diff --git a/bsp/qemu-virt64-aarch64/.config b/bsp/qemu-virt64-aarch64/.config
index 8ba72f990bb1a5e74890136309389dd23b7869cc..2bd46d496d18bb4c565e2dd1a1b88bebadef75cb 100644
--- a/bsp/qemu-virt64-aarch64/.config
+++ b/bsp/qemu-virt64-aarch64/.config
@@ -85,6 +85,7 @@ CONFIG_RT_CONSOLE_DEVICE_NAME="uart0"
 CONFIG_RT_VER_NUM=0x40100
 CONFIG_ARCH_CPU_64BIT=y
 # CONFIG_RT_USING_CPU_FFS is not set
+CONFIG_ARCH_ARMV8=y
 # CONFIG_ARCH_CPU_STACK_GROWS_UPWARD is not set
 
 #
@@ -686,7 +687,6 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_CONTROLLER is not set
 # CONFIG_PKG_USING_PHASE_LOCKED_LOOP is not set
 CONFIG_SOC_VIRT64_AARCH64=y
-CONFIG_BSP_SUPPORT_FPU=y
 
 #
 # AARCH64 qemu virt64 configs
diff --git a/bsp/qemu-virt64-aarch64/Kconfig b/bsp/qemu-virt64-aarch64/Kconfig
index 9bc888eb72901c09da8379f8452b9b2b90f70e73..147645457503851124e6490741e6532232816dbc 100644
--- a/bsp/qemu-virt64-aarch64/Kconfig
+++ b/bsp/qemu-virt64-aarch64/Kconfig
@@ -20,14 +20,10 @@ source "$PKGS_DIR/Kconfig"
 
 config SOC_VIRT64_AARCH64
     bool
-    select ARCH_ARM_CORTEX_A53
+    select ARCH_ARMV8
     select ARCH_CPU_64BIT
     select RT_USING_COMPONENTS_INIT
     select RT_USING_USER_MAIN
-    select BSP_USING_GIC
-    select RT_USING_GIC
-    select BSP_USING_GIC390
-    select RT_USING_RTC
     default y
 
 source "$BSP_DIR/driver/Kconfig"
diff --git a/bsp/qemu-virt64-aarch64/driver/Kconfig b/bsp/qemu-virt64-aarch64/driver/Kconfig
index 75ec6f588f043462271ad17d19aa0fe02d9d9874..acf9f082ea25ce8e88a8e526706d2960ad6ca1e7 100644
--- a/bsp/qemu-virt64-aarch64/driver/Kconfig
+++ b/bsp/qemu-virt64-aarch64/driver/Kconfig
@@ -1,7 +1,3 @@
-menuconfig BSP_SUPPORT_FPU
-    bool "Using Float"
-    default y
-
 menu "AARCH64 qemu virt64 configs"
 
     menuconfig BSP_USING_UART
diff --git a/bsp/qemu-virt64-aarch64/rtconfig.h b/bsp/qemu-virt64-aarch64/rtconfig.h
index 3870c7f54a2cbdbc52ad3bd6dde32520e88f40ef..2aefe60171270fc3beded42d9b8e953164da8264 100644
--- a/bsp/qemu-virt64-aarch64/rtconfig.h
+++ b/bsp/qemu-virt64-aarch64/rtconfig.h
@@ -53,6 +53,7 @@
 #define RT_CONSOLE_DEVICE_NAME "uart0"
 #define RT_VER_NUM 0x40100
 #define ARCH_CPU_64BIT
+#define ARCH_ARMV8
 
 /* RT-Thread Components */
 
@@ -220,7 +221,6 @@
 /* entertainment: terminal games and other interesting software packages */
 
 #define SOC_VIRT64_AARCH64
-#define BSP_SUPPORT_FPU
 
 /* AARCH64 qemu virt64 configs */
 
diff --git a/bsp/raspberry-pi/raspi3-64/.config b/bsp/raspberry-pi/raspi3-64/.config
index bd6091474d8da5d8267affa211d42cac998c6d53..b0ee49e13b9be8141a3bab7765fefd41b26f12fe 100644
--- a/bsp/raspberry-pi/raspi3-64/.config
+++ b/bsp/raspberry-pi/raspi3-64/.config
@@ -711,7 +711,6 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_CONTROLLER is not set
 # CONFIG_PKG_USING_PHASE_LOCKED_LOOP is not set
 CONFIG_BCM2836_SOC=y
-CONFIG_BSP_SUPPORT_FPU=y
 
 #
 # Hardware Drivers Config
diff --git a/bsp/raspberry-pi/raspi3-64/driver/Kconfig b/bsp/raspberry-pi/raspi3-64/driver/Kconfig
index 37f7501cc0ccf4885a6a8dedef1e7e60188cd483..15f9fb94c928e6fbcd3b361abef6cd85c63e903f 100644
--- a/bsp/raspberry-pi/raspi3-64/driver/Kconfig
+++ b/bsp/raspberry-pi/raspi3-64/driver/Kconfig
@@ -1,8 +1,3 @@
-
-config BSP_SUPPORT_FPU
-    bool "Using Float"
-    default n
-
 menu "Hardware Drivers Config"
     menu "BCM Peripheral Drivers"
         menuconfig BSP_USING_UART
diff --git a/bsp/raspberry-pi/raspi3-64/rtconfig.h b/bsp/raspberry-pi/raspi3-64/rtconfig.h
index 4b560f13b86463e452d81b8bb0d5be2111cace21..6a8a03290b9385e47382b400fcf80db585b3b0b0 100644
--- a/bsp/raspberry-pi/raspi3-64/rtconfig.h
+++ b/bsp/raspberry-pi/raspi3-64/rtconfig.h
@@ -232,7 +232,6 @@
 /* entertainment: terminal games and other interesting software packages */
 
 #define BCM2836_SOC
-#define BSP_SUPPORT_FPU
 
 /* Hardware Drivers Config */
 
diff --git a/bsp/raspberry-pi/raspi4-64/.config b/bsp/raspberry-pi/raspi4-64/.config
index a3fd2291eadefa8499c11d010b90017d7f1d59d3..a2c217c07a062d3c562de85a341e334f337d5285 100644
--- a/bsp/raspberry-pi/raspi4-64/.config
+++ b/bsp/raspberry-pi/raspi4-64/.config
@@ -778,7 +778,6 @@ CONFIG_YMODEM_USING_FILE_TRANSFER=y
 # CONFIG_PKG_USING_CONTROLLER is not set
 # CONFIG_PKG_USING_PHASE_LOCKED_LOOP is not set
 CONFIG_BCM2711_SOC=y
-CONFIG_BSP_SUPPORT_FPU=y
 
 #
 # Hardware Drivers Config
diff --git a/bsp/raspberry-pi/raspi4-64/driver/Kconfig b/bsp/raspberry-pi/raspi4-64/driver/Kconfig
index 28bc5ecfa542779d91d3a7256a17c68f79f12d01..1eaf56faca0a47d755c9be72a9df153e43a4b98e 100644
--- a/bsp/raspberry-pi/raspi4-64/driver/Kconfig
+++ b/bsp/raspberry-pi/raspi4-64/driver/Kconfig
@@ -1,8 +1,3 @@
-
-config BSP_SUPPORT_FPU
-    bool "Using Float"
-    default n
-
 menu "Hardware Drivers Config"
     menu "BCM Peripheral Drivers"
         menuconfig BSP_USING_UART
diff --git a/bsp/raspberry-pi/raspi4-64/rtconfig.h b/bsp/raspberry-pi/raspi4-64/rtconfig.h
index f233e32e0b1625dabdb95d9b6f09ce36e571dc84..3091cbfa2e48c709b65b12d5e647e1c444e47cbc 100644
--- a/bsp/raspberry-pi/raspi4-64/rtconfig.h
+++ b/bsp/raspberry-pi/raspi4-64/rtconfig.h
@@ -284,7 +284,6 @@
 /* entertainment: terminal games and other interesting software packages */
 
 #define BCM2711_SOC
-#define BSP_SUPPORT_FPU
 
 /* Hardware Drivers Config */
 
diff --git a/libcpu/aarch64/common/context_gcc.S b/libcpu/aarch64/common/context_gcc.S
index cad3b0db3f1bb7d62c074e5b98d504cab1729f83..20f65ffd358eaad19706463cf8a41f7f1c5c0c60 100644
--- a/libcpu/aarch64/common/context_gcc.S
+++ b/libcpu/aarch64/common/context_gcc.S
@@ -65,6 +65,19 @@ rt_hw_get_gtimer_frq:
     MRS X0,CNTFRQ_EL0
     RET
 
+/*
+ *set gtimer frq value (only in EL3)
+ */
+.globl rt_hw_set_gtimer_frq
+rt_hw_set_gtimer_frq:
+    MRS X1, CurrentEL
+    CMP X1, 0xc
+    BNE rt_hw_set_gtimer_frq_exit
+    MSR CNTFRQ_EL0, X0
+    MOV X0, XZR
+rt_hw_set_gtimer_frq_exit:
+    RET
+
 .macro SAVE_CONTEXT
     /* Save the entire context. */
     SAVE_FPU SP
diff --git a/libcpu/aarch64/common/gtimer.h b/libcpu/aarch64/common/gtimer.h
index 956e2ed5aa2186c56fc03d39a59dc91995f863d1..c420c1f886a3032dd4d866018b1b2b8526a2721b 100644
--- a/libcpu/aarch64/common/gtimer.h
+++ b/libcpu/aarch64/common/gtimer.h
@@ -23,5 +23,6 @@ void rt_hw_set_gtimer_val(rt_uint64_t value);
 rt_uint64_t rt_hw_get_gtimer_val();
 rt_uint64_t rt_hw_get_cntpct_val();
 rt_uint64_t rt_hw_get_gtimer_frq();
+rt_uint64_t rt_hw_set_gtimer_frq(rt_uint64_t value);
 
 #endif /* __GTIMER_H__ */
diff --git a/libcpu/aarch64/common/stack.c b/libcpu/aarch64/common/stack.c
index a0ec935e5da2aa51ccdde004b92df8b7087fb18c..2743fd3eee7b4c36831f877e467065cdeabd8f21 100644
--- a/libcpu/aarch64/common/stack.c
+++ b/libcpu/aarch64/common/stack.c
@@ -13,10 +13,6 @@
 #include <rtthread.h>
 #include <armv8.h>
 
-#define INITIAL_SPSR_EL3 (PSTATE_EL3 | SP_ELx)
-#define INITIAL_SPSR_EL2 (PSTATE_EL2 | SP_ELx)
-#define INITIAL_SPSR_EL1 (PSTATE_EL1 | SP_ELx)
-
 /**
  * This function will initialize thread stack
  *
@@ -29,10 +25,14 @@
  */
 rt_uint8_t *rt_hw_stack_init(void *tentry, void *parameter, rt_uint8_t *stack_addr, void *texit)
 {
-    rt_ubase_t *stk;
-    rt_ubase_t current_el;
-
-    stk      = (rt_ubase_t*)stack_addr;
+    static const rt_ubase_t initial_spsr[] =
+    {
+        [1] = PSTATE_EL1 | SP_ELx,
+        [2] = PSTATE_EL2 | SP_ELx,
+        [3] = PSTATE_EL3 | SP_ELx
+    };
+    /* The AAPCS64 requires 128-bit (16 byte) stack alignment */
+    rt_ubase_t *stk = (rt_ubase_t*)RT_ALIGN_DOWN((rt_ubase_t)stack_addr, 16);
 
     *(--stk) = (rt_ubase_t) 0;              /* Q0 */
     *(--stk) = (rt_ubase_t) 0;              /* Q0 */
@@ -102,21 +102,7 @@ rt_uint8_t *rt_hw_stack_init(void *tentry, void *parameter, rt_uint8_t *stack_ad
     *(--stk) = ( rt_ubase_t ) 0;            /* XZR - has no effect, used so there are an even number of registers. */
     *(--stk) = ( rt_ubase_t ) texit;        /* X30 - procedure call link register. */
 
-    current_el = rt_hw_get_current_el();
-
-    if(current_el == 3)
-    {
-        *(--stk) = INITIAL_SPSR_EL3;
-    }
-    else if(current_el == 2)
-    {
-        *(--stk) = INITIAL_SPSR_EL2;
-    }
-    else
-    {
-        *(--stk) = INITIAL_SPSR_EL1;
-    }
-
+    *(--stk) = initial_spsr[rt_hw_get_current_el()];
     *(--stk) = ( rt_ubase_t ) tentry;       /* Exception return address. */
 
     /* return task's current stack address */
diff --git a/libcpu/aarch64/cortex-a/entry_point.S b/libcpu/aarch64/cortex-a/entry_point.S
index 2228677f1cfa15038308c906dc039e93f78f97cd..5bf2b8a3a64a454bdfeb2f390ce84d5927f528cf 100644
--- a/libcpu/aarch64/cortex-a/entry_point.S
+++ b/libcpu/aarch64/cortex-a/entry_point.S
@@ -80,16 +80,19 @@ cpu_check_el:
     orr     x2, x2, #(1 << 10)      /* The next lower level is AArch64 */
     msr     scr_el3, x2
 
-    /* Change execution level to EL2 */
-    mov     x2, #0x3c9
-    msr     spsr_el3, x2            /* 0b1111001001 */
-    adr     x2, cpu_not_in_el3
+    mov     x2, #9                  /* Next level is 0b1001->EL2h */
+    orr     x2, x2, #(1 << 6)       /* Mask FIQ */
+    orr     x2, x2, #(1 << 7)       /* Mask IRQ */
+    orr     x2, x2, #(1 << 8)       /* Mask SError */
+    orr     x2, x2, #(1 << 9)       /* Mask Debug Exception */
+    msr     spsr_el3, x2
+    adr     x2, cpu_in_el2
     msr     elr_el3, x2
-    eret                            /* Exception Return: from EL3, continue from cpu_not_in_el3 */
+    eret
 
 cpu_not_in_el3:                     /* Running at EL2 or EL1 */
     cmp     x0, #4                  /* EL1 = 0100  */
-    beq     cpu_in_el1              /* Halt this core if running in El1 */
+    beq     cpu_in_el1
 
 cpu_in_el2:
     /* Enable CNTP for EL1 */
@@ -102,9 +105,12 @@ cpu_in_el2:
     orr     x0, x0, #(1 << 1)       /* SWIO hardwired on Pi3 */
     msr     hcr_el2, x0
 
-    /* Change execution level to EL1 */
-    mov     x2, #0x3c4
-    msr     spsr_el2, x2            /* 0b1111000100 */
+    mov     x2, #5                  /* Next level is 0b0101->EL1h */
+    orr     x2, x2, #(1 << 6)       /* Mask FIQ */
+    orr     x2, x2, #(1 << 7)       /* Mask IRQ */
+    orr     x2, x2, #(1 << 8)       /* Mask SError */
+    orr     x2, x2, #(1 << 9)       /* Mask Debug Exception */
+    msr     spsr_el2, x2
     adr     x2, cpu_in_el1
     msr     elr_el2, x2
     eret