[libcpu/aarch64] rt_hw_trap_irq get irq instead of iar when using gicv2 (#5601)
* [libcpu/aarch64] add smp support * [libcpu/aarch64] rt_hw_trap_irq get irq instead of iar when using gicv2
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* [libcpu/aarch64] add smp support * [libcpu/aarch64] rt_hw_trap_irq get irq instead of iar when using gicv2