1.内核dts修改：
diff --git a/arch/arm64/boot/dts/rockchip/rk3576.dtsi b/arch/arm64/boot/dts/rockchip/rk3576.dtsi
index c1e0e7e525be..d3e018dd2a0e 100644
--- a/arch/arm64/boot/dts/rockchip/rk3576.dtsi
+++ b/arch/arm64/boot/dts/rockchip/rk3576.dtsi
@@ -2376,7 +2376,9 @@ power-domain@RK3576_PD_NPU1 {
/* These power domains are grouped by VD_GPU */
power-domain@RK3576_PD_GPU {
reg = <RK3576_PD_GPU>;
+ clocks = <&cru CLK_GPU>, <&cru PCLK_GPU_ROOT>;
pm_qos = <&qos_gpu>;
+ #power-domain-cells = <0>;
};
/* These power domains are grouped by VD_LOGIC */
power-domain@RK3576_PD_NVM {
@@ -2767,13 +2769,15 @@ gpu: gpu@27800000 {
interrupts = <GIC_SPI 349 IRQ_TYPE_LEVEL_HIGH>,
<GIC_SPI 348 IRQ_TYPE_LEVEL_HIGH>,
<GIC_SPI 347 IRQ_TYPE_LEVEL_HIGH>;
- interrupt-names = "GPU", "MMU", "JOB";
+ interrupt-names = "gpu", "mmu", "job";
upthreshold = <40>;
downdifferential = <10>;
- clocks = <&scmi_clk CLK_GPU>, <&cru CLK_GPU>;
- clock-names = "clk_mali", "clk_gpu";
+ clocks = <&cru CLK_GPU>;
+ clock-names = "core";
+ //clocks = <&scmi_clk CLK_GPU>, <&cru CLK_GPU>;
+ //clock-names = "clk_mali", "clk_gpu";
assigned-clocks = <&cru CLK_GPU>;
assigned-clock-rates = <198000000>;
power-domains = <&power RK3576_PD_GPU>;
@@ -2845,27 +2849,27 @@ gpu_opp_table: gpu-opp-table {
rockchip,low-temp-min-volt = <750000>;
opp-300000000 {
- opp-supported-hw = <0xf9 0xffff>;
+ //opp-supported-hw = <0xf9 0xffff>;
opp-hz = /bits/ 64 <300000000>;
opp-microvolt = <712500 712500 875000>;
};
opp-400000000 {
- opp-supported-hw = <0xf9 0xffff>;
+ //opp-supported-hw = <0xf9 0xffff>;
opp-hz = /bits/ 64 <400000000>;
opp-microvolt = <712500 712500 875000>;
};
opp-500000000 {
- opp-supported-hw = <0xf9 0xffff>;
+ //opp-supported-hw = <0xf9 0xffff>;
opp-hz = /bits/ 64 <500000000>;
opp-microvolt = <712500 712500 875000>;
};
opp-600000000 {
- opp-supported-hw = <0xf9 0xffff>;
+ //opp-supported-hw = <0xf9 0xffff>;
opp-hz = /bits/ 64 <600000000>;
opp-microvolt = <712500 712500 875000>;
};
opp-700000000 {
- opp-supported-hw = <0xf9 0xffff>;
+ //opp-supported-hw = <0xf9 0xffff>;
opp-hz = /bits/ 64 <700000000>;
opp-microvolt = <712500 712500 875000>;
opp-microvolt-L0 = <750000 750000 875000>;
@@ -2891,7 +2895,7 @@ opp-s-800000000 {
opp-microvolt-L10 = <725000 725000 875000>;
};
opp-800000000 {
- opp-supported-hw = <0xf1 0xffff>;
+ //opp-supported-hw = <0xf1 0xffff>;
opp-hz = /bits/ 64 <800000000>;
opp-microvolt = <812500 812500 875000>;
opp-microvolt-L1 = <812500 812500 875000>;
@@ -2906,7 +2910,7 @@ opp-800000000 {
opp-microvolt-L10 = <725000 725000 875000>;
};
opp-900000000 {
- opp-supported-hw = <0xf1 0xffff>;
+ //opp-supported-hw = <0xf1 0xffff>;
opp-hz = /bits/ 64 <900000000>;
opp-microvolt = <875000 875000 875000>;
opp-microvolt-L1 = <875000 875000 875000>;2.修改内核配置
CONFIG_DRM_PANFROST=y
# CONFIG_DRM_IGNORE_IOTCL_PERMIT is not set正常启动后内核log如下：
[ 3.887800] panfrost 27800000.gpu: clock rate = 198000000
[ 3.890113] panfrost 27800000.gpu: EM: OPP:600000 is inefficient
[ 3.890125] panfrost 27800000.gpu: EM: OPP:500000 is inefficient
[ 3.890129] panfrost 27800000.gpu: EM: OPP:400000 is inefficient
[ 3.890133] panfrost 27800000.gpu: EM: OPP:300000 is inefficient
[ 3.890236] panfrost 27800000.gpu: EM: created perf domain
[ 3.890689] panfrost 27800000.gpu: mali-g52 id 0x7402 major 0x1 minor 0x0 status 0x0
[ 3.890700] panfrost 27800000.gpu: features: 00000000,00000cf7, issues: 00000000,00000400
[ 3.890709] panfrost 27800000.gpu: Features: L2:0x07120206 Shader:0x00000002 Tiler:0x00000209 Mem:0x1 MMU:0x00002823 AS:0xff JS:0x7
[ 3.890718] panfrost 27800000.gpu: shader_present=0x7 l2_present=0x1
[ 3.892144] [drm] Initialized panfrost 1.2.0 20180908 for 27800000.gpu on minor 1
[ 3.942584] I : [File] : drivers/gpu/arm/mali400/mali/linux/mali_kernel_linux.c; [Line] : 407; [Func] : mali_module_init(); svn_rev_string_from_arm of this mali_ko is '', rk_ko_ver is '5', built at '03:10:58', on 'Mar 5 2026'.注意：CONFIG_DRM_IGNORE_IOTCL_PERMIT宏需要关闭，不然开机过程可能会出现下面错误，导致无法进入桌面。但是如果你用的是RK修改过的libdrm2库就不会出现这个问题。
[ 10.058566] Unable to handle kernel NULL pointer dereference at virtual address 0000000000000018
[ 10.067529] Mem abort info:
[ 10.070426] ESR = 0x0000000096000005
[ 10.074247] EC = 0x25: DABT (current EL), IL = 32 bits
[ 10.079610] SET = 0, FnV = 0
[ 10.082701] EA = 0, S1PTW = 0
[ 10.085899] FSC = 0x05: level 1 translation fault
[ 10.090867] Data abort info:
[ 10.093809] ISV = 0, ISS = 0x00000005
[ 10.097736] CM = 0, WnR = 0
[ 10.100769] user pgtable: 4k pages, 39-bit VAs, pgdp=000000010aa90000
[ 10.107252] [0000000000000018] pgd=0000000000000000, p4d=0000000000000000, pud=0000000000000000
[ 10.115985] Internal error: Oops: 0000000096000005 [#1] SMP
[ 10.121559] Modules linked in:
[ 10.124614] CPU: 3 PID: 1680 Comm: Xorg Not tainted 6.1.118 #27
[ 10.130529] Hardware name: Rockchip RK3576 Rocktech MTB761 V10 Board (DT)
[ 10.137313] pstate: 40000005 (nZcv daif -PAN -UAO -TCO -DIT -SSBS BTYPE=--)
[ 10.144274] pc : drm_getunique+0x34/0xe0
[ 10.148204] lr : drm_getunique+0x2c/0xe0
[ 10.152129] sp : ffffffc00c8cbc30
[ 10.155446] x29: ffffffc00c8cbc30 x28: 0000000000000010 x27: ffffffc00c8cbd48
[ 10.162577] x26: 0000000000000010 x25: ffffff80c8d52c00 x24: 0000000000000001
[ 10.169707] x23: 0000000000000000 x22: ffffff80c8d52c00 x21: 0000000000000000
[ 10.176844] x20: ffffff80c57e9098 x19: ffffffc00c8cbd48 x18: 0000000000000000
[ 10.183975] x17: 0000000000000000 x16: 0000000000000000 x15: 0000007fe9937c08
[ 10.191107] x14: 0000000000000000 x13: 0000000000000000 x12: 0000000000000000
[ 10.198240] x11: 0000000000000000 x10: 0000000000000000 x9 : ffffffc00949eeb4
[ 10.205376] x8 : ffffffc00a81d000 x7 : ffffffc009a0b330 x6 : ffffffc00c8cbd58
[ 10.212512] x5 : 0000000000000454 x4 : 0000000000000454 x3 : 0000000000000000
[ 10.219646] x2 : ffffff80c359a940 x1 : 0000000000000000 x0 : 0000000000000000
[ 10.226781] Call trace:
[ 10.229232] drm_getunique+0x34/0xe0
[ 10.232819] drm_ioctl_kernel+0xb4/0x100
[ 10.236750] drm_ioctl+0x208/0x440
[ 10.240154] __arm64_sys_ioctl+0xb4/0xdc
[ 10.244086] invoke_syscall+0x4c/0x114
[ 10.247839] el0_svc_common.constprop.0+0x54/0x180
[ 10.252636] do_el0_svc+0x20/0x2c
[ 10.255955] el0_svc+0x14/0x80
[ 10.259014] el0t_64_sync_handler+0xb0/0xb4
[ 10.263202] el0t_64_sync+0x158/0x15c3.文件系统
这里是在rk提供的debian12系统中进行修改，如果debian系统过低需要升级mesa库。因为采用的是开源GPU驱动，所以需要卸载原来系统的mali库。
sudo apt-get remove --purge libmali*另外，xserver部分包也是根据闭源GPU驱动修改的，所以这里需要重新安装，切换回debian主线的软件包。
$ sudo apt-get remove --purge xserver-xorg-core-dbgsym xserver-xorg-legacy-dbgsym xserver-common xserver-xorg-core xserver-xorg-legacy
$ sudo apt-get install xserver-common xserver-xorg-core xserver-xorg-legacy xserver-xorg-input-all 4.测试验证。
glxinfo测试
root@linaro-alip:/# glxinfo | grep -i opengl
OpenGL vendor string: Panfrost
OpenGL renderer string: Mali-G52 r1 (Panfrost)
OpenGL core profile version string: 3.1 Mesa 22.3.6
OpenGL core profile shading language version string: 1.40
OpenGL core profile context flags: (none)
OpenGL core profile extensions:
OpenGL version string: 3.1 Mesa 22.3.6
OpenGL shading language version string: 1.40
OpenGL context flags: (none)
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 3.1 Mesa 22.3.6
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.10
OpenGL ES profile extensions:如果用glmark2进行跑分测试，需要卸载掉原有系统的glmark2重新安装。
$ sudo apt-get remove --purge glmark2*
$ sudo apt-get install glmark2查看GPU使用率
$ cat /sys/devices/platform/*.gpu/devfreq/*.gpu/load
$ cat /sys/devices/platform/*.gpu/utilisation