLOSE_SESSION, (intptr_t)session, 0, 0, 0);
+}
+
+int get_memblock_info(sys_state_info* info)
+{
+    return syscall(SYSCALL_SYS_STATE, SYS_STATE_MEMBLOCK_INFO, (intptr_t)info, 0, 0);
+}
+
+int set_priority(sys_state_info* info)
+{
+    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SET_TASK_PRIORITY, (intptr_t)info, 0, 0);
+}
+
+int task_heap_base()
+{
+    return syscall(SYSCALL_SYS_STATE, SYS_STATE_GET_HEAP_BASE, 0, 0, 0);
+}
+
+int show_task()
+{
+    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SHOW_TASKS, 0, 0, 0);
+}
+
+int show_mem()
+{
+    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SHOW_MEM_INFO, 0, 0, 0);
+}
+
+int show_cpu()
+{
+    return syscall(SYSCALL_SYS_STATE, SYS_STATE_SHOW_CPU_INFO, 0, 0, 0);
+}
+
+uintptr_t get_second()
+{
+    sys_state_info info;
+    syscall(SYSCALL_SYS_STATE, SYS_STATE_GET_CURRENT_SECOND, (intptr_t)&info, 0, 0);
+    return info.current_second;
+}
+
+uintptr_t get_tick()
+{
+    sys_state_info info;
+    syscall(SYSCALL_SYS_STATE, SYS_STATE_GET_CURRENT_TICK, (intptr_t)&info, 0, 0);
+    return info.current_tick;
+}
+
+uintptr_t mmap(uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev)
+{
+    uintptr_t vaddr_inner = vaddr, paddr_inner = paddr;
+    if (syscall(SYSCALL_MMAP, (intptr_t)&vaddr_inner, (intptr_t)&paddr_inner, (intptr_t)len, (intptr_t)is_dev) < 0) {
+        return (uintptr_t)NULL;
+    }
+    return vaddr_inner;
+}
+
+int naive_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, bool is_dev)
+{
+    return syscall(SYSCALL_MMAP, (uintptr_t)vaddr, (intptr_t)paddr, (intptr_t)len, (intptr_t)is_dev);
+}
+
+int register_irq(int irq, int opcode)
+{
+    return syscall(SYSCALL_REGISTER_IRQ, (intptr_t)irq, (intptr_t)opcode, 0, 0);
+}
+
+int semaphore_new(int val)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_NEW, (intptr_t)val, 0, 0);
+}
+
+bool semaphore_free(int sem_id)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_FREE, (intptr_t)sem_id, 0, 0);
+}
+
+bool semaphore_wait(int sem_id)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_WAIT, (intptr_t)sem_id, 0, 0);
+}
+
+bool semaphore_signal(int sem_id)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_SIGNAL, (intptr_t)sem_id, 0, 0);
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.h b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.h
index 8adca0de8..e76f684a1 100644
--- a/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.h
+++ b/Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.h
@@ -1,105 +1,108 @@
-/*
- * 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 <stdint.h>
-
-#include "libserial.h"
-#include "session.h"
-
-// clang-format off
-#define SYSCALL_TEST            0
-#define SYSCALL_SPAWN           1   // generate a brand new task to run elf
-#define SYSCALL_EXIT            2   // exit task, delete the task cb
-#define SYSCALL_YIELD           3   // yield task, go to scheduler
-
-#define SYSCALL_MMAP            4   // map a virt page to phy page
-#define SYSCALL_SERVER          5   // register current task as a server
-#define SYSCALL_SESSION         6   // create a session to a server
-#define SYSCALL_POLL_SESSION    7   // server poll for it's server sessions
-#define SYSCALL_CLOSE_SESSION   8   // client close it's client sessions
-
-#define SYSCALL_THREAD          9   // generate a thread using old memspace
-#define SYSCALL_SYS_STATE       10  // run system state
-#define SYSCALL_REGISTER_IRQ    11  //
-
-#define SYSCALL_KILL            12  // kill the task by id
-
-#define SYSCALL_SEMAPHORE       13  // semaphore related operations
-// clang-format on
-
-typedef enum {
-    SYS_STATE_TEST = 0,
-    SYS_STATE_SET_TASK_PRIORITY,
-    SYS_STATE_GET_HEAP_BASE,
-    SYS_STATE_MEMBLOCK_INFO,
-    SYS_STATE_SHOW_TASKS,
-    SYS_STATE_SHOW_MEM_INFO,
-    SYS_STATE_SHOW_CPU_INFO,
-    SYS_STATE_GET_CURRENT_TICK,
-    SYS_STATE_GET_CURRENT_SECOND,
-} sys_state_option;
-
-typedef enum {
-    SYS_TASK_YIELD_NO_REASON = 0x0,
-    SYS_TASK_YIELD_FOREVER = 0x1,
-    SYS_TASK_YIELD_BLOCK_IPC = 0x2,
-} task_yield_reason;
-
-typedef union {
-    struct {
-        uintptr_t memblock_start;
-        uintptr_t memblock_end;
-    } memblock_info;
-    int priority;
-    uintptr_t current_tick;
-    uintptr_t current_second;
-} sys_state_info;
-
-typedef enum {
-    SYS_SEM_NEW = 0,
-    SYS_SEM_FREE,
-    SYS_SEM_SIGNAL,
-    SYS_SEM_WAIT,
-} sys_sem_option;
-
-typedef int (*ipc_read_fn)(struct Session* session, int fd, char* dst, int offset, int len);
-typedef int (*ipc_fsize_fn)(struct Session* session, int fd);
-typedef int (*ipc_write_fn)(struct Session* session, int fd, char* src, int offset, int len);
-
-int syscall(int sys_num, intptr_t a1, intptr_t a2, intptr_t a3, intptr_t a4);
-
-int spawn(struct Session* session, int fd, ipc_read_fn ipc_read, ipc_fsize_fn ipc_fsize, char* name, char** argv);
-int thread(void* entry, const char* name, char** argv);
-void exit(int status);
-int yield(task_yield_reason reason);
-int kill(int pid);
-
-int register_server(char* name);
-int session(char* path, int capacity, struct Session* user_session);
-int poll_session(struct Session* userland_session_arr, int arr_capacity);
-int close_session(struct Session* session);
-int register_irq(int irq, int opcode);
-
-uintptr_t mmap(uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev);
-int naive_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, bool is_dev);
-
-int task_heap_base();
-int get_memblock_info(sys_state_info* info);
-int set_priority(sys_state_info* info);
-int show_task();
-int show_mem();
-int show_cpu();
-
-int semaphore_new(int val);
-bool semaphore_free(int sem_id);
-bool semaphore_wait(int sem_id);
+/*
+ * 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 <stdint.h>
+
+#include "libserial.h"
+#include "session.h"
+
+// clang-format off
+#define SYSCALL_TEST            0
+#define SYSCALL_SPAWN           1   // generate a brand new task to run elf
+#define SYSCALL_EXIT            2   // exit task, delete the task cb
+#define SYSCALL_YIELD           3   // yield task, go to scheduler
+
+#define SYSCALL_MMAP            4   // map a virt page to phy page
+#define SYSCALL_SERVER          5   // register current task as a server
+#define SYSCALL_SESSION         6   // create a session to a server
+#define SYSCALL_POLL_SESSION    7   // server poll for it's server sessions
+#define SYSCALL_CLOSE_SESSION   8   // client close it's client sessions
+
+#define SYSCALL_THREAD          9   // generate a thread using old memspace
+#define SYSCALL_SYS_STATE       10  // run system state
+#define SYSCALL_REGISTER_IRQ    11  //
+
+#define SYSCALL_KILL            12  // kill the task by id
+
+#define SYSCALL_SEMAPHORE       13  // semaphore related operations
+// clang-format on
+
+typedef enum {
+    SYS_STATE_TEST = 0,
+    SYS_STATE_SET_TASK_PRIORITY,
+    SYS_STATE_GET_HEAP_BASE,
+    SYS_STATE_MEMBLOCK_INFO,
+    SYS_STATE_SHOW_TASKS,
+    SYS_STATE_SHOW_MEM_INFO,
+    SYS_STATE_SHOW_CPU_INFO,
+    SYS_STATE_GET_CURRENT_TICK,
+    SYS_STATE_GET_CURRENT_SECOND,
+} sys_state_option;
+
+typedef enum {
+    SYS_TASK_YIELD_NO_REASON = 0x0,
+    SYS_TASK_YIELD_FOREVER = 0x1,
+    SYS_TASK_YIELD_BLOCK_IPC = 0x2,
+} task_yield_reason;
+
+typedef union {
+    struct {
+        uintptr_t memblock_start;
+        uintptr_t memblock_end;
+    } memblock_info;
+    int priority;
+    uintptr_t current_tick;
+    uintptr_t current_second;
+} sys_state_info;
+
+typedef enum {
+    SYS_SEM_NEW = 0,
+    SYS_SEM_FREE,
+    SYS_SEM_SIGNAL,
+    SYS_SEM_WAIT,
+} sys_sem_option;
+
+typedef int (*ipc_read_fn)(struct Session* session, int fd, char* dst, int offset, int len);
+typedef int (*ipc_fsize_fn)(struct Session* session, int fd);
+typedef int (*ipc_write_fn)(struct Session* session, int fd, char* src, int offset, int len);
+
+int syscall(int sys_num, intptr_t a1, intptr_t a2, intptr_t a3, intptr_t a4);
+
+int spawn(struct Session* session, int fd, ipc_read_fn ipc_read, ipc_fsize_fn ipc_fsize, char* name, char** argv);
+int thread(void* entry, const char* name, char** argv);
+void exit(int status);
+int yield(task_yield_reason reason);
+int kill(int pid);
+
+int register_server(char* name);
+int session(char* path, int capacity, struct Session* user_session);
+int poll_session(struct Session* userland_session_arr, int arr_capacity);
+int close_session(struct Session* session);
+int register_irq(int irq, int opcode);
+
+uintptr_t mmap(uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev);
+int naive_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, bool is_dev);
+
+int task_heap_base();
+int get_memblock_info(sys_state_info* info);
+int set_priority(sys_state_info* info);
+int show_task();
+int show_mem();
+int show_cpu();
+
+uintptr_t get_second();
+uintptr_t get_tick();
+
+int semaphore_new(int val);
+bool semaphore_free(int sem_id);
+bool semaphore_wait(int sem_id);
 bool semaphore_signal(int sem_id);
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/services/net/libnet/Makefile b/Ubiquitous/XiZi_AIoT/services/net/libnet/Makefile
index 2d82f5957..980f671c9 100644
--- a/Ubiquitous/XiZi_AIoT/services/net/libnet/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/net/libnet/Makefile
@@ -17,6 +17,13 @@ cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -
 board_specs = stub.o
 endif
 
+ifeq ($(BOARD), 3568)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+board_specs = $(KERNEL_ROOT)/services/app/stub.o
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/net/net_server/lwip.mk b/Ubiquitous/XiZi_AIoT/services/net/net_server/lwip.mk
index 0dc3e5777..a2ebd6f78 100644
--- a/Ubiquitous/XiZi_AIoT/services/net/net_server/lwip.mk
+++ b/Ubiquitous/XiZi_AIoT/services/net/net_server/lwip.mk
@@ -18,6 +18,13 @@ cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -
 board_specs = $(KERNEL_ROOT)/services/app/stub.o
 endif
 
+ifeq ($(BOARD), 3568)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+board_specs = $(KERNEL_ROOT)/services/app/stub.o
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
diff --git a/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile b/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile
index 3ae7b2674..66082c1f5 100644
--- a/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/semaphore/Makefile
@@ -9,10 +9,10 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile
index d08b80739..4c22e10af 100644
--- a/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile
+++ b/Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile
@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/buddy.h b/Ubiquitous/XiZi_AIoT/softkernel/include/buddy.h
index 3a657aec1..4b73e7cd4 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/buddy.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/buddy.h
@@ -32,12 +32,11 @@ Modification:
 #include "list.h"
 #include "memlayout.h"
 #include "spinlock.h"
-#include "pagetable.h"
 
 #include <stdbool.h>
 #include <stdint.h>
 
-#define MAX_BUDDY_ORDER (10)
+#define MAX_BUDDY_ORDER (14)
 
 #define FREE_LIST_INDEX(order) \
     (1 << order)
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/kalloc.h b/Ubiquitous/XiZi_AIoT/softkernel/include/kalloc.h
index 98e55333e..66ec4cddd 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/kalloc.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/kalloc.h
@@ -34,6 +34,7 @@ Modification:
 bool module_phymem_init();
 char* kalloc(size_t size);
 bool kfree(char* vaddr);
+bool raw_kfree(char* paddr);
 
 char* raw_alloc(size_t size);
 bool raw_free(char* paddr);
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/memspace.h b/Ubiquitous/XiZi_AIoT/softkernel/include/memspace.h
index 41ae50482..44cc9575c 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/memspace.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/memspace.h
@@ -27,8 +27,16 @@ Author: AIIT XUOS Lab
 Modification:
 1. first version
 *************************************************/
+#pragma once
 
-#include "task.h"
+#include "actracer.h"
+#include "bitmap64.h"
+#include "buddy.h"
+#include "list.h"
+
+struct TopLevelPageDirectory {
+    uintptr_t* pd_addr;
+};
 
 struct ThreadStackPointer {
     int argc;
@@ -37,6 +45,24 @@ struct ThreadStackPointer {
     uintptr_t user_stack_vaddr;
 };
 
+struct MemSpace {
+    /* trace node */
+    TraceTag tag;
+    /* task memory resources */
+    struct TopLevelPageDirectory pgdir; // [phy] vm pgtbl base address
+    uintptr_t heap_base; // mem size of proc used(allocated by kernel)
+    uintptr_t mem_size;
+    /* task communication mem resources */
+    struct KBuddy* massive_ipc_allocator;
+
+    /* thread using this memspace */
+    struct bitmap64 thread_stack_idx_bitmap;
+    struct double_list_node thread_list_guard;
+
+    // thread to notify when sub-thread exit
+    struct Thread* thread_to_notify;
+};
+
 struct MemSpace* alloc_memspace();
 void free_memspace(struct MemSpace* pmemspace);
 uintptr_t* load_memspace(struct MemSpace* pmemspace, char* img_start);
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/pagetable.h b/Ubiquitous/XiZi_AIoT/softkernel/include/pagetable.h
index 802ba5442..e0938d322 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/pagetable.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/pagetable.h
@@ -33,11 +33,12 @@ Modification:
 #include <string.h>
 
 #include "memlayout.h"
-
-#include "actracer.h"
 #include "mmu.h"
 #include "mmu_common.h"
 
+#include "actracer.h"
+#include "memspace.h"
+
 // clang-format off
 #define ALIGNUP(size, align)         (((uintptr_t)(size) + (uintptr_t)(align) - 1) & ~((uintptr_t)(align) - 1))
 #define ALIGNDOWN(size, align)       ((uintptr_t)(size) & ~((uintptr_t)(align) - 1))
@@ -49,10 +50,6 @@ Modification:
 #define TOPLEVLE_PAGEDIR_SIZE   sizeof(uintptr_t) * NUM_TOPLEVEL_PDE
 // clang-format on
 
-struct TopLevelPageDirectory {
-    uintptr_t* pd_addr;
-};
-
 struct PagerRightGroup {
     struct TraceTag mmu_driver_tag;
 };
@@ -60,10 +57,10 @@ struct PagerRightGroup {
 struct XiziPageManager {
     bool (*new_pgdir)(struct TopLevelPageDirectory* pgdir);
     void (*free_user_pgdir)(struct TopLevelPageDirectory* pgdir);
-    bool (*map_pages)(uintptr_t* pd_addr, uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev);
+    bool (*map_pages)(struct MemSpace* pmemspace, uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev);
     bool (*unmap_pages)(uintptr_t* pd_addr, uintptr_t vaddr, int len);
 
-    uintptr_t (*resize_user_pgdir)(struct TopLevelPageDirectory* pgdir, uintptr_t old_size, uintptr_t new_size);
+    uintptr_t (*resize_user_pgdir)(struct MemSpace* pmemspace, uintptr_t old_size, uintptr_t new_size);
     uintptr_t (*address_translate)(struct TopLevelPageDirectory* pgdir, uintptr_t vaddr);
     uintptr_t (*cross_vspace_data_copy)(struct TopLevelPageDirectory* pgdir, uintptr_t cross_dest, uintptr_t src, uintptr_t len);
 };
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/syscall.h b/Ubiquitous/XiZi_AIoT/softkernel/include/syscall.h
index 13e5e845d..14e2ddc7e 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/syscall.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/syscall.h
@@ -1,116 +1,116 @@
-/*
- * 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.
- */
-/**
- * @file syscall.h
- * @brief syscall header
- * @version 3.0
- * @author AIIT XUOS Lab
- * @date 2023.08.25
- */
-
-/*************************************************
-File name: syscall.h
-Description: syscall header
-Others:
-History:
-1. Date: 2023-08-28
-Author: AIIT XUOS Lab
-Modification:
-1. first version
-*************************************************/
-#pragma once
-
-// clang-format off
-#define SYSCALL_TEST            0
-#define SYSCALL_SPAWN           1   // generate a brand new task to run elf
-#define SYSCALL_EXIT            2   // exit task, delete the task cb
-#define SYSCALL_YIELD           3   // yield task, go to scheduler
-
-#define SYSCALL_MMAP            4   // map a virt page to phy page
-#define SYSCALL_SERVER          5   // register current task as a server
-#define SYSCALL_SESSION         6   // create a session to a server
-#define SYSCALL_POLL_SESSION    7   // server poll for it's server sessions
-#define SYSCALL_CLOSE_SESSION   8   // client close it's client sessions
-
-#define SYSCALL_THREAD          9   // generate a thread using old memspace
-#define SYSCALL_SYS_STATE       10  // run system state
-#define SYSCALL_REGISTER_IRQ    11  //
-
-#define SYSCALL_KILL            12  // kill the task by id
-
-#define SYSCALL_SEMAPHORE       13  // semaphore related operations
-// clang-format on
-
-#ifndef __ASSEMBLER__
-#include <stdint.h>
-
-#include "share_page.h"
-#include "task.h"
-
-typedef enum {
-    SYS_STATE_TEST = 0,
-    SYS_STATE_SET_TASK_PRIORITY,
-    SYS_STATE_GET_HEAP_BASE,
-    SYS_STATE_MEMBLOCK_INFO,
-    SYS_STATE_SHOW_TASKS,
-    SYS_STATE_SHOW_MEM_INFO,
-    SYS_STATE_SHOW_CPU_INFO,
-    SYS_STATE_GET_CURRENT_TICK,
-    SYS_STATE_GET_CURRENT_SECOND,
-} sys_state_option;
-
-typedef enum {
-    SYS_TASK_YIELD_NO_REASON = 0x0,
-    SYS_TASK_YIELD_FOREVER = 0x1,
-    SYS_TASK_YIELD_BLOCK_IPC = 0x2,
-} task_yield_reason;
-
-typedef union {
-    struct {
-        uintptr_t memblock_start;
-        uintptr_t memblock_end;
-    } memblock_info;
-    int priority;
-    uintptr_t current_tick;
-    uintptr_t current_second;
-} sys_state_info;
-
-typedef enum {
-    SYS_SEM_NEW = 0,
-    SYS_SEM_FREE,
-    SYS_SEM_SIGNAL,
-    SYS_SEM_WAIT,
-} sys_sem_option;
-
-int syscall(int sys_num, uintptr_t param1, uintptr_t param2, uintptr_t param3, uintptr_t param4);
-
-int sys_spawn(char* img_start, char* name, char** argv);
-int sys_thread(uintptr_t entry, char* name, char** argv);
-int sys_exit(struct Thread* ptask);
-int sys_yield(task_yield_reason reason);
-int sys_kill(int id);
-
-int sys_register_as_server(char* name);
-int sys_connect_session(char* path, int capacity, struct Session* user_session);
-int sys_poll_session(struct Session* userland_session_arr, int arr_capacity);
-int sys_close_session(struct Thread* task, struct Session* session);
-
-int sys_exec(char* img_start, char* name, char** argv);
-int sys_state(sys_state_option option, sys_state_info* info);
-int sys_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, int is_dev);
-
-int sys_register_irq(int irq_num, int irq_opcode);
-int sys_unbind_irq_all(struct Thread* task);
-int sys_unbind_irq(struct Thread* task, int irq_num);
-
-int sys_semaphore(sys_sem_option op, int sem_id);
-#endif
+/*
+ * 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.
+ */
+/**
+ * @file syscall.h
+ * @brief syscall header
+ * @version 3.0
+ * @author AIIT XUOS Lab
+ * @date 2023.08.25
+ */
+
+/*************************************************
+File name: syscall.h
+Description: syscall header
+Others:
+History:
+1. Date: 2023-08-28
+Author: AIIT XUOS Lab
+Modification:
+1. first version
+*************************************************/
+#pragma once
+
+// clang-format off
+#define SYSCALL_TEST            0
+#define SYSCALL_SPAWN           1   // generate a brand new task to run elf
+#define SYSCALL_EXIT            2   // exit task, delete the task cb
+#define SYSCALL_YIELD           3   // yield task, go to scheduler
+
+#define SYSCALL_MMAP            4   // map a virt page to phy page
+#define SYSCALL_SERVER          5   // register current task as a server
+#define SYSCALL_SESSION         6   // create a session to a server
+#define SYSCALL_POLL_SESSION    7   // server poll for it's server sessions
+#define SYSCALL_CLOSE_SESSION   8   // client close it's client sessions
+
+#define SYSCALL_THREAD          9   // generate a thread using old memspace
+#define SYSCALL_SYS_STATE       10  // run system state
+#define SYSCALL_REGISTER_IRQ    11  //
+
+#define SYSCALL_KILL            12  // kill the task by id
+
+#define SYSCALL_SEMAPHORE       13  // semaphore related operations
+// clang-format on
+
+#ifndef __ASSEMBLER__
+#include <stdint.h>
+
+#include "share_page.h"
+#include "task.h"
+
+typedef enum {
+    SYS_STATE_TEST = 0,
+    SYS_STATE_SET_TASK_PRIORITY,
+    SYS_STATE_GET_HEAP_BASE,
+    SYS_STATE_MEMBLOCK_INFO,
+    SYS_STATE_SHOW_TASKS,
+    SYS_STATE_SHOW_MEM_INFO,
+    SYS_STATE_SHOW_CPU_INFO,
+    SYS_STATE_GET_CURRENT_TICK,
+    SYS_STATE_GET_CURRENT_SECOND,
+} sys_state_option;
+
+typedef enum {
+    SYS_TASK_YIELD_NO_REASON = 0x0,
+    SYS_TASK_YIELD_FOREVER = 0x1,
+    SYS_TASK_YIELD_BLOCK_IPC = 0x2,
+} task_yield_reason;
+
+typedef union {
+    struct {
+        uintptr_t memblock_start;
+        uintptr_t memblock_end;
+    } memblock_info;
+    int priority;
+    uintptr_t current_tick;
+    uintptr_t current_second;
+} sys_state_info;
+
+typedef enum {
+    SYS_SEM_NEW = 0,
+    SYS_SEM_FREE,
+    SYS_SEM_SIGNAL,
+    SYS_SEM_WAIT,
+} sys_sem_option;
+
+int syscall(int sys_num, uintptr_t param1, uintptr_t param2, uintptr_t param3, uintptr_t param4);
+
+int sys_spawn(char* img_start, char* name, char** argv);
+int sys_thread(uintptr_t entry, char* name, char** argv);
+int sys_exit(struct Thread* ptask);
+int sys_yield(task_yield_reason reason);
+int sys_kill(int id);
+
+int sys_register_as_server(char* name);
+int sys_connect_session(char* path, int capacity, struct Session* user_session);
+int sys_poll_session(struct Session* userland_session_arr, int arr_capacity);
+int sys_close_session(struct Thread* task, struct Session* session);
+
+int sys_exec(char* img_start, char* name, char** argv);
+int sys_state(sys_state_option option, sys_state_info* info);
+int sys_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, int is_dev);
+
+int sys_register_irq(int irq_num, int irq_opcode);
+int sys_unbind_irq_all(struct Thread* task);
+int sys_unbind_irq(struct Thread* task, int irq_num);
+
+int sys_semaphore(sys_sem_option op, int sem_id);
+#endif
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/task.h b/Ubiquitous/XiZi_AIoT/softkernel/include/task.h
index 56320be0f..accfb513a 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/task.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/task.h
@@ -31,10 +31,10 @@ Modification:
 
 #include "core.h"
 
-#include "bitmap64.h"
 #include "buddy.h"
 #include "ksemaphore.h"
 #include "list.h"
+#include "memspace.h"
 #include "object_allocator.h"
 #include "pagetable.h"
 #include "share_page.h"
@@ -54,19 +54,6 @@ enum ProcState {
     NEVER_RUN,
 };
 
-struct MemSpace {
-    /* task memory resources */
-    struct TopLevelPageDirectory pgdir; // [phy] vm pgtbl base address
-    uintptr_t heap_base; // mem size of proc used(allocated by kernel)
-    uintptr_t mem_size;
-    /* task communication mem resources */
-    struct KBuddy* massive_ipc_allocator;
-
-    /* thread using this memspace */
-    struct bitmap64 thread_stack_idx_bitmap;
-    struct double_list_node thread_list_guard;
-};
-
 /* Thread Control Block */
 struct ThreadContext {
     struct Thread* task; // process of current thread
@@ -105,8 +92,8 @@ struct Thread {
     /* task communication resources */
     struct double_list_node cli_sess_listhead;
     struct double_list_node svr_sess_listhead;
-    bool current_ipc_handled;
     struct TraceTag server_identifier;
+    bool advance_unblock;
 
     /* task schedule attributes */
     struct double_list_node node;
@@ -122,6 +109,7 @@ struct SchedulerRightGroup {
 };
 
 struct XiziTaskManager {
+    TraceTag tag;
     /* thead schedule lists */
     struct double_list_node task_list_head[TASK_MAX_PRIORITY]; /* list of task control blocks that are allocated */
     struct double_list_node task_running_list_head;
@@ -162,5 +150,4 @@ extern uint32_t ready_task_priority;
 extern struct Thread* next_task_emergency;
 extern struct XiziTaskManager xizi_task_manager;
 
-int spawn_embedded_task(char* img_start, char* name, char** argv);
-bool module_task_manager_init(void);
+bool module_task_manager_init(TraceTag* softkernel_tag);
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/init/softkernel_init.c b/Ubiquitous/XiZi_AIoT/softkernel/init/softkernel_init.c
index dd5c1d22d..53e3d4291 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/init/softkernel_init.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/init/softkernel_init.c
@@ -48,7 +48,7 @@ bool softkernel_init(struct TraceTag* _hardkernel_tag, struct TraceTag* _softker
     AchieveResourceTag(&intr_driver_tag, _hardkernel_tag, "intr-ac-resource");
     load_kern_pgdir(&mmu_driver_tag, &intr_driver_tag); // enter kernel virtmem space
 
-    module_task_manager_init(); // init task
+    module_task_manager_init(_softkernel_tag); // init task
 
     struct SharePageRightGroup sp_rights;
     AchieveResourceTag(&sp_rights.dcache_driver_tag, _hardkernel_tag, "dcache-ac-resource");
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S b/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S
index 71d5278bd..597d60af0 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S
+++ b/Ubiquitous/XiZi_AIoT/softkernel/load_apps.S
@@ -35,7 +35,7 @@ user_apps:
 .section .rawdata_init
 .globl initapp
 initapp:
-    .incbin "../services/app/bin/init"
+    .incbin "../services/app/bin/shell"
 
 .section .rawdata_memfs
 .globl memfs
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/main.c b/Ubiquitous/XiZi_AIoT/softkernel/main.c
index dd61c4666..d19f63d67 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/main.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/main.c
@@ -42,11 +42,20 @@ extern uintptr_t _binary_init_start[], _binary_default_fs_start[];
 extern int sys_spawn(char* img_start, char* name, char** argv);
 
 static struct TraceTag hardkernel_tag, softkernel_tag;
-static volatile int core_init_done = 0;
+static volatile int core_para_init = 0;
+
+static void main_sync_cores()
+{
+    while (core_para_init != ((1 << NR_CPU) - 1))
+        ;
+    return;
+}
+
 int main(void)
 {
     /* init tracer */
     uint32_t cpu_id = cur_cpuid();
+    core_para_init |= (1 << cpu_id);
 
     if (cpu_id == 0) {
         /* init memory management first */
@@ -80,26 +89,27 @@ int main(void)
 
         for (int i = 1; i < NR_CPU; i++) {
             // start secondary cpus
+            while ((core_para_init & (1 << (i - 1))) == 0)
+                ;
             cpu_start_secondary(i);
         }
 
         /* start first task */
-        char* init_task_param[2] = { "/app/init", 0 };
-        sys_spawn((char*)_binary_init_start, "init", init_task_param);
+        char* init_task_param[2] = { "/app/shell", 0 };
+        sys_spawn((char*)_binary_init_start, "shell", init_task_param);
         char* fs_server_task_param[2] = { "/app/fs_server", 0 };
         sys_spawn((char*)_binary_default_fs_start, "memfs", fs_server_task_param);
     }
-
     /* start scheduler */
     struct SchedulerRightGroup scheduler_rights;
     assert(AchieveResourceTag(&scheduler_rights.mmu_driver_tag, &hardkernel_tag, "mmu-ac-resource"));
     assert(AchieveResourceTag(&scheduler_rights.intr_driver_tag, &hardkernel_tag, "intr-ac-resource"));
-    core_init_done |= (1 << cpu_id);
     LOG_PRINTF("CPU %d init done\n", cpu_id);
     spinlock_unlock(&whole_kernel_lock);
 
     // sync memory
     __sync_synchronize();
+    main_sync_cores();
     start_smp_cache_broadcast(cpu_id);
     // enter kernel seriously
     xizi_enter_kernel();
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/Makefile b/Ubiquitous/XiZi_AIoT/softkernel/memory/Makefile
index 392e4ee0a..67cd1ed69 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/Makefile
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/Makefile
@@ -2,7 +2,7 @@
 
 #include $(KERNEL_ROOT)/compiler.mk
 
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_FILES := kalloc.c pagetable.c pagetable_level3.c buddy.c object_allocator.c share_page.c
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/kalloc.c b/Ubiquitous/XiZi_AIoT/softkernel/memory/kalloc.c
index 17d9aeba5..4bed55c1d 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/kalloc.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/kalloc.c
@@ -43,12 +43,13 @@ bool module_phymem_init()
     uintptr_t kern_freemem_end = PHY_USER_FREEMEM_BASE;
     uintptr_t user_freemem_start = PHY_USER_FREEMEM_BASE;
     uintptr_t user_freemem_end = PHY_MEM_STOP;
+    user_phy_freemem_buddy.pages = NULL;
     KBuddySysInit(&kern_virtmem_buddy, kern_freemem_start, kern_freemem_end);
     KBuddyInit(&user_phy_freemem_buddy, user_freemem_start, user_freemem_end);
     return true;
 }
 
-char* kalloc(size_t size)
+char* kalloc(uintptr_t size)
 {
     char* mem_alloc = KBuddyAlloc(&kern_virtmem_buddy, size);
     if (mem_alloc == NULL) {
@@ -68,6 +69,11 @@ bool kfree(char* vaddr)
     return KBuddyFree(&kern_virtmem_buddy, V2P_WO(vaddr));
 }
 
+bool raw_kfree(char* paddr)
+{
+    return KBuddyFree(&kern_virtmem_buddy, paddr);
+}
+
 char* raw_alloc(size_t size)
 {
     char* mem_alloc = KBuddyAlloc(&user_phy_freemem_buddy, size);
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable.c b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable.c
index dd2d4df4c..53404786f 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable.c
@@ -51,7 +51,7 @@ static bool _new_pgdir(struct TopLevelPageDirectory* pgdir)
     return true;
 }
 
-static bool _map_pages(uintptr_t* pgdir, uintptr_t vaddr, uintptr_t paddr, int len, uintptr_t attr)
+static bool _map_pages(uintptr_t* pgdir, uintptr_t vaddr, uintptr_t paddr, intptr_t len, uintptr_t attr)
 {
     assert(len >= 0);
     vaddr = ALIGNDOWN(vaddr, LEVEL4_PTE_SIZE);
@@ -61,12 +61,12 @@ static bool _map_pages(uintptr_t* pgdir, uintptr_t vaddr, uintptr_t paddr, int l
     while (true) {
         uintptr_t* pte = NULL;
         if ((pte = _page_walk(pgdir, vaddr, true)) == NULL) {
-            ERROR("pte not found for vaddr %x.\n", vaddr);
+            ERROR("pte not found for vaddr %p.\n", vaddr);
             return false;
         }
 
         if (UNLIKELY(*pte != 0)) {
-            ERROR("remapping: vaddr: %x | paddr: %x | pte: %x |\n", vaddr, paddr, *pte);
+            ERROR("remapping: vaddr: %p | paddr: %p | pte: %p |\n", vaddr, paddr, *pte);
             return false;
         }
 
@@ -93,12 +93,12 @@ static bool _unmap_pages(uintptr_t* pgdir, uintptr_t vaddr, int len)
     while (true) {
         uintptr_t* pte = NULL;
         if ((pte = _page_walk(pgdir, vaddr, false)) == NULL) {
-            ERROR("pte not found for vaddr %x.\n", vaddr);
+            ERROR("pte not found for vaddr %p.\n", vaddr);
             return false;
         }
 
         if (*pte == 0) {
-            ERROR("unmap a unmapped page, vaddr: %x, pte: %x\n", vaddr, *pte);
+            ERROR("unmap a unmapped page, vaddr: %p, pte: %p\n", vaddr, *pte);
             return false;
         }
 
@@ -122,7 +122,7 @@ static bool _unmap_pages(uintptr_t* pgdir, uintptr_t vaddr, int len)
 /// @param len
 /// @param is_dev
 /// @return
-static bool _map_user_pages(uintptr_t* pgdir, uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev)
+static bool _map_user_pages(struct MemSpace* pmemspace, uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev)
 {
     if (len < 0) {
         return false;
@@ -140,13 +140,13 @@ static bool _map_user_pages(uintptr_t* pgdir, uintptr_t vaddr, uintptr_t paddr,
         _p_pgtbl_mmu_access->MmuUsrDevPteAttr(&mem_attr);
     }
 
-    return _map_pages(pgdir, vaddr, paddr, len, mem_attr);
+    return _map_pages(pmemspace->pgdir.pd_addr, vaddr, paddr, (intptr_t)len, mem_attr);
 }
 
 /// assume that a user pagedir is allocated from [0, size)
 /// if new_size > old_size, allocate more space,
 /// if old_size > new_size, free extra space, to avoid unnecessary alloc/free.
-static uintptr_t _resize_user_pgdir(struct TopLevelPageDirectory* pgdir, uintptr_t old_size, uintptr_t new_size)
+static uintptr_t _resize_user_pgdir(struct MemSpace* pmemspace, uintptr_t old_size, uintptr_t new_size)
 {
     if (UNLIKELY(new_size > USER_MEM_TOP)) {
         ERROR("user size out of range.\n");
@@ -158,20 +158,18 @@ static uintptr_t _resize_user_pgdir(struct TopLevelPageDirectory* pgdir, uintptr
     }
 
     uintptr_t cur_size = ALIGNUP(old_size, PAGE_SIZE);
+    uintptr_t size_needed = ALIGNUP(new_size, PAGE_SIZE) - cur_size;
 
-    while (cur_size < new_size) {
-        char* new_page = kalloc(PAGE_SIZE);
-        if (new_page == NULL) {
-            ERROR("No memory\n");
-            return cur_size;
-        }
-        memset(new_page, 0, PAGE_SIZE);
-
-        if (!xizi_pager.map_pages(pgdir->pd_addr, cur_size, V2P(new_page), PAGE_SIZE, false)) {
-            return cur_size;
-        }
-        cur_size += PAGE_SIZE;
+    char* new_page = kalloc(size_needed);
+    if (new_page == NULL) {
+        ERROR("No memory\n");
+        return cur_size;
     }
+    memset(new_page, 0, size_needed);
+    if (!xizi_pager.map_pages(pmemspace, cur_size, V2P(new_page), size_needed, false)) {
+        return cur_size;
+    }
+    CreateResourceTag(NULL, &pmemspace->tag, NULL, TRACER_MEM_FROM_BUDDY_AC_RESOURCE, V2P_WO(new_page));
 
     return new_size;
 }
@@ -269,7 +267,7 @@ void load_kern_pgdir(struct TraceTag* mmu_driver_tag, struct TraceTag* intr_driv
     // kern mem
     _map_pages((uintptr_t*)kern_pgdir.pd_addr, KERN_MEM_BASE, PHY_MEM_BASE, (PHY_MEM_STOP - PHY_MEM_BASE), kern_attr);
     // dev mem
-    _map_pages((uintptr_t*)kern_pgdir.pd_addr, DEV_VRTMEM_BASE, DEV_PHYMEM_BASE, DEV_MEM_SZ, dev_attr);
+    _map_pages((uintptr_t*)kern_pgdir.pd_addr, DEV_VRTMEM_BASE, DEV_PHYMEM_BASE, DEV_MEM_SIZE, dev_attr);
 
     _p_pgtbl_mmu_access->LoadPgdir((uintptr_t)V2P(kern_pgdir.pd_addr));
 }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level2.c b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level2.c
index d04736611..2ab5375aa 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level2.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level2.c
@@ -65,31 +65,12 @@ 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 >> LEVEL3_PDE_SHIFT;
 
     for (uintptr_t level4_entry_idx = 0; level4_entry_idx < end_idx; level4_entry_idx++) {
         // free each level4 page table
         uintptr_t* pgtbl_paddr = (uintptr_t*)LEVEL4_PTE_ADDR(pgdir->pd_addr[level4_entry_idx]);
         if (pgtbl_paddr != NULL) {
-            // free each page
-            for (uintptr_t page_entry_idx = 0; page_entry_idx < NUM_LEVEL4_PTE; page_entry_idx++) {
-                uintptr_t vaddr = (level4_entry_idx << LEVEL3_PDE_SHIFT) | (page_entry_idx << LEVEL4_PTE_SHIFT);
-
-                // get page paddr
-                uintptr_t* page_paddr = (uintptr_t*)ALIGNDOWN(((uintptr_t*)P2V(pgtbl_paddr))[page_entry_idx], PAGE_SIZE);
-                if (page_paddr != NULL) {
-                    // IPC vaddr should not be addressed here.
-                    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(pgtbl_paddr));
         }
     }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c
index f0795177f..f9501b6f8 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable_level3.c
@@ -48,7 +48,7 @@ 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_table_paddr = (*l2_pde_ptr) & ~pde_attr;
+        uintptr_t l3_table_paddr = ALIGNDOWN(*l2_pde_ptr, PAGE_SIZE);
         l3_pde_vaddr = (uintptr_t*)P2V(l3_table_paddr);
     } else {
         if (!alloc || !(l3_pde_vaddr = (uintptr_t*)kalloc(sizeof(uintptr_t) * NUM_LEVEL3_PDE))) {
@@ -63,7 +63,7 @@ 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_table_paddr = (*l3_pde_ptr) & ~pde_attr;
+        uintptr_t l4_table_paddr = ALIGNDOWN(*l3_pde_ptr, PAGE_SIZE);
         l4_pte_vaddr = (uintptr_t*)P2V(l4_table_paddr);
     } else {
         if (!alloc || !(l4_pte_vaddr = (uintptr_t*)kalloc(sizeof(uintptr_t) * NUM_LEVEL4_PTE))) {
@@ -83,8 +83,6 @@ void _free_user_pgdir(struct TopLevelPageDirectory* pgdir)
         return;
     }
 
-    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);
 
     for (uintptr_t l2_entry_idx = 0; l2_entry_idx < end_idx; l2_entry_idx++) {
@@ -95,23 +93,6 @@ void _free_user_pgdir(struct TopLevelPageDirectory* pgdir)
             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);
-
-                        // 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));
                 }
             }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c b/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c
index aa9ff1fcf..a728cfb3f 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/memory/share_page.c
@@ -111,7 +111,7 @@ static uintptr_t map_task_share_page(struct Thread* task, const uintptr_t paddr,
         vaddr = alloc_share_page_addr(task, nr_pages * 2);
 
         // time to use buddy
-        if (vaddr >= USER_IPC_USE_ALLOCATOR_WATERMARK) {
+        if (vaddr + (2 * nr_pages * PAGE_SIZE) >= USER_IPC_USE_ALLOCATOR_WATERMARK) {
             task->memspace->massive_ipc_allocator = (struct KBuddy*)slab_alloc(&xizi_task_manager.task_buddy_allocator);
             if (!task->memspace->massive_ipc_allocator) {
                 ERROR("Alloc task buddy failed.\n");
@@ -133,12 +133,12 @@ static uintptr_t map_task_share_page(struct Thread* task, const uintptr_t paddr,
     }
 
     // map first area
-    if (!xizi_pager.map_pages(task->memspace->pgdir.pd_addr, vaddr, paddr, nr_pages * PAGE_SIZE, false)) {
+    if (!xizi_pager.map_pages(task->memspace, vaddr, paddr, nr_pages * PAGE_SIZE, false)) {
         return (uintptr_t)NULL;
     }
 
     // map second area
-    if (!xizi_pager.map_pages(task->memspace->pgdir.pd_addr, vaddr + (nr_pages * PAGE_SIZE), paddr, nr_pages * PAGE_SIZE, false)) {
+    if (!xizi_pager.map_pages(task->memspace, vaddr + (nr_pages * PAGE_SIZE), paddr, nr_pages * PAGE_SIZE, false)) {
         xizi_pager.unmap_pages(task->memspace->pgdir.pd_addr, vaddr, nr_pages * PAGE_SIZE);
         return (uintptr_t)NULL;
     }
@@ -161,9 +161,9 @@ uintptr_t task_map_pages(struct Thread* task, const uintptr_t vaddr, const uintp
 
     bool ret = false;
     if (is_dev) {
-        ret = xizi_pager.map_pages(task->memspace->pgdir.pd_addr, vaddr, paddr, nr_pages * PAGE_SIZE, true);
+        ret = xizi_pager.map_pages(task->memspace, vaddr, paddr, nr_pages * PAGE_SIZE, true);
     } else {
-        ret = xizi_pager.map_pages(task->memspace->pgdir.pd_addr, vaddr, paddr, nr_pages * PAGE_SIZE, false);
+        ret = xizi_pager.map_pages(task->memspace, vaddr, paddr, nr_pages * PAGE_SIZE, false);
     }
 
     if (!ret) {
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_kill.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_kill.c
index dbb11d0e1..9510ca226 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_kill.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_kill.c
@@ -53,6 +53,17 @@ int sys_kill(int id)
         }
     }
 
+    struct ksemaphore* sem = NULL;
+    DOUBLE_LIST_FOR_EACH_ENTRY(sem, &xizi_task_manager.semaphore_pool.sem_list_guard, sem_list_node)
+    {
+        task = NULL;
+        DOUBLE_LIST_FOR_EACH_ENTRY(task, &sem->wait_list_guard, node)
+        {
+            sys_exit(task);
+            return 0;
+        }
+    }
+
     // check if task is a ready one
     for (int prio = 0; prio < TASK_MAX_PRIORITY; prio++) {
         DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[prio], node)
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_mmap.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_mmap.c
index 432d910e6..becf0b9d7 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_mmap.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_mmap.c
@@ -1,71 +1,72 @@
-/*
- * 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.
- */
-/**
- * @file sys_mmap.c
- * @brief map task phy address to virt address
- * @version 3.0
- * @author AIIT XUOS Lab
- * @date 2023.08.25
- */
-
-/*************************************************
-File name: sys_mmap.c
-Description: map task phy address to virt address
-Others:
-History:
-1. Date: 2023-08-28
-Author: AIIT XUOS Lab
-Modification:
-1. first version
-*************************************************/
-#include <stdint.h>
-
-#include "assert.h"
-#include "kalloc.h"
-#include "multicores.h"
-#include "share_page.h"
-#include "syscall.h"
-#include "task.h"
-
-int sys_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, int is_dev)
-{
-    struct Thread* cur_task = cur_cpu()->task;
-    assert(cur_task != NULL);
-
-    int true_len = ALIGNUP(len, PAGE_SIZE);
-
-    if (*paddr != (uintptr_t)NULL) {
-        if (xizi_share_page_manager.task_map_pages(cur_task, *vaddr, *paddr, true_len / PAGE_SIZE, is_dev) == (uintptr_t)NULL) {
-            return -1;
-        }
-    } else {
-        int load_len = 0;
-        uintptr_t load_vaddr = *vaddr;
-        while (load_len < true_len) {
-            char* new_paddr = raw_alloc(PAGE_SIZE);
-            if (new_paddr == NULL) {
-                return -1;
-            }
-            if (xizi_share_page_manager.task_map_pages(cur_task, load_vaddr, (uintptr_t)new_paddr, 1, false) == (uintptr_t)NULL) {
-                raw_free(new_paddr);
-                return -1;
-            }
-            load_vaddr += PAGE_SIZE;
-            load_len += PAGE_SIZE;
-            *paddr = (uintptr_t)new_paddr;
-        }
-    }
-
-    cur_task->memspace->mem_size += true_len;
-    *vaddr = *vaddr + true_len;
-    return 0;
+/*
+ * 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.
+ */
+/**
+ * @file sys_mmap.c
+ * @brief map task phy address to virt address
+ * @version 3.0
+ * @author AIIT XUOS Lab
+ * @date 2023.08.25
+ */
+
+/*************************************************
+File name: sys_mmap.c
+Description: map task phy address to virt address
+Others:
+History:
+1. Date: 2023-08-28
+Author: AIIT XUOS Lab
+Modification:
+1. first version
+*************************************************/
+#include <stdint.h>
+
+#include "assert.h"
+#include "kalloc.h"
+#include "multicores.h"
+#include "share_page.h"
+#include "syscall.h"
+#include "task.h"
+
+int sys_mmap(uintptr_t* vaddr, uintptr_t* paddr, int len, int is_dev)
+{
+    struct Thread* cur_task = cur_cpu()->task;
+    assert(cur_task != NULL);
+
+    int true_len = ALIGNUP(len, PAGE_SIZE);
+
+    if (*paddr != (uintptr_t)NULL) {
+        if (*paddr >= PHY_MEM_BASE && *paddr < PHY_MEM_STOP && cur_task->tid > 1) {
+            ERROR("mapping invalid memory: 0x%p\n", *paddr);
+            return -1;
+        }
+
+        if (xizi_share_page_manager.task_map_pages(cur_task, *vaddr, *paddr, true_len / PAGE_SIZE, is_dev) == (uintptr_t)NULL) {
+            return -1;
+        }
+    } else {
+        uintptr_t load_vaddr = *vaddr;
+        char* new_paddr = raw_alloc(true_len);
+        if (new_paddr == NULL) {
+            return -1;
+        }
+        if (xizi_share_page_manager.task_map_pages(cur_task, load_vaddr, (uintptr_t)new_paddr, true_len / PAGE_SIZE, false) == (uintptr_t)NULL) {
+            raw_free(new_paddr);
+            return -1;
+        }
+        CreateResourceTag(NULL, &cur_task->memspace->tag, NULL, TRACER_MEM_FROM_BUDDY_AC_RESOURCE, new_paddr);
+        *paddr = (uintptr_t)new_paddr;
+    }
+
+    cur_task->memspace->mem_size += true_len;
+    *vaddr = *vaddr + true_len;
+    return 0;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c
index b1c751719..55451238e 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c
@@ -52,6 +52,7 @@ int sys_poll_session(struct Session* userland_session_arr, int arr_capacity)
 
     struct double_list_node* cur_node = NULL;
     struct server_session* server_session = NULL;
+
     /* update old sessions */
     for (int i = 0; i < arr_capacity; i++) {
         if (UNLIKELY(userland_session_arr[i].buf == NULL)) {
@@ -70,7 +71,7 @@ int sys_poll_session(struct Session* userland_session_arr, int arr_capacity)
             if (client->state == BLOCKED) {
                 xizi_task_manager.task_unblock(client);
             } else {
-                client->current_ipc_handled = true;
+                client->advance_unblock = true;
             }
         }
         server_session->head = userland_session_arr[i].head;
@@ -111,17 +112,22 @@ int sys_poll_session(struct Session* userland_session_arr, int arr_capacity)
         };
 
         struct IpcMsg* msg = IPCSESSION_MSG(&userland_session_arr[session_idx]);
-        if (is_msg_needed(msg)) {
+        if (msg != NULL && is_msg_needed(msg)) {
             nr_sessions_need_to_handle++;
         }
 
         session_idx++;
     }
+
     if (session_idx < arr_capacity) {
         userland_session_arr[session_idx].buf = NULL;
         if (!has_middle_delete && nr_sessions_need_to_handle == 0) {
-            xizi_task_manager.task_yield_noschedule(cur_task, false);
-            xizi_task_manager.task_block(&xizi_task_manager.task_blocked_list_head, cur_task);
+            if (cur_task->advance_unblock) {
+                cur_task->advance_unblock = false;
+            } else {
+                xizi_task_manager.task_yield_noschedule(cur_task, false);
+                xizi_task_manager.task_block(&xizi_task_manager.task_blocked_list_head, cur_task);
+            }
         }
     }
 
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_state.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_state.c
index 47817ea14..67aea6b05 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_state.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_state.c
@@ -1,190 +1,190 @@
-/*
- * 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.
- */
-/**
- * @file sys_state.c
- * @brief task ask for kernel status(for debug perpose)
- * @version 3.0
- * @author AIIT XUOS Lab
- * @date 2023.08.25
- */
-
-/*************************************************
-File name: sys_state.c
-Description: task ask for kernel status(for debug perpose)
-Others:
-History:
-1. Date: 2023-08-28
-Author: AIIT XUOS Lab
-Modification:
-1. first version
-*************************************************/
-#include <stdint.h>
-#include <string.h>
-
-#include "assert.h"
-#include "buddy.h"
-#include "log.h"
-#include "multicores.h"
-#include "pagetable.h"
-#include "syscall.h"
-#include "task.h"
-
-extern uint8_t _binary_fs_img_start[], _binary_fs_img_end[];
-
-#define SHOWINFO_BORDER_LINE() LOG_PRINTF("******************************************************\n");
-#define SHOWTASK_TASK_BASE_INFO(task) LOG_PRINTF(" %-6d %-16s %-4d 0x%x(%-d)\n", task->tid, task->name, task->priority, task->memspace->mem_size >> 10, task->memspace->mem_size >> 10)
-
-void show_tasks(void)
-{
-    struct Thread* task = NULL;
-    SHOWINFO_BORDER_LINE();
-    for (int i = 0; i < NR_CPU; i++) {
-        LOG_PRINTF("CPU %-2d: %s\n", i, (global_cpus[i].task == NULL ? "NULL" : global_cpus[i].task->name));
-    }
-    SHOWINFO_BORDER_LINE();
-    LOG_PRINTF("%-8s %-6s %-16s %-4s %-8s\n", "STAT", "ID", "TASK", "PRI", "MEM(KB)");
-    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_running_list_head, node)
-    {
-        LOG_PRINTF("%-8s", "RUNNING");
-        SHOWTASK_TASK_BASE_INFO(task);
-    }
-
-    for (int i = 0; i < TASK_MAX_PRIORITY; i++) {
-        if (IS_DOUBLE_LIST_EMPTY(&xizi_task_manager.task_list_head[i])) {
-            continue;
-        }
-        DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[i], node)
-        {
-            switch (task->state) {
-            case INIT:
-                LOG_PRINTF("%-8s", "INIT");
-                break;
-            case READY:
-                LOG_PRINTF("%-8s", "READY");
-                break;
-            case RUNNING:
-                LOG_PRINTF("%-8s", "RUNNING");
-                break;
-            case DEAD:
-                LOG_PRINTF("%-8s", "DEAD");
-                break;
-            default:
-                break;
-            }
-
-            SHOWTASK_TASK_BASE_INFO(task);
-        }
-    }
-
-    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_blocked_list_head, node)
-    {
-        LOG_PRINTF("%-8s", "BLOCK");
-        SHOWTASK_TASK_BASE_INFO(task);
-    }
-
-    struct ksemaphore* sem = NULL;
-    DOUBLE_LIST_FOR_EACH_ENTRY(sem, &xizi_task_manager.semaphore_pool.sem_list_guard, sem_list_node)
-    {
-        task = NULL;
-        DOUBLE_LIST_FOR_EACH_ENTRY(task, &sem->wait_list_guard, node)
-        {
-            LOG_PRINTF("%-8s", "BLOCK");
-            SHOWTASK_TASK_BASE_INFO(task);
-        }
-    }
-
-    SHOWINFO_BORDER_LINE();
-    return;
-}
-
-extern struct KBuddy user_phy_freemem_buddy;
-extern struct KBuddy kern_virtmem_buddy;
-extern uintptr_t kernel_data_end[];
-void show_mem(void)
-{
-    SHOWINFO_BORDER_LINE();
-
-    uint64_t total = (PHY_MEM_STOP - V2P(kernel_data_end));
-    uint64_t user_dynamic_free = 0;
-    uint64_t kernel_free = 0;
-    for (int j = 0; j < MAX_BUDDY_ORDER; j++) {
-        user_dynamic_free += user_phy_freemem_buddy.free_list[j].n_free_pages * (1 << j) * PAGE_SIZE;
-        kernel_free += kern_virtmem_buddy.free_list[j].n_free_pages * (1 << j) * PAGE_SIZE;
-    }
-    LOG_PRINTF("%-16s 0x%016lx\n", "TOTAL(B)", total);
-    LOG_PRINTF("%-16s 0x%016lx\n", "KERNEL USED(B)", (kern_virtmem_buddy.mem_end - kern_virtmem_buddy.mem_start - kernel_free));
-    LOG_PRINTF("%-16s 0x%016lx\n", "LIBMEM USED(B)", (user_phy_freemem_buddy.mem_end - user_phy_freemem_buddy.mem_start - user_dynamic_free));
-    LOG_PRINTF("%-16s 0x%016lx\n", "FREE(B)", user_dynamic_free + kernel_free);
-
-    SHOWINFO_BORDER_LINE();
-    return;
-}
-
-void show_cpu(void)
-{
-    LOG_PRINTF("**********************************************************\n");
-#ifdef ARCH_SMP
-    /// @todo support smp
-    KPrintf(" cpu  VALUE \n");
-#endif
-
-    int cpu_id = 0;
-
-    struct Thread* current_task = cur_cpu()->task;
-    assert(current_task != NULL);
-
-    LOG_PRINTF(" ID  COMMAND        USED_TICKS  FREE_TICKS \n");
-    LOG_PRINTF(" %d   %s   %d          %d\n", cpu_id, current_task->name, TASK_CLOCK_TICK - current_task->remain_tick, current_task->remain_tick);
-
-    LOG_PRINTF("***********************************************************\n");
-    return;
-}
-
-int sys_state(sys_state_option option, sys_state_info* info)
-{
-    switch (option) {
-    case SYS_STATE_MEMBLOCK_INFO: {
-        info->memblock_info.memblock_start = (uintptr_t)V2P(_binary_fs_img_start);
-        info->memblock_info.memblock_end = (uintptr_t)V2P(_binary_fs_img_end);
-        break;
-    }
-    case SYS_STATE_GET_HEAP_BASE:
-        return cur_cpu()->task->memspace->heap_base;
-    case SYS_STATE_SET_TASK_PRIORITY:
-        xizi_task_manager.set_cur_task_priority(info->priority);
-        break;
-    case SYS_STATE_SHOW_TASKS:
-        show_tasks();
-        break;
-    case SYS_STATE_SHOW_MEM_INFO:
-        show_mem();
-        break;
-    case SYS_STATE_SHOW_CPU_INFO:
-        show_cpu();
-        break;
-    case SYS_STATE_GET_CURRENT_TICK: {
-        extern void hw_current_tick(uintptr_t * tick);
-        hw_current_tick(&info->current_tick);
-        break;
-    }
-    case SYS_STATE_GET_CURRENT_SECOND: {
-        extern void hw_current_second(uintptr_t * tick);
-        hw_current_second(&info->current_second);
-        break;
-    }
-    case SYS_STATE_TEST:
-    default:
-        break;
-    }
-
-    return 0;
+/*
+ * 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.
+ */
+/**
+ * @file sys_state.c
+ * @brief task ask for kernel status(for debug perpose)
+ * @version 3.0
+ * @author AIIT XUOS Lab
+ * @date 2023.08.25
+ */
+
+/*************************************************
+File name: sys_state.c
+Description: task ask for kernel status(for debug perpose)
+Others:
+History:
+1. Date: 2023-08-28
+Author: AIIT XUOS Lab
+Modification:
+1. first version
+*************************************************/
+#include <stdint.h>
+#include <string.h>
+
+#include "assert.h"
+#include "buddy.h"
+#include "log.h"
+#include "multicores.h"
+#include "pagetable.h"
+#include "syscall.h"
+#include "task.h"
+
+extern uint8_t _binary_fs_img_start[], _binary_fs_img_end[];
+
+#define SHOWINFO_BORDER_LINE() LOG_PRINTF("******************************************************\n");
+#define SHOWTASK_TASK_BASE_INFO(task) LOG_PRINTF(" %-6d %-16s %-4d 0x%x(%-d)\n", task->tid, task->name, task->priority, task->memspace->mem_size >> 10, task->memspace->mem_size >> 10)
+
+void show_tasks(void)
+{
+    struct Thread* task = NULL;
+    SHOWINFO_BORDER_LINE();
+    for (int i = 0; i < NR_CPU; i++) {
+        LOG_PRINTF("CPU %-2d: %s\n", i, (global_cpus[i].task == NULL ? "NULL" : global_cpus[i].task->name));
+    }
+    SHOWINFO_BORDER_LINE();
+    LOG_PRINTF("%-8s %-6s %-16s %-4s %-8s\n", "STAT", "ID", "TASK", "PRI", "MEM(KB)");
+    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_running_list_head, node)
+    {
+        LOG_PRINTF("%-8s", "RUNNING");
+        SHOWTASK_TASK_BASE_INFO(task);
+    }
+
+    for (int i = 0; i < TASK_MAX_PRIORITY; i++) {
+        if (IS_DOUBLE_LIST_EMPTY(&xizi_task_manager.task_list_head[i])) {
+            continue;
+        }
+        DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[i], node)
+        {
+            switch (task->state) {
+            case INIT:
+                LOG_PRINTF("%-8s", "INIT");
+                break;
+            case READY:
+                LOG_PRINTF("%-8s", "READY");
+                break;
+            case RUNNING:
+                LOG_PRINTF("%-8s", "RUNNING");
+                break;
+            case DEAD:
+                LOG_PRINTF("%-8s", "DEAD");
+                break;
+            default:
+                break;
+            }
+
+            SHOWTASK_TASK_BASE_INFO(task);
+        }
+    }
+
+    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_blocked_list_head, node)
+    {
+        LOG_PRINTF("%-8s", "BLOCK");
+        SHOWTASK_TASK_BASE_INFO(task);
+    }
+
+    struct ksemaphore* sem = NULL;
+    DOUBLE_LIST_FOR_EACH_ENTRY(sem, &xizi_task_manager.semaphore_pool.sem_list_guard, sem_list_node)
+    {
+        task = NULL;
+        DOUBLE_LIST_FOR_EACH_ENTRY(task, &sem->wait_list_guard, node)
+        {
+            LOG_PRINTF("%-8s", "BLOCK");
+            SHOWTASK_TASK_BASE_INFO(task);
+        }
+    }
+
+    SHOWINFO_BORDER_LINE();
+    return;
+}
+
+extern struct KBuddy user_phy_freemem_buddy;
+extern struct KBuddy kern_virtmem_buddy;
+extern uintptr_t kernel_data_end[];
+void show_mem(void)
+{
+    SHOWINFO_BORDER_LINE();
+
+    uint64_t total = (PHY_MEM_STOP - V2P(kernel_data_end));
+    uint64_t user_dynamic_free = 0;
+    uint64_t kernel_free = 0;
+    for (int j = 0; j < MAX_BUDDY_ORDER; j++) {
+        user_dynamic_free += user_phy_freemem_buddy.free_list[j].n_free_pages * (1 << j) * PAGE_SIZE;
+        kernel_free += kern_virtmem_buddy.free_list[j].n_free_pages * (1 << j) * PAGE_SIZE;
+    }
+    LOG_PRINTF("%-16s 0x%016lx\n", "TOTAL(B)", total);
+    LOG_PRINTF("%-16s 0x%016lx\n", "KERNEL USED(B)", (kern_virtmem_buddy.mem_end - kern_virtmem_buddy.mem_start - kernel_free));
+    LOG_PRINTF("%-16s 0x%016lx\n", "LIBMEM USED(B)", (user_phy_freemem_buddy.mem_end - user_phy_freemem_buddy.mem_start - user_dynamic_free));
+    LOG_PRINTF("%-16s 0x%016lx\n", "FREE(B)", user_dynamic_free + kernel_free);
+
+    SHOWINFO_BORDER_LINE();
+    return;
+}
+
+void show_cpu(void)
+{
+    LOG_PRINTF("**********************************************************\n");
+#ifdef ARCH_SMP
+    /// @todo support smp
+    KPrintf(" cpu  VALUE \n");
+#endif
+
+    int cpu_id = 0;
+
+    struct Thread* current_task = cur_cpu()->task;
+    assert(current_task != NULL);
+
+    LOG_PRINTF(" ID  COMMAND        USED_TICKS  FREE_TICKS \n");
+    LOG_PRINTF(" %d   %s   %d          %d\n", cpu_id, current_task->name, TASK_CLOCK_TICK - current_task->remain_tick, current_task->remain_tick);
+
+    LOG_PRINTF("***********************************************************\n");
+    return;
+}
+
+int sys_state(sys_state_option option, sys_state_info* info)
+{
+    switch (option) {
+    case SYS_STATE_MEMBLOCK_INFO: {
+        info->memblock_info.memblock_start = (uintptr_t)V2P(_binary_fs_img_start);
+        info->memblock_info.memblock_end = (uintptr_t)V2P(_binary_fs_img_end);
+        break;
+    }
+    case SYS_STATE_GET_HEAP_BASE:
+        return cur_cpu()->task->memspace->heap_base;
+    case SYS_STATE_SET_TASK_PRIORITY:
+        xizi_task_manager.set_cur_task_priority(info->priority);
+        break;
+    case SYS_STATE_SHOW_TASKS:
+        show_tasks();
+        break;
+    case SYS_STATE_SHOW_MEM_INFO:
+        show_mem();
+        break;
+    case SYS_STATE_SHOW_CPU_INFO:
+        show_cpu();
+        break;
+    case SYS_STATE_GET_CURRENT_TICK: {
+        extern void hw_current_tick(uintptr_t * tick);
+        hw_current_tick(&info->current_tick);
+        break;
+    }
+    case SYS_STATE_GET_CURRENT_SECOND: {
+        extern void hw_current_second(uintptr_t * tick);
+        hw_current_second(&info->current_second);
+        break;
+    }
+    case SYS_STATE_TEST:
+    default:
+        break;
+    }
+
+    return 0;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c
index 5d08d655e..f98ed1c81 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c
@@ -65,6 +65,11 @@ int sys_new_thread(struct MemSpace* pmemspace, struct Thread* task, uintptr_t en
     // init pcb schedule attributes
     xizi_task_manager.task_set_default_schedule_attr(task);
 
+    // thread init done by here
+    if (pmemspace->thread_to_notify == NULL) {
+        pmemspace->thread_to_notify = task;
+    }
+
     return task->tid;
 }
 
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c
index 0db107e04..45c3f468f 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c
@@ -40,21 +40,22 @@ int sys_yield(task_yield_reason reason)
 
     // handle ipc block
     if ((reason & SYS_TASK_YIELD_BLOCK_IPC) != 0) {
-        if (cur_task->current_ipc_handled) {
-            cur_task->current_ipc_handled = false;
+        if (cur_task->advance_unblock) {
+            cur_task->advance_unblock = false;
+            return 0;
         } else {
             xizi_task_manager.task_block(&xizi_task_manager.task_blocked_list_head, cur_task);
         }
-    }
 
-    // wake up all possible server
-    struct client_session* client_session = NULL;
-    DOUBLE_LIST_FOR_EACH_ENTRY(client_session, &cur_task->cli_sess_listhead, node)
-    {
-        assert(client_session != NULL);
-        struct session_backend* session_backend = CLIENT_SESSION_BACKEND(client_session);
-        if (session_backend->server->state == BLOCKED) {
-            xizi_task_manager.task_unblock(session_backend->server);
+        // wake up all possible server
+        struct client_session* client_session = NULL;
+        DOUBLE_LIST_FOR_EACH_ENTRY(client_session, &cur_task->cli_sess_listhead, node)
+        {
+            assert(client_session != NULL);
+            struct session_backend* session_backend = CLIENT_SESSION_BACKEND(client_session);
+            if (session_backend->server->state == BLOCKED) {
+                xizi_task_manager.task_unblock(session_backend->server);
+            }
         }
     }
 
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c
index f5cd4c528..d3ae51f67 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c
@@ -1,90 +1,90 @@
-/*
- * 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.
- */
-/**
- * @file syscall.c
- * @brief syscall distributor
- * @version 3.0
- * @author AIIT XUOS Lab
- * @date 2023.08.25
- */
-
-/*************************************************
-File name: syscall.c
-Description: syscall distributor
-Others:
-History:
-1. Date: 2023-08-28
-Author: AIIT XUOS Lab
-Modification:
-1. first version
-*************************************************/
-#include "log.h"
-#include "multicores.h"
-#include "trap_common.h"
-
-#include "syscall.h"
-
-int syscall(int sys_num, uintptr_t param1, uintptr_t param2, uintptr_t param3, uintptr_t param4)
-{
-    int ret = -1;
-
-    switch (sys_num) {
-    case SYSCALL_TEST:
-        ret = 0;
-        break;
-    case SYSCALL_SPAWN:
-        ret = sys_spawn((char*)param1, (char*)param2, (char**)param3);
-        break;
-    case SYSCALL_THREAD:
-        ret = sys_thread((uintptr_t)param1, (char*)param2, (char**)param3);
-        break;
-    case SYSCALL_EXIT:
-        ret = sys_exit(cur_cpu()->task);
-        break;
-    case SYSCALL_YIELD:
-        ret = sys_yield((task_yield_reason)param1);
-        break;
-    case SYSCALL_SERVER:
-        ret = sys_register_as_server((char*)param1);
-        break;
-    case SYSCALL_SESSION:
-        ret = sys_connect_session((char*)param1, (int)param2, (struct Session*)param3);
-        break;
-    case SYSCALL_POLL_SESSION:
-        ret = sys_poll_session((struct Session*)param1, (int)param2);
-        break;
-    case SYSCALL_CLOSE_SESSION:
-        ret = sys_close_session(cur_cpu()->task, (struct Session*)param1);
-        break;
-    case SYSCALL_SYS_STATE:
-        ret = sys_state(param1, (sys_state_info*)param2);
-        break;
-    case SYSCALL_MMAP:
-        ret = sys_mmap((uintptr_t*)param1, (uintptr_t*)param2, (int)param3, (int)param4);
-        break;
-    case SYSCALL_REGISTER_IRQ:
-        ret = sys_register_irq((int)param1, (int)param2);
-        break;
-    case SYSCALL_KILL:
-        ret = sys_kill((int)param1);
-        break;
-    case SYSCALL_SEMAPHORE:
-        ret = sys_semaphore((sys_sem_option)param1, (int)param2);
-        break;
-    default:
-        ERROR("Unsurport syscall(%d) right now\n", sys_num);
-        ret = -1;
-        break;
-    }
-
-    return ret;
+/*
+ * 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.
+ */
+/**
+ * @file syscall.c
+ * @brief syscall distributor
+ * @version 3.0
+ * @author AIIT XUOS Lab
+ * @date 2023.08.25
+ */
+
+/*************************************************
+File name: syscall.c
+Description: syscall distributor
+Others:
+History:
+1. Date: 2023-08-28
+Author: AIIT XUOS Lab
+Modification:
+1. first version
+*************************************************/
+#include "log.h"
+#include "multicores.h"
+#include "trap_common.h"
+
+#include "syscall.h"
+
+int syscall(int sys_num, uintptr_t param1, uintptr_t param2, uintptr_t param3, uintptr_t param4)
+{
+    int ret = -1;
+
+    switch (sys_num) {
+    case SYSCALL_TEST:
+        ret = 0;
+        break;
+    case SYSCALL_SPAWN:
+        ret = sys_spawn((char*)param1, (char*)param2, (char**)param3);
+        break;
+    case SYSCALL_THREAD:
+        ret = sys_thread((uintptr_t)param1, (char*)param2, (char**)param3);
+        break;
+    case SYSCALL_EXIT:
+        ret = sys_exit(cur_cpu()->task);
+        break;
+    case SYSCALL_YIELD:
+        ret = sys_yield((task_yield_reason)param1);
+        break;
+    case SYSCALL_SERVER:
+        ret = sys_register_as_server((char*)param1);
+        break;
+    case SYSCALL_SESSION:
+        ret = sys_connect_session((char*)param1, (int)param2, (struct Session*)param3);
+        break;
+    case SYSCALL_POLL_SESSION:
+        ret = sys_poll_session((struct Session*)param1, (int)param2);
+        break;
+    case SYSCALL_CLOSE_SESSION:
+        ret = sys_close_session(cur_cpu()->task, (struct Session*)param1);
+        break;
+    case SYSCALL_SYS_STATE:
+        ret = sys_state(param1, (sys_state_info*)param2);
+        break;
+    case SYSCALL_MMAP:
+        ret = sys_mmap((uintptr_t*)param1, (uintptr_t*)param2, (int)param3, (int)param4);
+        break;
+    case SYSCALL_REGISTER_IRQ:
+        ret = sys_register_irq((int)param1, (int)param2);
+        break;
+    case SYSCALL_KILL:
+        ret = sys_kill((int)param1);
+        break;
+    case SYSCALL_SEMAPHORE:
+        ret = sys_semaphore((sys_sem_option)param1, (int)param2);
+        break;
+    default:
+        ERROR("Unsurport syscall(%d) right now\n", sys_num);
+        ret = -1;
+        break;
+    }
+
+    return ret;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c b/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c
index a16509eed..3fce45d05 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/task/memspace.c
@@ -32,11 +32,11 @@ Modification:
 #include <stddef.h>
 #include <stdint.h>
 
+#include "assert.h"
 #include "bitmap64.h"
 #include "execelf.h"
 #include "kalloc.h"
 #include "memspace.h"
-#include "pagetable.h"
 #include "task.h"
 
 #define MAX_SUPPORT_PARAMS 32
@@ -55,6 +55,8 @@ struct MemSpace* alloc_memspace()
     pmemspace->heap_base = 0;
     pmemspace->mem_size = 0;
     pmemspace->pgdir.pd_addr = 0;
+    pmemspace->thread_to_notify = NULL;
+    CreateResourceTag(&pmemspace->tag, &xizi_task_manager.tag, NULL, TRACER_OWNER, (void*)pmemspace);
     return pmemspace;
 }
 
@@ -67,12 +69,24 @@ void free_memspace(struct MemSpace* pmemspace)
         xizi_pager.free_user_pgdir(&pmemspace->pgdir);
     }
 
+    TracerNode* tmp_node = NULL;
+    DOUBLE_LIST_FOR_EACH_ENTRY(tmp_node, &pmemspace->tag.meta->children_guard, list_node)
+    {
+        assert((uintptr_t)tmp_node->p_resource >= PHY_MEM_BASE && (uintptr_t)tmp_node->p_resource < PHY_MEM_STOP);
+        if ((uintptr_t)tmp_node->p_resource < PHY_USER_FREEMEM_BASE) {
+            kfree(P2V(tmp_node->p_resource));
+        } else {
+            raw_free(tmp_node->p_resource);
+        }
+    }
+
     /* free ipc virt address allocator */
     if (pmemspace->massive_ipc_allocator != NULL) {
         KBuddyDestory(pmemspace->massive_ipc_allocator);
         slab_free(&xizi_task_manager.task_buddy_allocator, (void*)pmemspace->massive_ipc_allocator);
     }
 
+    DeleteResource(&pmemspace->tag, &xizi_task_manager.tag);
     slab_free(&xizi_task_manager.memspace_allocator, (void*)pmemspace);
 }
 
@@ -100,14 +114,12 @@ uintptr_t* load_memspace(struct MemSpace* pmemspace, char* img_start)
     /* allocate a pgdir */
     /* only supports first inited memspace */
     assert(pmemspace->pgdir.pd_addr == NULL);
-    struct TopLevelPageDirectory pgdir;
-    pgdir.pd_addr = NULL;
-    if (UNLIKELY(!xizi_pager.new_pgdir(&pgdir))) {
+    if (UNLIKELY(!xizi_pager.new_pgdir(&pmemspace->pgdir))) {
         ERROR("Create new pgdir failed.\n");
         goto error_exec;
     }
     /* copy kernel pagetable so that interrupt and syscall wont corrupt */
-    memcpy(pgdir.pd_addr, kern_pgdir.pd_addr, TOPLEVLE_PAGEDIR_SIZE);
+    memcpy(pmemspace->pgdir.pd_addr, kern_pgdir.pd_addr, TOPLEVLE_PAGEDIR_SIZE);
 
     // read elf file by (header, section)
     uintptr_t load_size = 0;
@@ -125,7 +137,7 @@ uintptr_t* load_memspace(struct MemSpace* pmemspace, char* img_start)
 
         // read section
         // 1. alloc space
-        if ((load_size = xizi_pager.resize_user_pgdir(&pgdir, load_size, ph.vaddr + ph.memsz))
+        if ((load_size = xizi_pager.resize_user_pgdir(pmemspace, load_size, ph.vaddr + ph.memsz))
             != ph.vaddr + ph.memsz) {
             ERROR("Add uspace size failed.\n");
             goto error_exec;
@@ -134,10 +146,11 @@ uintptr_t* load_memspace(struct MemSpace* pmemspace, char* img_start)
         if (ph.vaddr % PAGE_SIZE != 0) {
             LOG("Unsupported elf file, try use flag -N to compile.\n");
         }
+
         for (int addr_offset = 0; addr_offset < ph.filesz; addr_offset += PAGE_SIZE) {
-            uintptr_t page_paddr = xizi_pager.address_translate(&pgdir, ph.vaddr + addr_offset);
+            uintptr_t page_paddr = xizi_pager.address_translate(&pmemspace->pgdir, ph.vaddr + addr_offset);
             if (page_paddr == 0) {
-                ERROR("copy elf file to unmapped addr: %x(pgdir: %x)\n", ph.vaddr + addr_offset, pgdir.pd_addr);
+                ERROR("copy elf file to unmapped addr: %x(pgdir: %x)\n", ph.vaddr + addr_offset, pmemspace->pgdir.pd_addr);
                 goto error_exec;
             }
             uintptr_t read_size = (ph.filesz - addr_offset < PAGE_SIZE ? ph.filesz - addr_offset : PAGE_SIZE);
@@ -147,15 +160,15 @@ uintptr_t* load_memspace(struct MemSpace* pmemspace, char* img_start)
 
     /// elf file content now in memory
     // memspace will use this page dir
-    pmemspace->pgdir = pgdir;
     pmemspace->heap_base = ALIGNUP(load_size, PAGE_SIZE);
     pmemspace->mem_size = pmemspace->heap_base;
 
     return (uintptr_t*)elf.entry;
 
 error_exec:
-    if (pgdir.pd_addr != NULL) {
-        xizi_pager.free_user_pgdir(&pgdir);
+    if (pmemspace->pgdir.pd_addr != NULL) {
+        xizi_pager.free_user_pgdir(&pmemspace->pgdir);
+        pmemspace->pgdir.pd_addr = NULL;
     }
     ERROR("Error loading memspace.\n");
     return NULL;
@@ -208,7 +221,7 @@ struct ThreadStackPointer load_user_stack(struct MemSpace* pmemspace, char** arg
     }
 
     /* map memory to user stack space in memspace*/
-    if (!xizi_pager.map_pages(pmemspace->pgdir.pd_addr, USER_MEM_TOP - ((stack_idx + 1) * USER_STACK_SIZE), V2P(stack_bottom), USER_STACK_SIZE, false)) {
+    if (!xizi_pager.map_pages(pmemspace, USER_MEM_TOP - ((stack_idx + 1) * USER_STACK_SIZE), V2P(stack_bottom), USER_STACK_SIZE, false)) {
         /* this could only fail due to inner page directory's allocation failure */
         ERROR("User stack map failed\n");
         handle_error_stack_loading(pmemspace, stack_idx, stack_bottom, false);
@@ -246,8 +259,8 @@ struct ThreadStackPointer load_user_stack(struct MemSpace* pmemspace, char** arg
     pmemspace->mem_size += USER_STACK_SIZE;
 
     loaded_sp.argc = argc;
-    loaded_sp.stack_idx = stack_idx;
     loaded_sp.user_sp = user_vspace_sp;
     loaded_sp.user_stack_vaddr = (uintptr_t)stack_bottom;
+    loaded_sp.stack_idx = stack_idx;
     return loaded_sp;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/task.c b/Ubiquitous/XiZi_AIoT/softkernel/task/task.c
index bf8d7903d..27df0e16e 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/task/task.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/task/task.c
@@ -179,6 +179,19 @@ static void _dealloc_task_cb(struct Thread* task)
 
     /* free memspace if needed to */
     if (task->memspace != NULL) {
+        // awake deamon in this memspace
+        if (task->memspace->thread_to_notify != NULL) {
+            if (task->memspace->thread_to_notify != task) {
+                if (task->memspace->thread_to_notify->state == BLOCKED) {
+                    xizi_task_manager.task_unblock(task->memspace->thread_to_notify);
+                } else {
+                    task->memspace->thread_to_notify->advance_unblock = true;
+                }
+            } else if (task->memspace->thread_to_notify == task) {
+                task->memspace->thread_to_notify = NULL;
+            }
+        }
+
         doubleListDel(&task->memspace_list_node);
         /* free memspace if thread is the last one using it */
         if (IS_DOUBLE_LIST_EMPTY(&task->memspace->thread_list_guard)) {
@@ -290,13 +303,8 @@ static void _scheduler(struct SchedulerRightGroup right_group)
         /* if there's not a runnable task, wait for one */
         if (next_task == NULL) {
             xizi_leave_kernel();
-            // there is no task to run, into low power mode
-            cpu_into_low_power();
-
             /* leave kernel for other cores, so they may create a runnable task */
             xizi_enter_kernel();
-            // activate cpu
-            cpu_leave_low_power();
             continue;
         }
 
@@ -342,7 +350,7 @@ static void _task_unblock(struct Thread* task)
     assert(task->state == BLOCKED);
     task_node_leave_list(task);
     task->state = READY;
-    task_node_add_to_ready_list_head(task);
+    task_node_add_to_ready_list_back(task);
 }
 
 /// @brief  @warning not tested function
@@ -381,8 +389,9 @@ struct XiziTaskManager xizi_task_manager = {
     .set_cur_task_priority = _set_cur_task_priority
 };
 
-bool module_task_manager_init(void)
+bool module_task_manager_init(TraceTag* softkernel_tag)
 {
+    CreateResourceTag(&xizi_task_manager.tag, softkernel_tag, "KTaskManager", TRACER_OWNER, &xizi_task_manager);
     xizi_task_manager.init();
     return true;
 }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c b/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c
index 7ab8808b8..eba875e07 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c
@@ -1,82 +1,82 @@
-/*
- * 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.
- */
-/**
- * @file clock_irq_handler.c
- * @brief clock interrupt handler
- * @version 3.0
- * @author AIIT XUOS Lab
- * @date 2023.08.25
- */
-
-/*************************************************
-File name: clock_irq_handler.c
-Description: clock interrupt handler
-Others:
-History:
-1. Date: 2023-08-28
-Author: AIIT XUOS Lab
-Modification:
-1. first version
-*************************************************/
-#include "clock_common_op.h"
-
-#include "actracer.h"
-#include "assert.h"
-#include "multicores.h"
-#include "task.h"
-
-static struct TraceTag clock_driver_tag;
-static struct XiziClockDriver* p_clock_driver = NULL;
-
-bool clock_intr_handler_init(struct TraceTag* p_clock_driver_tag)
-{
-    clock_driver_tag = *p_clock_driver_tag;
-    p_clock_driver = AchieveResource(p_clock_driver_tag);
-    return p_clock_driver != NULL;
-}
-
-void hw_current_tick(uintptr_t* tick)
-{
-    if (p_clock_driver == NULL) {
-        *tick = 0;
-        return;
-    }
-    *tick = p_clock_driver->get_tick();
-}
-
-void hw_current_second(uintptr_t* second)
-{
-    if (p_clock_driver == NULL) {
-        *second = 0;
-        return;
-    }
-    *second = p_clock_driver->get_second();
-}
-
-uint64_t global_tick = 0;
-int xizi_clock_handler(int irq, void* tf, void* arg)
-{
-    /* handle clock interrupt using driver */
-    if (p_clock_driver->is_timer_expired()) {
-        p_clock_driver->clear_clock_intr();
-        global_tick++;
-        struct Thread* current_task = cur_cpu()->task;
-        if (current_task) {
-            current_task->remain_tick--;
-            current_task->maxium_tick--;
-            if (current_task->remain_tick == 0) {
-                xizi_task_manager.task_yield_noschedule(current_task, false);
-            }
-        }
-    }
-    return 0;
+/*
+ * 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.
+ */
+/**
+ * @file clock_irq_handler.c
+ * @brief clock interrupt handler
+ * @version 3.0
+ * @author AIIT XUOS Lab
+ * @date 2023.08.25
+ */
+
+/*************************************************
+File name: clock_irq_handler.c
+Description: clock interrupt handler
+Others:
+History:
+1. Date: 2023-08-28
+Author: AIIT XUOS Lab
+Modification:
+1. first version
+*************************************************/
+#include "clock_common_op.h"
+
+#include "actracer.h"
+#include "assert.h"
+#include "multicores.h"
+#include "task.h"
+
+static struct TraceTag clock_driver_tag;
+static struct XiziClockDriver* p_clock_driver = NULL;
+
+bool clock_intr_handler_init(struct TraceTag* p_clock_driver_tag)
+{
+    clock_driver_tag = *p_clock_driver_tag;
+    p_clock_driver = AchieveResource(p_clock_driver_tag);
+    return p_clock_driver != NULL;
+}
+
+void hw_current_tick(uintptr_t* tick)
+{
+    if (p_clock_driver == NULL) {
+        *tick = 0;
+        return;
+    }
+    *tick = p_clock_driver->get_tick();
+}
+
+void hw_current_second(uintptr_t* second)
+{
+    if (p_clock_driver == NULL) {
+        *second = 0;
+        return;
+    }
+    *second = p_clock_driver->get_second();
+}
+
+uint64_t global_tick = 0;
+int xizi_clock_handler(int irq, void* tf, void* arg)
+{
+    /* handle clock interrupt using driver */
+    if (p_clock_driver->is_timer_expired()) {
+        p_clock_driver->clear_clock_intr();
+        global_tick++;
+        struct Thread* current_task = cur_cpu()->task;
+        if (current_task) {
+            current_task->remain_tick--;
+            current_task->maxium_tick--;
+            if (current_task->remain_tick == 0) {
+                xizi_task_manager.task_yield_noschedule(current_task, false);
+            }
+        }
+    }
+    return 0;
 }
\ No newline at end of file