[bsp][cvitek] Milk-V Duo 256M Supports running ARM large core and RISCV small core

支持将rtthread.bin和dtb文件合成boot.sd文件，使用uboot直接通过bootcmd命令启动rtthread内核。

支持构建带有小核riscv程序的fip.bin文件，保证在运行arm大核的同时运行小核的riscv程序。

15 files changed, 925 insertions, 1 deletions

diff --git a/bsp/cvitek/cv18xx_aarch64/.gitignore b/bsp/cvitek/cv18xx_aarch64/.gitignore
new file mode 100755
index 0000000000..65b277bc26
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/.gitignore
@@ -0,0 +1 @@
+Image
\ No newline at end of file
diff --git a/bsp/cvitek/cv18xx_aarch64/README.md b/bsp/cvitek/cv18xx_aarch64/README.md
index 4d85cb2d79..a5ceb07dbf 100644
--- a/bsp/cvitek/cv18xx_aarch64/README.md
+++ b/bsp/cvitek/cv18xx_aarch64/README.md
@@ -63,7 +63,7 @@ scons -j12
 
 ## 3. 运行
 
-> 目前仅支持使用uboot对 `rtthread.bin` 文件进行加载，uboot对 `boot.sd` 的加载方式后续会实现。
+### 3.1 uboot加载rtthread.bin
 
 1. 将 SD 卡分为 2 个分区，第 1 个分区用于存放 bin 文件，第 2 个分区用于作为数据存储分区，分区格式为 `FAT32`。
 
@@ -81,6 +81,22 @@ go 0x80200000
 
 > 0x80200000为rtthread.bin加载到内存的位置，可在menuconfig中自己修改，注意不能与小核固件加载位置重叠。
 
+### 3.2 uboot加载boot.sd
+
+1. 将 SD 卡分为 2 个分区，第 1 个分区用于存放 bin 文件，第 2 个分区用于作为数据存储分区，分区格式为 `FAT32`。
+
+2. 将bsp的boot目录下的 `fip.bin` 和编译生成的 `boot.sd` 复制 SD 卡第一个分区中。后续更新固件只需要复制 `boot.sd` 文件即可。
+
+配置**串口0**参数： 115200 8N1 ，硬件和软件流控为关。
+
+直接上电运行，uboot会自动调用bootcmd解析boot.sd文件，然后加载`rtthread.bin`运行。
+
+### 3.3 如何生成fip.bin
+
+在本bsp的boot/milkv-duo256m目录下存放了所有需要构建出fip.bin的一些依赖文件和相关脚本。用户只需要在boot目录下执行`combine.sh`即可生成fip.bin。
+
+> 如何用户编译了小核c906_little的bsp，那么`combine.sh`脚本将会生成带有小核程序的fip.bin。未编译则不会。
+
 完成后可以看到串口的输出信息：
 
 **标准版log信息：**
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/combine.sh b/bsp/cvitek/cv18xx_aarch64/boot/combine.sh
new file mode 100755
index 0000000000..e39f49dcbc
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/combine.sh
@@ -0,0 +1,44 @@
+C906_LITTLE_BIN_PATH=../../c906_little/rtthread.bin
+GEN_FIP_PATH=.
+DEPENDS_FILE_PATH=${GEN_FIP_PATH}/milkv-duo256m
+
+BLCP_IMG_RUNADDR=0x05200200
+BLCP_PARAM_LOADADDR=0
+NAND_INFO=00000000
+NOR_INFO='FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF'
+FIP_COMPRESS=lzma
+
+CHIP_CONF_PATH=${DEPENDS_FILE_PATH}/chip_conf.bin
+DDR_PARAM_TEST_PATH=${DEPENDS_FILE_PATH}/ddr_param.bin
+BL2_PATH=${DEPENDS_FILE_PATH}/bl2.bin
+BLCP_PATH=${DEPENDS_FILE_PATH}/empty.bin
+MONITOR_PATH=${DEPENDS_FILE_PATH}/bl31.bin
+LOADER_2ND_PATH=${DEPENDS_FILE_PATH}/u-boot-raw.bin
+
+if [ -f "$C906_LITTLE_BIN_PATH" ]; then
+    echo "The file $C906_LITTLE_BIN_PATH exist."
+    BLCP_2ND_PATH=${C906_LITTLE_BIN_PATH}
+else
+    echo "The file $C906_LITTLE_BIN_PATH does not exist. Execute scons to compile it."
+fi
+
+echo "Combining fip.bin..."
+. ${DEPENDS_FILE_PATH}/blmacros.env && \
+${DEPENDS_FILE_PATH}/fiptool.py -v genfip \
+${GEN_FIP_PATH}/fip.bin \
+--MONITOR_RUNADDR="${MONITOR_RUNADDR}" \
+--BLCP_2ND_RUNADDR="${BLCP_2ND_RUNADDR}" \
+--CHIP_CONF=${CHIP_CONF_PATH} \
+--NOR_INFO=${NOR_INFO} \
+--NAND_INFO=${NAND_INFO} \
+--BL2=${BL2_PATH} \
+--BLCP_IMG_RUNADDR=${BLCP_IMG_RUNADDR} \
+--BLCP_PARAM_LOADADDR=${BLCP_PARAM_LOADADDR} \
+--BLCP=${BLCP_PATH} \
+--DDR_PARAM=${DDR_PARAM_TEST_PATH} \
+--BLCP_2ND=${BLCP_2ND_PATH} \
+--MONITOR=${MONITOR_PATH} \
+--LOADER_2ND=${LOADER_2ND_PATH} \
+--compress=${FIP_COMPRESS}
+
+echo "Combining fip.bin done!"
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/fip.bin b/bsp/cvitek/cv18xx_aarch64/boot/fip.bin
index c406223010..be1eeeb042 100644
--- a/bsp/cvitek/cv18xx_aarch64/boot/fip.bin
+++ b/bsp/cvitek/cv18xx_aarch64/boot/fip.bin
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/bl2.bin b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/bl2.bin
new file mode 100755
index 0000000000..197e5a1f3a
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/bl2.bin
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/bl31.bin b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/bl31.bin
new file mode 100644
index 0000000000..cf38b2e291
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/bl31.bin
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/blmacros.env b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/blmacros.env
new file mode 100644
index 0000000000..ae3059bd57
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/blmacros.env
@@ -0,0 +1,2 @@
+MONITOR_RUNADDR=0x0000000080000000
+BLCP_2ND_RUNADDR=0x000000008fe00000
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/chip_conf.bin b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/chip_conf.bin
new file mode 100644
index 0000000000..d2dabd6868
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/chip_conf.bin
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/ddr_param.bin b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/ddr_param.bin
new file mode 100644
index 0000000000..fb4c648fd7
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/ddr_param.bin
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/empty.bin b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/empty.bin
new file mode 100644
index 0000000000..e69de29bb2
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/empty.bin
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/fiptool.py b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/fiptool.py
new file mode 100755
index 0000000000..6943e5f799
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/fiptool.py
@@ -0,0 +1,803 @@
+#!/usr/bin/env python3
+# SPDX-License-Identifier: BSD-3-Clause
+# PYTHON_ARGCOMPLETE_OK
+
+import sys
+import logging
+import os
+import os.path
+import argparse
+from collections import OrderedDict
+import binascii
+from struct import pack, unpack
+import lzma
+import pprint
+
+
+PYTHON_MIN_VERSION = (3, 5, 2)  # Ubuntu 16.04 LTS contains Python v3.5.2 by default
+
+
+if sys.version_info < PYTHON_MIN_VERSION:
+    print("Python >= %r is required" % (PYTHON_MIN_VERSION,))
+    sys.exit(-1)
+
+
+try:
+    import coloredlogs
+except ImportError:
+    coloredlogs = None
+
+try:
+    import argcomplete
+except ImportError:
+    argcomplete = None
+
+
+LOADER_2ND_MAGIC_ORIG = b"BL33"
+LOADER_2ND_MAGIC_LZMA = b"B3MA"
+LOADER_2ND_MAGIC_LZ4 = b"B3Z4"
+
+LOADER_2ND_MAGIC_LIST = [
+    LOADER_2ND_MAGIC_ORIG,
+    LOADER_2ND_MAGIC_LZMA,
+    LOADER_2ND_MAGIC_LZ4,
+]
+
+IMAGE_ALIGN = 512
+PARAM1_SIZE = 0x1000
+PARAM1_SIZE_WO_SIG = 0x800
+PARAM2_SIZE = 0x1000
+
+
+def round_up(divident, divisor):
+    return ((divident + divisor - 1) // divisor) * divisor
+
+
+def lzma_compress(body):
+    z = lzma.LZMACompressor(lzma.FORMAT_ALONE, preset=lzma.PRESET_EXTREME)
+    compressed = z.compress(body)
+    compressed += z.flush()
+
+    return compressed
+
+
+def lz4_compress(body):
+    try:
+        import lz4.frame
+    except ImportError:
+        logging.error("lz4 is not installed. Run 'pip install lz4'.")
+        raise
+
+    compressed = lz4.frame.compress(body)
+    return compressed
+
+
+class Entry:
+    __slots__ = "name", "type", "addr", "_content", "entry_size"
+
+    def __init__(self):
+        self.addr = None
+        self._content = None
+
+    @property
+    def end(self):
+        return self.addr + self.entry_size
+
+    @property
+    def content(self):
+        return self._content
+
+    @content.setter
+    def content(self, value):
+        if type(value) == int:
+            value = value.to_bytes(self.entry_size, "little")
+
+        if self.entry_size is not None:
+            if len(value) > self.entry_size:
+                raise ValueError("%s (%d bytes) must <= %#r" % (self.name, len(value), self.entry_size))
+            value = value + b"\0" * (self.entry_size - len(value))
+
+        self._content = value
+
+    @classmethod
+    def make(cls, name, entry_size, _type, init=None):
+        entry = Entry()
+        entry.name = name
+        entry.type = _type
+        entry.entry_size = entry_size
+
+        if type(init) in (bytes, bytearray):
+            entry.content = bytes(init)
+        elif entry_size is not None:
+            entry.content = b"\0" * entry.entry_size
+        else:
+            entry.content = b""
+
+        return (name, entry)
+
+    def toint(self):
+        if self.type != int:
+            raise TypeError("%s is not int type" % self.name)
+
+        return int.from_bytes(self.content, "little")
+
+    def tostr(self):
+        v = self.content
+        if self.type == int:
+            v = "%#08x" % self.toint()
+        elif type(self.content) in [bytes, bytearray]:
+            v = v.hex()
+            if len(v) > 32:
+                v = v[:32] + "..."
+
+        return v
+
+    def __str__(self):
+        v = self.tostr()
+        return "<%s=%s (%dbytes)>" % (self.name, v, self.entry_size)
+
+    def __repr__(self):
+        v = self.tostr()
+        return "<%s: a=%#x s=%#x c=%s %r>" % (self.name, self.addr, self.entry_size, v, self.type)
+
+
+class FIP:
+    param1 = OrderedDict(
+        [
+            Entry.make("MAGIC1", 8, int, b"CVBL01\n\0"),
+            Entry.make("MAGIC2", 4, int),
+            Entry.make("PARAM_CKSUM", 4, int),
+            Entry.make("NAND_INFO", 128, int),
+            Entry.make("NOR_INFO", 36, int),
+            Entry.make("FIP_FLAGS", 8, int),
+            Entry.make("CHIP_CONF_SIZE", 4, int),
+            Entry.make("BLCP_IMG_CKSUM", 4, int),
+            Entry.make("BLCP_IMG_SIZE", 4, int),
+            Entry.make("BLCP_IMG_RUNADDR", 4, int),
+            Entry.make("BLCP_PARAM_LOADADDR", 4, int),
+            Entry.make("BLCP_PARAM_SIZE", 4, int),
+            Entry.make("BL2_IMG_CKSUM", 4, int),
+            Entry.make("BL2_IMG_SIZE", 4, int),
+            Entry.make("BLD_IMG_SIZE", 4, int),
+            Entry.make("PARAM2_LOADADDR", 4, int),
+            Entry.make("RESERVED1", 4, int),
+            Entry.make("CHIP_CONF", 760, bytes),
+            Entry.make("BL_EK", 32, bytes),
+            Entry.make("ROOT_PK", 512, bytes),
+            Entry.make("BL_PK", 512, bytes),
+            Entry.make("BL_PK_SIG", 512, bytes),
+            Entry.make("CHIP_CONF_SIG", 512, bytes),
+            Entry.make("BL2_IMG_SIG", 512, bytes),
+            Entry.make("BLCP_IMG_SIG", 512, bytes),
+        ]
+    )
+
+    body1 = OrderedDict(
+        [
+            Entry.make("BLCP", None, bytes),
+            Entry.make("BL2", None, bytes),
+        ]
+    )
+
+    param2 = OrderedDict(
+        [
+            Entry.make("MAGIC1", 8, int, b"CVLD02\n\0"),
+            Entry.make("PARAM2_CKSUM", 4, int),
+            Entry.make("RESERVED1", 4, bytes),
+            # DDR param
+            Entry.make("DDR_PARAM_CKSUM", 4, int),
+            Entry.make("DDR_PARAM_LOADADDR", 4, int),
+            Entry.make("DDR_PARAM_SIZE", 4, int),
+            Entry.make("DDR_PARAM_RESERVED", 4, int),
+            # BLCP_2ND
+            Entry.make("BLCP_2ND_CKSUM", 4, int),
+            Entry.make("BLCP_2ND_LOADADDR", 4, int),
+            Entry.make("BLCP_2ND_SIZE", 4, int),
+            Entry.make("BLCP_2ND_RUNADDR", 4, int),
+            # ATF-BL31 or OpenSBI
+            Entry.make("MONITOR_CKSUM", 4, int),
+            Entry.make("MONITOR_LOADADDR", 4, int),
+            Entry.make("MONITOR_SIZE", 4, int),
+            Entry.make("MONITOR_RUNADDR", 4, int),
+            # u-boot
+            Entry.make("LOADER_2ND_RESERVED0", 4, int),
+            Entry.make("LOADER_2ND_LOADADDR", 4, int),
+            Entry.make("LOADER_2ND_RESERVED1", 4, int),
+            Entry.make("LOADER_2ND_RESERVED2", 4, int),
+            # Reserved
+            Entry.make("RESERVED_LAST", 4096 - 16 * 5, bytes),
+        ]
+    )
+
+    body2 = OrderedDict(
+        [
+            Entry.make("DDR_PARAM", None, bytes),
+            Entry.make("BLCP_2ND", None, bytes),
+            Entry.make("MONITOR", None, bytes),
+            Entry.make("LOADER_2ND", None, bytes),
+        ]
+    )
+
+    ldr_2nd_hdr = OrderedDict(
+        [
+            Entry.make("JUMP0", 4, int),
+            Entry.make("MAGIC", 4, int),
+            Entry.make("CKSUM", 4, int),
+            Entry.make("SIZE", 4, int),
+            Entry.make("RUNADDR", 8, int),
+            Entry.make("RESERVED1", 4, int),
+            Entry.make("RESERVED2", 4, int),
+        ]
+    )
+
+    FIP_FLAGS_SCS_MASK = 0x000c
+    FIP_FLAGS_ENCRYPTED_MASK = 0x0030
+
+    def _param_size(self, param):
+        return max((e.end for e in param.values()))
+
+    def _gen_param(self):
+        addr = 0
+        for entry in self.param1.values():
+            entry.addr = addr
+            addr += entry.entry_size
+
+        assert PARAM1_SIZE_WO_SIG == self.param1["BL_PK_SIG"].addr
+
+        addr = 0
+        for entry in self.param2.values():
+            entry.addr = addr
+            addr += entry.entry_size
+
+        assert PARAM2_SIZE == self.param2["RESERVED_LAST"].addr + self.param2["RESERVED_LAST"].entry_size
+
+        addr = 0
+        for entry in self.ldr_2nd_hdr.values():
+            entry.addr = addr
+            addr += entry.entry_size
+
+    def __init__(self):
+        self.compress_algo = None
+        self._gen_param()
+
+    def image_crc(self, image):
+        crc = binascii.crc_hqx(image, 0)
+        crc = pack("<H", crc) + b"\xFE\xCA"
+        return crc
+
+    def pad(self, data, block_size):
+        if type(data) not in [bytearray, bytes]:
+            raise TypeError("Need bytearray or bytes")
+
+        r = len(data) % block_size
+        if r:
+            data += b"\0" * (block_size - r)
+
+        return data
+
+    def _pprint_attr(self, name):
+        v = getattr(self, name)
+
+        if type(v) == OrderedDict:
+            v = list(v.values())
+        logging.info("print(%s):\n" % name + pprint.pformat(v, 4, 140))
+
+    def print_fip_params(self):
+        self._pprint_attr("param1")
+        self._pprint_attr("param2")
+        self._pprint_attr("ldr_2nd_hdr")
+
+    def read_fip(self, path):
+        logging.debug("read_fip:")
+
+        with open(path, "rb") as fp:
+            fip_bin = fp.read()
+
+        fip_bin = bytearray(fip_bin)
+
+        e = self.param1["MAGIC1"]
+        if fip_bin[e.addr : e.end] != e.content:
+            raise ValueError("Unknown magic %r" % fip_bin[e.addr : e.end])
+
+        # Read param1 from fip.bin
+        for e in self.param1.values():
+            e.content = fip_bin[e.addr : e.end]
+
+        self.read_end = PARAM1_SIZE
+
+        # Read BLCP
+        e = self.param1["BLCP_IMG_SIZE"]
+        blcp_img_size = unpack("<I", fip_bin[e.addr : e.end])[0]
+        if blcp_img_size:
+            start = self.read_end
+            self.read_end = start + blcp_img_size
+            self.body1["BLCP"].content = fip_bin[start : self.read_end]
+
+        # Read FSBL as BL2
+        e = self.param1["BL2_IMG_SIZE"]
+        bl2_img_size = unpack("<I", fip_bin[e.addr : e.end])[0]
+        if bl2_img_size:
+            start = self.read_end
+            self.read_end = start + bl2_img_size
+            self.body1["BL2"].content = fip_bin[start : self.read_end]
+
+        logging.info("read_fip end=%#x", self.read_end)
+        self.rest_fip = fip_bin[self.read_end :]
+
+        self.read_fip2(fip_bin)
+
+    def read_fip2(self, fip_bin):
+        param2_loadaddr = self.param1["PARAM2_LOADADDR"].toint()
+        param2_bin = fip_bin[param2_loadaddr : param2_loadaddr + PARAM2_SIZE]
+
+        for e in self.param2.values():
+            e.content = param2_bin[e.addr : e.end]
+
+        self.read_end = param2_loadaddr + PARAM2_SIZE
+
+        # Read DDR_PARAM, BLCP_2ND, and MONITOR
+        for name in ["DDR_PARAM", "BLCP_2ND", "MONITOR"]:
+            size = self.param2[name + "_SIZE"].toint()
+            loadaddr = self.param2[name + "_LOADADDR"].toint()
+            self.body2[name].content = fip_bin[loadaddr : loadaddr + size]
+            self.read_end = loadaddr + size
+
+        # Read LOADER_2ND
+        loader_2nd_loadaddr = self.param2["LOADER_2ND_LOADADDR"].toint()
+        if loader_2nd_loadaddr:
+            self.read_loader_2nd(fip_bin)
+
+        logging.info("read_fip2 end=%#x", self.read_end)
+        self.rest_fip = fip_bin[self.read_end :]
+
+    def read_loader_2nd(self, fip_bin):
+        loader_2nd_loadaddr = self.param2["LOADER_2ND_LOADADDR"].toint()
+
+        self._parse_ldr_2nd_hdr(fip_bin[loader_2nd_loadaddr:])
+
+        if self.ldr_2nd_hdr["MAGIC"].content not in LOADER_2ND_MAGIC_LIST:
+            raise ValueError("%r" % self.ldr_2nd_hdr["MAGIC"].content)
+
+        ldr_2nd_size = self.ldr_2nd_hdr["SIZE"].toint()
+
+        self.body2["LOADER_2ND"].content = fip_bin[loader_2nd_loadaddr : loader_2nd_loadaddr + ldr_2nd_size]
+
+        self.read_end = loader_2nd_loadaddr + ldr_2nd_size
+        self.rest_fip = fip_bin[self.read_end :]
+
+    def add_chip_conf(self, args):
+        logging.debug("add_chip_conf:")
+
+        with open(args.CHIP_CONF, "rb") as fp:
+            image = fp.read()
+
+        if image.startswith(b"APLB"):
+            image = image[8:]  # strip old BLP header
+
+        self.param1["CHIP_CONF"].content = image
+
+    def add_blcp(self, args):
+        logging.debug("add_blcp:")
+
+        with open(args.BLCP, "rb") as fp:
+            image = fp.read()
+
+        image = self.pad(image, IMAGE_ALIGN)
+
+        self.param1["BLCP_IMG_RUNADDR"].content = args.BLCP_IMG_RUNADDR
+        self.body1["BLCP"].content = image
+
+    def add_bl2(self, args):
+        logging.debug("add_bl2:")
+
+        with open(args.BL2, "rb") as fp:
+            image = fp.read()
+
+        bl2_fill = 0
+        if args.BL2_FILL:
+            bl2_fill = args.BL2_FILL
+
+        image += b"\xA9" * (bl2_fill - len(image))
+        image = self.pad(image, IMAGE_ALIGN)
+
+        self.body1["BL2"].content = image
+
+    def add_nor_info(self, args):
+        logging.debug("add_nor_info:")
+        self.param1["NOR_INFO"].content = args.NOR_INFO
+
+    def add_nand_info(self, args):
+        logging.debug("add_nand_info:")
+        self.param1["NAND_INFO"].content = args.NAND_INFO
+
+    def update_param1_cksum(self, image):
+        image = bytearray(image)
+        crc = self.image_crc(image[self.param1["NAND_INFO"].addr : PARAM1_SIZE_WO_SIG])
+
+        param_cksum = self.param1["PARAM_CKSUM"]
+        param_cksum.content = crc
+        image[param_cksum.addr : param_cksum.end] = crc
+        return image
+
+    def make_fip1(self):
+        logging.debug("make_fip1:")
+
+        chip_conf = self.param1["CHIP_CONF"].content
+        self.param1["CHIP_CONF_SIZE"].content = len(chip_conf)
+
+        blcp = self.body1["BLCP"].content
+        self.param1["BLCP_IMG_CKSUM"].content = self.image_crc(blcp)
+        self.param1["BLCP_IMG_SIZE"].content = len(blcp)
+
+        bl2 = self.body1["BL2"].content
+        self.param1["BL2_IMG_CKSUM"].content = self.image_crc(bl2)
+        self.param1["BL2_IMG_SIZE"].content = len(bl2)
+
+        # Pack body1
+        body1_bin = b""
+        for entry in self.body1.values():
+            if len(entry.content) % IMAGE_ALIGN:
+                raise ValueError("%s (%d) is not align to %d" % (entry.name, len(entry.content), IMAGE_ALIGN))
+
+            logging.info("add %s (%#x)", entry.name, len(entry.content))
+            body1_bin += entry.content
+
+        logging.debug("len(body1_bin) is %d", len(body1_bin))
+
+        # Param1 cksum
+        param1_bin = b"".join((entry.content for entry in self.param1.values()))
+        param1_bin = self.update_param1_cksum(param1_bin)
+
+        if len(param1_bin) != PARAM1_SIZE:
+            raise ValueError("param1_bin is %d bytes" % len(param1_bin))
+
+        fip1_bin = param1_bin + body1_bin
+        logging.debug("len(fip1_bin) is %d", len(fip1_bin))
+
+        return fip1_bin
+
+    def add_ddr_param(self, args):
+        with open(args.DDR_PARAM, "rb") as fp:
+            ddr_param = fp.read()
+
+        logging.debug("ddr_param=%#x bytes", len(ddr_param))
+        self.body2["DDR_PARAM"].content = ddr_param
+
+    def add_blcp_2nd(self, args):
+        with open(args.BLCP_2ND, "rb") as fp:
+            blcp_2nd = fp.read()
+
+        logging.debug("blcp_2nd=%#x bytes", len(blcp_2nd))
+        self.body2["BLCP_2ND"].content = blcp_2nd
+
+    def add_monitor(self, args):
+        with open(args.MONITOR, "rb") as fp:
+            monitor = fp.read()
+
+        logging.debug("monitor=%#x bytes", len(monitor))
+        self.body2["MONITOR"].content = monitor
+
+    def add_loader_2nd(self, args):
+        with open(args.LOADER_2ND, "rb") as fp:
+            loader_2nd = fp.read()
+
+        logging.debug("loader_2nd=%#x bytes", len(loader_2nd))
+
+        e = self.ldr_2nd_hdr["MAGIC"]
+        magic = loader_2nd[e.addr : e.end]
+        if magic != LOADER_2ND_MAGIC_ORIG:
+            raise ValueError("loader_2nd's magic should be %r, but %r" % (LOADER_2ND_MAGIC_ORIG, magic))
+
+        self.compress_algo = args.compress
+        self.body2["LOADER_2ND"].content = loader_2nd
+
+    def pack_ddr_param(self, fip_bin):
+        if not len(self.body2["DDR_PARAM"].content):
+            return
+
+        fip_bin = self.pad(fip_bin, IMAGE_ALIGN)
+
+        # Pack DDR_PARAM to body2
+        ddr_param = self.pad(self.body2["DDR_PARAM"].content, IMAGE_ALIGN)
+
+        self.param2["DDR_PARAM_CKSUM"].content = self.image_crc(ddr_param)
+        self.param2["DDR_PARAM_SIZE"].content = len(ddr_param)
+        self.param2["DDR_PARAM_LOADADDR"].content = len(fip_bin)
+
+        return fip_bin + ddr_param
+
+    def pack_blcp_2nd(self, fip_bin, blcp_2nd_runaddr):
+        logging.debug("pack_blcp_2nd:")
+        if not len(self.body2["BLCP_2ND"].content):
+            return
+
+        runaddr = int(blcp_2nd_runaddr)
+
+        fip_bin = self.pad(fip_bin, IMAGE_ALIGN)
+
+        # Pack MONITOR to body2
+        body = self.pad(self.body2["BLCP_2ND"].content, IMAGE_ALIGN)
+
+        self.param2["BLCP_2ND_CKSUM"].content = self.image_crc(body)
+        self.param2["BLCP_2ND_SIZE"].content = len(body)
+        self.param2["BLCP_2ND_LOADADDR"].content = len(fip_bin)
+        self.param2["BLCP_2ND_RUNADDR"].content = runaddr
+
+        return fip_bin + body
+
+    def pack_monitor(self, fip_bin, monitor_runaddr):
+        logging.debug("pack_monitor:")
+        if not len(self.body2["MONITOR"].content):
+            return
+
+        monitor_runaddr = int(monitor_runaddr)
+
+        fip_bin = self.pad(fip_bin, IMAGE_ALIGN)
+
+        # Pack MONITOR to body2
+        monitor = self.pad(self.body2["MONITOR"].content, IMAGE_ALIGN)
+
+        self.param2["MONITOR_CKSUM"].content = self.image_crc(monitor)
+        self.param2["MONITOR_SIZE"].content = len(monitor)
+        self.param2["MONITOR_LOADADDR"].content = len(fip_bin)
+        self.param2["MONITOR_RUNADDR"].content = monitor_runaddr
+
+        return fip_bin + monitor
+
+    def _parse_ldr_2nd_hdr(self, image):
+        for e in self.ldr_2nd_hdr.values():
+            e.content = image[e.addr : e.end]
+
+    def _update_ldr_2nd_hdr(self):
+        image = self.body2["LOADER_2ND"].content
+        hdr_size = self._param_size(self.ldr_2nd_hdr)
+        hdr, body = image[:hdr_size], image[hdr_size:]
+
+        # Update SIZE
+        self.ldr_2nd_hdr["SIZE"].content = len(image)
+
+        # Update CKSUM
+        hdr = bytearray(b"".join((e.content for e in self.ldr_2nd_hdr.values())))
+        # CKSUM is calculated after "CKSUM" field
+        hdr_cksum = self.ldr_2nd_hdr["CKSUM"]
+        crc = self.image_crc((hdr + body)[hdr_cksum.end :])
+        hdr_cksum.content = crc
+        hdr = bytearray(b"".join((e.content for e in self.ldr_2nd_hdr.values())))
+
+        self.body2["LOADER_2ND"].content = hdr + body
+
+    def _compress_ldr_2nd(self):
+        image = self.body2["LOADER_2ND"].content
+        hdr_size = self._param_size(self.ldr_2nd_hdr)
+        hdr, body = image[:hdr_size], image[hdr_size:]
+
+        magic = self.ldr_2nd_hdr["MAGIC"].content
+        if magic == LOADER_2ND_MAGIC_ORIG:
+            # if image is uncompressed, compress it.
+            if self.compress_algo is None:
+                pass
+            elif self.compress_algo == "lzma":
+                self.ldr_2nd_hdr["MAGIC"].content = LOADER_2ND_MAGIC_LZMA
+                body = lzma_compress(body)
+                logging.info("lzma loader_2nd=%#x bytes wo header", len(body))
+            elif self.compress_algo == "lz4":
+                self.ldr_2nd_hdr["MAGIC"].content = LOADER_2ND_MAGIC_LZ4
+                body = lz4_compress(body)
+                logging.info("lz4 loader_2nd=%#x bytes wo header", len(body))
+            else:
+                raise NotImplementedError("'%r' is not supported." % self.compress_algo)
+        elif magic in LOADER_2ND_MAGIC_LIST:
+            logging.info("loader_2nd is already compressed")
+        else:
+            raise ValueError("unknown loader_2nd magic (%r)", magic)
+
+        self.body2["LOADER_2ND"].content = self.pad(hdr + body, IMAGE_ALIGN)
+
+    def pack_loader_2nd(self, fip_bin):
+        logging.debug("pack_loader_2nd:")
+        if not len(self.body2["LOADER_2ND"].content):
+            return
+
+        fip_bin = self.pad(fip_bin, IMAGE_ALIGN)
+        self.param2["LOADER_2ND_LOADADDR"].content = len(fip_bin)
+
+        self._parse_ldr_2nd_hdr(self.body2["LOADER_2ND"].content)
+        self._compress_ldr_2nd()
+        self._update_ldr_2nd_hdr()
+
+        # Append LOADER_2ND to body2
+        return fip_bin + self.body2["LOADER_2ND"].content
+
+    def insert_param1(self, fip_bin, name, value):
+        fip_bin = bytearray(fip_bin)
+        e = self.param1[name]
+        e.content = value
+        fip_bin[e.addr : e.end] = value
+        return self.update_param1_cksum(fip_bin)
+
+    def append_fip2(self, fip1_bin, args):
+        logging.debug("make_fip2:")
+        fip_bin = bytearray(fip1_bin)
+
+        # Update PARAM2_LOADADDR
+        param2_loadaddr = len(fip1_bin)
+        fip_bin = self.insert_param1(fip_bin, "PARAM2_LOADADDR", pack("<I", param2_loadaddr))
+
+        # Add an empty PARAM2
+        fip_bin += b"\0" * PARAM2_SIZE
+
+        # Pack body
+        fip_bin = self.pack_ddr_param(fip_bin)
+
+        if len(self.body2["BLCP_2ND"].content):
+            runaddr = self.param2["BLCP_2ND_RUNADDR"].toint()
+            if not runaddr:
+                runaddr = int(args.BLCP_2ND_RUNADDR)
+            fip_bin = self.pack_blcp_2nd(fip_bin, runaddr)
+
+        if len(self.body2["MONITOR"].content):
+            runaddr = self.param2["MONITOR_RUNADDR"].toint()
+            if not runaddr:
+                runaddr = int(args.MONITOR_RUNADDR)
+            fip_bin = self.pack_monitor(fip_bin, runaddr)
+
+        if len(self.body2["LOADER_2ND"].content):
+            fip_bin = self.pack_loader_2nd(fip_bin)
+
+        # Pack param2_bin
+        param2_bin = b"".join((entry.content for entry in self.param2.values()))
+        self.param2["PARAM2_CKSUM"].content = self.image_crc(param2_bin[self.param2["PARAM2_CKSUM"].end :])
+        param2_bin = b"".join((entry.content for entry in self.param2.values()))  # update cksum
+
+        logging.debug("len(param2_bin) is %d", len(param2_bin))
+        assert len(param2_bin) == PARAM2_SIZE
+
+        fip_bin[param2_loadaddr : param2_loadaddr + PARAM2_SIZE] = param2_bin
+
+        return fip_bin
+
+    def make(self, args=None):
+        fip_bin = self.make_fip1()
+        if len(self.body2["DDR_PARAM"].content):
+            fip_bin = self.append_fip2(fip_bin, args)
+
+        logging.info("generated fip_bin is %d bytes", len(fip_bin))
+
+        if getattr(self, "rest_fip", None):
+            logging.error("the rest of fip is not used: %#x bytes ", len(self.rest_fip))
+
+        return fip_bin
+
+
+METHODS = {
+    "NOR_INFO": FIP.add_nor_info,
+    "NAND_INFO": FIP.add_nand_info,
+    "CHIP_CONF": FIP.add_chip_conf,
+    "BLCP": FIP.add_blcp,
+    "BL2": FIP.add_bl2,
+    "DDR_PARAM": FIP.add_ddr_param,
+    "BLCP_2ND": FIP.add_blcp_2nd,
+    "MONITOR": FIP.add_monitor,
+    "LOADER_2ND": FIP.add_loader_2nd,
+}
+
+
+def generate_fip(args):
+    logging.debug("generate_fip:")
+    fip = FIP()
+
+    if args.OLD_FIP:
+        fip.read_fip(args.OLD_FIP)
+
+    for m, f in METHODS.items():
+        if getattr(args, m):
+            f(fip, args)
+
+    fip_bin = fip.make(args)
+    fip.print_fip_params()
+
+    if args.output:
+        with open(args.output, "wb") as fp:
+            fp.write(fip_bin)
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description="FIP tools")
+
+    parser.add_argument(
+        "-v",
+        "--verbose",
+        help="Increase output verbosity",
+        action="store_const",
+        const=logging.DEBUG,
+        default=logging.INFO,
+    )
+
+    subparsers = parser.add_subparsers(dest="subcmd", help="Sub-command help")
+    pr_gen = subparsers.add_parser("genfip", help="Generate keys")
+
+    for name in list(METHODS):
+        if name in ["NOR_INFO", "NAND_INFO"]:
+            pr_gen.add_argument("--" + name, type=bytes.fromhex)
+        else:
+            pr_gen.add_argument("--" + name, dest=name, type=str, help="Add %s into FIP" % name)
+
+    def auto_int(x):
+        return int(x, 0)
+
+    pr_gen.add_argument("--BLCP_IMG_RUNADDR", type=auto_int)
+    pr_gen.add_argument("--BLCP_PARAM_LOADADDR", type=auto_int)
+
+    pr_gen.add_argument("--BLCP_2ND_RUNADDR", type=auto_int)
+
+    pr_gen.add_argument("--MONITOR_RUNADDR", type=auto_int)
+
+    pr_gen.add_argument("--compress", choices=["lzma", "lz4", ""])
+
+    pr_gen.add_argument("--OLD_FIP", type=str)
+    pr_gen.add_argument("--BLOCK_SIZE", type=auto_int)
+    pr_gen.add_argument("--BL2_FILL", type=auto_int)
+
+    pr_gen.add_argument("output", type=str, help="Output filename")
+
+    pr_gen.set_defaults(func=generate_fip)
+
+    if argcomplete:
+        argcomplete.autocomplete(parser)
+
+    args = parser.parse_args()
+    init_logging(stdout_level=args.verbose)
+    logging.info("PROG: %s", parser.prog)
+
+    if not args.subcmd:
+        parser.print_help()
+        raise SystemExit(1)
+
+    for a, v in sorted(vars(args).items()):
+        logging.debug("  %s=%r", a, v)
+
+    return args
+
+
+def main():
+    args = parse_args()
+    args.func(args)
+
+
+def init_logging(log_file=None, file_level="DEBUG", stdout_level="WARNING"):
+    root_logger = logging.getLogger()
+    root_logger.setLevel(logging.NOTSET)
+
+    fmt = "%(asctime)s %(levelname)8s:%(name)s:%(message)s"
+
+    if log_file is not None:
+        file_handler = logging.FileHandler(log_file, encoding="utf-8")
+        file_handler.setFormatter(logging.Formatter(fmt))
+        file_handler.setLevel(file_level)
+        root_logger.addHandler(file_handler)
+
+    if coloredlogs:
+        os.environ["COLOREDLOGS_DATE_FORMAT"] = "%H:%M:%S"
+
+        field_styles = {
+            "asctime": {"color": "green"},
+            "hostname": {"color": "magenta"},
+            "levelname": {"color": "black", "bold": True},
+            "name": {"color": "blue"},
+            "programname": {"color": "cyan"},
+        }
+
+        level_styles = coloredlogs.DEFAULT_LEVEL_STYLES
+        level_styles["debug"]["color"] = "cyan"
+
+        coloredlogs.install(
+            level=stdout_level,
+            fmt=fmt,
+            field_styles=field_styles,
+            level_styles=level_styles,
+            milliseconds=True,
+        )
+
+
+if __name__ == "__main__":
+    main()
diff --git a/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/u-boot-raw.bin b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/u-boot-raw.bin
new file mode 100644
index 0000000000..48e69e41eb
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/u-boot-raw.bin
diff --git a/bsp/cvitek/cv18xx_aarch64/dtb/milkv-duo256m/multi.its b/bsp/cvitek/cv18xx_aarch64/dtb/milkv-duo256m/multi.its
new file mode 100644
index 0000000000..d3d76fd8ce
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/dtb/milkv-duo256m/multi.its
@@ -0,0 +1,56 @@
+/*
+ * U-Boot uImage source file with multiple kernels, ramdisks and FDT blobs
+ */
+
+/dts-v1/;
+
+/ {
+	description = "Various kernels, ramdisks and FDT blobs";
+	#address-cells = <2>;
+
+	images {
+		kernel-1 {
+			description = "cvitek kernel";
+			data = /incbin/("./Image.lzma");
+			type = "kernel";
+			arch = "arm64";
+			os = "linux";
+			compression = "lzma";
+			load = <0x0 0x80200000>;
+			entry = <0x0 0x80200000>;
+			hash-2 {
+				algo = "crc32";
+			};
+		};
+
+
+		/*FDT*/
+    
+        fdt-sg2002_milkv_duo256m_arm_sd {
+            description = "cvitek device tree - sg2002_milkv_duo256m_arm_sd";
+            data = /incbin/("./sg2002_milkv_duo256m_arm_sd.dtb");
+            type = "flat_dt";
+            arch = "arm64";
+            compression = "none";
+            hash-1 {
+                algo = "sha256";
+            };
+        };
+
+
+
+	};
+
+	/*CFG*/
+    configurations {
+        
+        config-sg2002_milkv_duo256m_arm_sd {
+            description = "boot cvitek system with board sg2002_milkv_duo256m_arm_sd";
+            kernel = "kernel-1";
+            fdt = "fdt-sg2002_milkv_duo256m_arm_sd";
+        };
+
+    };
+
+
+};
diff --git a/bsp/cvitek/cv18xx_aarch64/dtb/milkv-duo256m/sg2002_milkv_duo256m_arm_sd.dtb b/bsp/cvitek/cv18xx_aarch64/dtb/milkv-duo256m/sg2002_milkv_duo256m_arm_sd.dtb
new file mode 100644
index 0000000000..6ef447d6e2
--- /dev/null
+++ b/bsp/cvitek/cv18xx_aarch64/dtb/milkv-duo256m/sg2002_milkv_duo256m_arm_sd.dtb
diff --git a/bsp/cvitek/cv18xx_aarch64/rtconfig.py b/bsp/cvitek/cv18xx_aarch64/rtconfig.py
index c363513a18..54ea2201bb 100644
--- a/bsp/cvitek/cv18xx_aarch64/rtconfig.py
+++ b/bsp/cvitek/cv18xx_aarch64/rtconfig.py
@@ -45,3 +45,5 @@ if PLATFORM == 'gcc':
 
 DUMP_ACTION = OBJDUMP + ' -D -S $TARGET > rtt.asm\n'
 POST_ACTION = OBJCPY + ' -O binary $TARGET rtthread.bin\n' + SIZE + ' $TARGET \n'
+POST_ACTION += OBJCPY + ' -O binary $TARGET Image \n' + SIZE + ' $TARGET \n'
+POST_ACTION += 'cd .. && bash mksdimg.sh ' + os.getcwd() + ' Image \n'