8 files changed, 102 insertions, 11 deletions
diff --git a/bsps/aarch64/raspberrypi/include/bsp/irq.h b/bsps/aarch64/raspberrypi/include/bsp/irq.h
index 1ff6ae80de..d493e83707 100644
--- a/bsps/aarch64/raspberrypi/include/bsp/irq.h
+++ b/bsps/aarch64/raspberrypi/include/bsp/irq.h
@@ -9,6 +9,7 @@
 /**
  * Copyright (c) 2013 Alan Cudmore
  * Copyright (c) 2022 Mohd Noor Aman
+ * Copyright (c) 2024 Ning Yang
  *
  *  The license and distribution terms for this file may be
  *  found in the file LICENSE in this distribution or at
@@ -33,15 +34,18 @@
  * @brief Interrupt support.
  */
 
-#define BCM2835_INTC_TOTAL_IRQ       (64 + 8)
+#define BCM2835_INTC_TOTAL_IRQ       216
 
 #define BCM2835_IRQ_SET1_MIN         0
 #define BCM2835_IRQ_SET2_MIN         32
 
-#define BCM2835_IRQ_ID_GPU_TIMER_M0  0
-#define BCM2835_IRQ_ID_GPU_TIMER_M1  1
-#define BCM2835_IRQ_ID_GPU_TIMER_M2  2
-#define BCM2835_IRQ_ID_GPU_TIMER_M3  3
+#define BCM2711_IRQ_VC_PERIPHERAL_BASE 96
+
+/* Interrupt Vectors: System Timer */
+#define BCM2835_IRQ_ID_GPU_TIMER_M0    (BCM2711_IRQ_VC_PERIPHERAL_BASE + 0)
+#define BCM2835_IRQ_ID_GPU_TIMER_M1    (BCM2711_IRQ_VC_PERIPHERAL_BASE + 1)
+#define BCM2835_IRQ_ID_GPU_TIMER_M2    (BCM2711_IRQ_VC_PERIPHERAL_BASE + 2)
+#define BCM2835_IRQ_ID_GPU_TIMER_M3    (BCM2711_IRQ_VC_PERIPHERAL_BASE + 3)
 
 #define BCM2835_IRQ_ID_USB           9
 #define BCM2835_IRQ_ID_AUX           29
diff --git a/bsps/aarch64/raspberrypi/include/bsp/raspberrypi.h b/bsps/aarch64/raspberrypi/include/bsp/raspberrypi.h
index 55dd9ed1e9..f185d1df57 100644
--- a/bsps/aarch64/raspberrypi/include/bsp/raspberrypi.h
+++ b/bsps/aarch64/raspberrypi/include/bsp/raspberrypi.h
@@ -8,6 +8,7 @@
 
 /*
  *  Copyright (c) 2022 Mohd Noor Aman
+ *  Copyright (c) 2024 Ning Yang
  *
  *  The license and distribution terms for this file may be
  *  found in the file LICENSE in this distribution or at
@@ -44,6 +45,7 @@
 
 #define BCM2711_REG(x)           (*(volatile uint64_t *)(x))
 #define BCM2711_BIT(n)           (1 << (n))
+#define BCM2835_REG(addr)        (*(volatile uint32_t*)(addr))
 
 /** @} */
 
@@ -198,6 +200,13 @@
 #define BCM2711_GPU_TIMER_C2         (BCM2711_GPU_TIMER_BASE + 0x14)
 #define BCM2711_GPU_TIMER_C3         (BCM2711_GPU_TIMER_BASE + 0x18)
 
+/**
+ * NOTE: compatible with the BCM2835 system timer
+ */
+#define BCM2835_GPU_TIMER_CS_M3      BCM2711_GPU_TIMER_CS_M3
+#define BCM2835_GPU_TIMER_C3         BCM2711_GPU_TIMER_C3
+#define BCM2835_GPU_TIMER_CLO        BCM2711_GPU_TIMER_CLO
+#define BCM2835_GPU_TIMER_CS         BCM2711_GPU_TIMER_CS
 /** @} */
 
 /**
diff --git a/spec/build/bsps/aarch64/grp.yml b/spec/build/bsps/aarch64/grp.yml
index 9428fb9435..8f40a9952e 100644
--- a/spec/build/bsps/aarch64/grp.yml
+++ b/spec/build/bsps/aarch64/grp.yml
@@ -12,9 +12,6 @@ install:
   source:
   - bsps/aarch64/include/bsp/linker-symbols.h
   - bsps/aarch64/include/bsp/start.h
-- destination: ${BSP_INCLUDEDIR}/dev/clock
-  source:
-  - bsps/include/dev/clock/arm-generic-timer.h
 - destination: ${BSP_INCLUDEDIR}/dev/irq
   source:
   - bsps/aarch64/include/dev/irq/arm-gic-arch.h
diff --git a/spec/build/bsps/aarch64/raspberrypi/bspraspberrypi4.yml b/spec/build/bsps/aarch64/raspberrypi/bspraspberrypi4.yml
index a579c094ba..7b6511a8cc 100644
--- a/spec/build/bsps/aarch64/raspberrypi/bspraspberrypi4.yml
+++ b/spec/build/bsps/aarch64/raspberrypi/bspraspberrypi4.yml
@@ -20,6 +20,10 @@ install:
   - bsps/aarch64/raspberrypi/include/bsp/raspberrypi.h
 links:
 - role: build-dependency
+  uid: objclock
+- role: build-dependency
+  uid: objsystemtimer
+- role: build-dependency
   uid: ../grp
 - role: build-dependency
   uid: ../start
@@ -50,10 +54,8 @@ source:
 - bsps/aarch64/raspberrypi/start/bspstart.c
 - bsps/aarch64/raspberrypi/start/bspstarthooks.c
 - bsps/aarch64/raspberrypi/start/bspstartmmu.c
-- bsps/aarch64/shared/clock/arm-generic-timer-aarch64.c
 - bsps/aarch64/shared/cache/cache.c
 - bsps/aarch64/shared/mmu/vmsav8-64.c
-- bsps/shared/dev/clock/arm-generic-timer.c
 - bsps/shared/dev/irq/arm-gicv2.c
 - bsps/shared/dev/irq/arm-gicv2-get-attributes.c
 - bsps/shared/dev/serial/console-termios-init.c
diff --git a/spec/build/bsps/aarch64/raspberrypi/objclock.yml b/spec/build/bsps/aarch64/raspberrypi/objclock.yml
new file mode 100644
index 0000000000..24f61c93c4
--- /dev/null
+++ b/spec/build/bsps/aarch64/raspberrypi/objclock.yml
@@ -0,0 +1,31 @@
+SPDX-License-Identifier: CC-BY-SA-4.0 OR BSD-2-Clause
+copyrights:
+  - Copyright (C) 2022 Mohd Noor Aman
+  - Copyright (C) 2023 Utkarsh Verma
+  - Copyright (C) 2024 Ning Yang
+
+type: build
+enabled-by:
+  not: BSP_CLOCK_USE_SYSTEMTIMER
+
+build-type: objects
+cflags: []
+cppflags: []
+cxxflags: []
+includes: []
+install:
+- destination: ${BSP_INCLUDEDIR}/dev/clock
+  source:
+  - bsps/include/dev/clock/arm-generic-timer.h
+
+source:
+  - bsps/aarch64/shared/clock/arm-generic-timer-aarch64.c
+  - bsps/shared/dev/clock/arm-generic-timer.c
+
+links:
+  - role: build-dependency
+    uid: ../optgtusevirt
+  - role: build-dependency
+    uid: ../optgtuseps
+  - role: build-dependency
+    uid: optsystemtimer
+\ No newline at end of file
diff --git a/spec/build/bsps/aarch64/raspberrypi/objsystemtimer.yml b/spec/build/bsps/aarch64/raspberrypi/objsystemtimer.yml
new file mode 100644
index 0000000000..1ead15fdd5
--- /dev/null
+++ b/spec/build/bsps/aarch64/raspberrypi/objsystemtimer.yml
@@ -0,0 +1,23 @@
+SPDX-License-Identifier: CC-BY-SA-4.0 OR BSD-2-Clause
+copyrights:
+  - Copyright (C) 2024 Ning Yang
+
+type: build
+enabled-by:
+- BSP_CLOCK_USE_SYSTEMTIMER
+
+build-type: objects
+cflags: []
+cppflags: []
+cxxflags: []
+includes: []
+install: []
+
+source:
+  - bsps/shared/dev/clock/bcm2835-system-timer.c
+  - bsps/shared/dev/cpucounter/cpucounterfrequency.c
+  - bsps/shared/dev/cpucounter/cpucounterread.c
+
+links:
+  - role: build-dependency
+    uid: optsystemtimer
+\ No newline at end of file
diff --git a/spec/build/bsps/aarch64/raspberrypi/optsystemtimer.yml b/spec/build/bsps/aarch64/raspberrypi/optsystemtimer.yml
new file mode 100644
index 0000000000..c20371ab8b
--- /dev/null
+++ b/spec/build/bsps/aarch64/raspberrypi/optsystemtimer.yml
@@ -0,0 +1,25 @@
+SPDX-License-Identifier: CC-BY-SA-4.0 OR BSD-2-Clause
+copyrights:
+  - Copyright (C) 2024 Ning Yang
+
+type: build
+build-type: option
+
+enabled-by: true
+name: BSP_CLOCK_USE_SYSTEMTIMER
+description: |
+  The clock from the ARM timer is derived from the system clock. This clock can
+  change dynamically e.g. if the system goes into reduced power or in low power
+  mode. Thus the clock speed adapts to the overall system performance
+  capabilities. For accurate timing it is recommended to use the system timers.
+
+actions:
+  - get-boolean: null
+  - define-condition: null
+  - env-enable: null
+default:
+  - enabled-by:
+    - aarch64/raspberrypi4b
+    value: false
+
+links: []
+\ No newline at end of file
diff --git a/testsuites/validation/tr-mtx-seize-wait.c b/testsuites/validation/tr-mtx-seize-wait.c
index fa369e43db..2e2fe9d1ec 100644
--- a/testsuites/validation/tr-mtx-seize-wait.c
+++ b/testsuites/validation/tr-mtx-seize-wait.c
@@ -710,7 +710,7 @@ static void ScoreMtxReqSeizeWait_Post_Enqueued_Check(
 
     case ScoreMtxReqSeizeWait_Post_Enqueued_PriorityInherit: {
       /*
-       * The calling thread shall be enqueued in priority order with priorit
+       * The calling thread shall be enqueued in priority order with priority
        * inheritance.
        */
       ScoreTqReqEnqueuePriorityInherit_Run( &ctx->tq_ctx->base );