diff --git a/arch/riscv/boot/dts/starfive/Makefile b/arch/riscv/boot/dts/starfive/Makefile
index 0141504c0f5c..fe0a62cc4759 100644
--- a/arch/riscv/boot/dts/starfive/Makefile
+++ b/arch/riscv/boot/dts/starfive/Makefile
@@ -10,3 +10,5 @@ dtb-$(CONFIG_ARCH_STARFIVE) += jh7100-starfive-visionfive-v1.dtb
 
 dtb-$(CONFIG_ARCH_STARFIVE) += jh7110-starfive-visionfive-2-v1.2a.dtb
 dtb-$(CONFIG_ARCH_STARFIVE) += jh7110-starfive-visionfive-2-v1.3b.dtb
+
+dtb-$(CONFIG_ARCH_STARFIVE) += jh7110-milkv-mars.dtb
diff --git a/arch/riscv/boot/dts/starfive/jh7110-milkv-mars.dts b/arch/riscv/boot/dts/starfive/jh7110-milkv-mars.dts
new file mode 100644
index 000000000000..41cc67f53bbe
--- /dev/null
+++ b/arch/riscv/boot/dts/starfive/jh7110-milkv-mars.dts
@@ -0,0 +1,634 @@
+// SPDX-License-Identifier: GPL-2.0 OR MIT
+/*
+ * Copyright (C) 2022 StarFive Technology Co., Ltd.
+ * Copyright (C) 2022 Emil Renner Berthing <kernel@esmil.dk>
+ * Copyright (C) 2023 Jisheng Zhang <jszhang@kernel.org>
+ */
+
+/dts-v1/;
+#include "jh7110.dtsi"
+#include "jh7110-pinfunc.h"
+#include <dt-bindings/gpio/gpio.h>
+
+/ {
+	aliases {
+		ethernet0 = &gmac0;
+		ethernet1 = &gmac1;
+		i2c0 = &i2c0;
+		i2c2 = &i2c2;
+		i2c5 = &i2c5;
+		i2c6 = &i2c6;
+		mmc0 = &mmc0;
+		mmc1 = &mmc1;
+		serial0 = &uart0;
+	};
+
+	chosen {
+		stdout-path = "serial0:115200n8";
+	};
+
+	cpus {
+		timebase-frequency = <4000000>;
+	};
+
+	memory@40000000 {
+		device_type = "memory";
+		reg = <0x0 0x40000000 0x1 0x0>;
+	};
+
+	gpio-restart {
+		compatible = "gpio-restart";
+		gpios = <&sysgpio 35 GPIO_ACTIVE_HIGH>;
+		priority = <224>;
+	};
+
+	pwmdac_codec: pwmdac-codec {
+		compatible = "linux,spdif-dit";
+		#sound-dai-cells = <0>;
+	};
+
+	sound-pwmdac {
+		compatible = "simple-audio-card";
+		simple-audio-card,name = "StarFive-PWMDAC-Sound-Card";
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		simple-audio-card,dai-link@0 {
+			reg = <0>;
+			format = "left_j";
+			bitclock-master = <&sndcpu0>;
+			frame-master = <&sndcpu0>;
+
+			sndcpu0: cpu {
+				sound-dai = <&pwmdac>;
+			};
+
+			codec {
+				sound-dai = <&pwmdac_codec>;
+			};
+		};
+	};
+};
+
+&dvp_clk {
+	clock-frequency = <74250000>;
+};
+
+&gmac0_rgmii_rxin {
+	clock-frequency = <125000000>;
+};
+
+&gmac0_rmii_refin {
+	clock-frequency = <50000000>;
+};
+
+&gmac1_rgmii_rxin {
+	clock-frequency = <125000000>;
+};
+
+&gmac1_rmii_refin {
+	clock-frequency = <50000000>;
+};
+
+&hdmitx0_pixelclk {
+	clock-frequency = <297000000>;
+};
+
+&i2srx_bclk_ext {
+	clock-frequency = <12288000>;
+};
+
+&i2srx_lrck_ext {
+	clock-frequency = <192000>;
+};
+
+&i2stx_bclk_ext {
+	clock-frequency = <12288000>;
+};
+
+&i2stx_lrck_ext {
+	clock-frequency = <192000>;
+};
+
+&mclk_ext {
+	clock-frequency = <12288000>;
+};
+
+&osc {
+	clock-frequency = <24000000>;
+};
+
+&rtc_osc {
+	clock-frequency = <32768>;
+};
+
+&tdm_ext {
+	clock-frequency = <49152000>;
+};
+
+&gmac0 {
+	phy-handle = <&phy0>;
+	phy-mode = "rgmii-id";
+	status = "okay";
+	starfive,tx-use-rgmii-clk;
+	assigned-clocks = <&aoncrg JH7110_AONCLK_GMAC0_TX>;
+	assigned-clock-parents = <&aoncrg JH7110_AONCLK_GMAC0_RMII_RTX>;
+
+	mdio {
+		#address-cells = <1>;
+		#size-cells = <0>;
+		compatible = "snps,dwmac-mdio";
+
+		phy0: ethernet-phy@0 {
+			reg = <0>;
+			motorcomm,tx-clk-adj-enabled;
+			motorcomm,tx-clk-10-inverted;
+			motorcomm,tx-clk-100-inverted;
+			motorcomm,tx-clk-1000-inverted;
+			motorcomm,rx-clk-drv-microamp = <3970>;
+			motorcomm,rx-data-drv-microamp = <2910>;
+			rx-internal-delay-ps = <1500>;
+			tx-internal-delay-ps = <1500>;
+		};
+	};
+};
+
+&i2c0 {
+	clock-frequency = <100000>;
+	i2c-sda-hold-time-ns = <300>;
+	i2c-sda-falling-time-ns = <510>;
+	i2c-scl-falling-time-ns = <510>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2c0_pins>;
+	status = "okay";
+};
+
+&i2c2 {
+	clock-frequency = <100000>;
+	i2c-sda-hold-time-ns = <300>;
+	i2c-sda-falling-time-ns = <510>;
+	i2c-scl-falling-time-ns = <510>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2c2_pins>;
+	status = "okay";
+};
+
+&i2c5 {
+	clock-frequency = <100000>;
+	i2c-sda-hold-time-ns = <300>;
+	i2c-sda-falling-time-ns = <510>;
+	i2c-scl-falling-time-ns = <510>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2c5_pins>;
+	status = "okay";
+
+	axp15060: pmic@36 {
+		compatible = "x-powers,axp15060";
+		reg = <0x36>;
+		interrupts = <0>;
+		interrupt-controller;
+		#interrupt-cells = <1>;
+
+		regulators {
+			vcc_3v3: dcdc1 {
+				regulator-boot-on;
+				regulator-always-on;
+				regulator-min-microvolt = <3300000>;
+				regulator-max-microvolt = <3300000>;
+				regulator-name = "vcc_3v3";
+			};
+
+			vdd_cpu: dcdc2 {
+				regulator-always-on;
+				regulator-min-microvolt = <500000>;
+				regulator-max-microvolt = <1540000>;
+				regulator-name = "vdd-cpu";
+			};
+
+			emmc_vdd: aldo4 {
+				regulator-boot-on;
+				regulator-always-on;
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <1800000>;
+				regulator-name = "emmc_vdd";
+			};
+		};
+	};
+};
+
+&i2c6 {
+	clock-frequency = <100000>;
+	i2c-sda-hold-time-ns = <300>;
+	i2c-sda-falling-time-ns = <510>;
+	i2c-scl-falling-time-ns = <510>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2c6_pins>;
+	status = "okay";
+};
+
+&i2srx {
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2srx_pins>;
+};
+
+&i2stx0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&mclk_ext_pins>;
+};
+
+&i2stx1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2stx1_pins>;
+};
+
+&mmc0 {
+	max-frequency = <100000000>;
+	assigned-clocks = <&syscrg JH7110_SYSCLK_SDIO0_SDCARD>;
+	assigned-clock-rates = <50000000>;
+	bus-width = <8>;
+	cap-mmc-highspeed;
+	mmc-ddr-1_8v;
+	mmc-hs200-1_8v;
+	cap-mmc-hw-reset;
+	post-power-on-delay-ms = <200>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&mmc0_pins>;
+	vmmc-supply = <&vcc_3v3>;
+	vqmmc-supply = <&emmc_vdd>;
+	status = "okay";
+};
+
+&mmc1 {
+	max-frequency = <100000000>;
+	assigned-clocks = <&syscrg JH7110_SYSCLK_SDIO1_SDCARD>;
+	assigned-clock-rates = <50000000>;
+	bus-width = <4>;
+	no-sdio;
+	no-mmc;
+	disable-wp;
+	cd-gpios = <&sysgpio 41 GPIO_ACTIVE_LOW>;
+	cap-sd-highspeed;
+	post-power-on-delay-ms = <200>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&mmc1_pins>;
+	status = "okay";
+};
+
+&pwmdac {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pwmdac_pins>;
+};
+
+&qspi {
+	#address-cells = <1>;
+	#size-cells = <0>;
+	status = "okay";
+
+	nor_flash: flash@0 {
+		compatible = "jedec,spi-nor";
+		reg = <0>;
+		cdns,read-delay = <5>;
+		spi-max-frequency = <12000000>;
+		cdns,tshsl-ns = <1>;
+		cdns,tsd2d-ns = <1>;
+		cdns,tchsh-ns = <1>;
+		cdns,tslch-ns = <1>;
+
+		partitions {
+			compatible = "fixed-partitions";
+			#address-cells = <1>;
+			#size-cells = <1>;
+
+			spl@0 {
+				reg = <0x0 0x80000>;
+			};
+			uboot-env@f0000 {
+				reg = <0xf0000 0x10000>;
+			};
+			uboot@100000 {
+				reg = <0x100000 0x400000>;
+			};
+			reserved-data@600000 {
+				reg = <0x600000 0xa00000>;
+			};
+		};
+	};
+};
+
+&spi0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&spi0_pins>;
+	status = "okay";
+
+	spi_dev0: spi@0 {
+		compatible = "rohm,dh2228fv";
+		reg = <0>;
+		spi-max-frequency = <10000000>;
+	};
+};
+
+&sysgpio {
+	i2c0_pins: i2c0-0 {
+		i2c-pins {
+			pinmux = <GPIOMUX(57, GPOUT_LOW,
+					      GPOEN_SYS_I2C0_CLK,
+					      GPI_SYS_I2C0_CLK)>,
+				 <GPIOMUX(58, GPOUT_LOW,
+					      GPOEN_SYS_I2C0_DATA,
+					      GPI_SYS_I2C0_DATA)>;
+			bias-disable; /* external pull-up */
+			input-enable;
+			input-schmitt-enable;
+		};
+	};
+
+	i2c2_pins: i2c2-0 {
+		i2c-pins {
+			pinmux = <GPIOMUX(3, GPOUT_LOW,
+					     GPOEN_SYS_I2C2_CLK,
+					     GPI_SYS_I2C2_CLK)>,
+				 <GPIOMUX(2, GPOUT_LOW,
+					     GPOEN_SYS_I2C2_DATA,
+					     GPI_SYS_I2C2_DATA)>;
+			bias-disable; /* external pull-up */
+			input-enable;
+			input-schmitt-enable;
+		};
+	};
+
+	i2c5_pins: i2c5-0 {
+		i2c-pins {
+			pinmux = <GPIOMUX(19, GPOUT_LOW,
+					      GPOEN_SYS_I2C5_CLK,
+					      GPI_SYS_I2C5_CLK)>,
+				 <GPIOMUX(20, GPOUT_LOW,
+					      GPOEN_SYS_I2C5_DATA,
+					      GPI_SYS_I2C5_DATA)>;
+			bias-disable; /* external pull-up */
+			input-enable;
+			input-schmitt-enable;
+		};
+	};
+
+	i2c6_pins: i2c6-0 {
+		i2c-pins {
+			pinmux = <GPIOMUX(16, GPOUT_LOW,
+					      GPOEN_SYS_I2C6_CLK,
+					      GPI_SYS_I2C6_CLK)>,
+				 <GPIOMUX(17, GPOUT_LOW,
+					      GPOEN_SYS_I2C6_DATA,
+					      GPI_SYS_I2C6_DATA)>;
+			bias-disable; /* external pull-up */
+			input-enable;
+			input-schmitt-enable;
+		};
+	};
+
+	i2srx_pins: i2srx-0 {
+		clk-sd-pins {
+			pinmux = <GPIOMUX(38, GPOUT_LOW,
+					      GPOEN_DISABLE,
+					      GPI_SYS_I2SRX_BCLK)>,
+				 <GPIOMUX(63, GPOUT_LOW,
+					      GPOEN_DISABLE,
+					      GPI_SYS_I2SRX_LRCK)>,
+				 <GPIOMUX(38, GPOUT_LOW,
+					      GPOEN_DISABLE,
+					      GPI_SYS_I2STX1_BCLK)>,
+				 <GPIOMUX(63, GPOUT_LOW,
+					      GPOEN_DISABLE,
+					      GPI_SYS_I2STX1_LRCK)>,
+				 <GPIOMUX(61, GPOUT_LOW,
+					      GPOEN_DISABLE,
+					      GPI_SYS_I2SRX_SDIN0)>;
+			input-enable;
+		};
+	};
+
+	i2stx1_pins: i2stx1-0 {
+		sd-pins {
+			pinmux = <GPIOMUX(44, GPOUT_SYS_I2STX1_SDO0,
+					      GPOEN_ENABLE,
+					      GPI_NONE)>;
+			bias-disable;
+			input-disable;
+		};
+	};
+
+	mclk_ext_pins: mclk-ext-0 {
+		mclk-ext-pins {
+			pinmux = <GPIOMUX(4, GPOUT_LOW,
+					     GPOEN_DISABLE,
+					     GPI_SYS_MCLK_EXT)>;
+			input-enable;
+		};
+	};
+
+	mmc0_pins: mmc0-0 {
+		 rst-pins {
+			pinmux = <GPIOMUX(62, GPOUT_SYS_SDIO0_RST,
+					      GPOEN_ENABLE,
+					      GPI_NONE)>;
+			bias-pull-up;
+			drive-strength = <12>;
+			input-disable;
+			input-schmitt-disable;
+			slew-rate = <0>;
+		};
+
+		mmc-pins {
+			pinmux = <PINMUX(64, 0)>,
+				 <PINMUX(65, 0)>,
+				 <PINMUX(66, 0)>,
+				 <PINMUX(67, 0)>,
+				 <PINMUX(68, 0)>,
+				 <PINMUX(69, 0)>,
+				 <PINMUX(70, 0)>,
+				 <PINMUX(71, 0)>,
+				 <PINMUX(72, 0)>,
+				 <PINMUX(73, 0)>;
+			bias-pull-up;
+			drive-strength = <12>;
+			input-enable;
+		};
+	};
+
+	mmc1_pins: mmc1-0 {
+		clk-pins {
+			pinmux = <GPIOMUX(10, GPOUT_SYS_SDIO1_CLK,
+					      GPOEN_ENABLE,
+					      GPI_NONE)>;
+			bias-pull-up;
+			drive-strength = <12>;
+			input-disable;
+			input-schmitt-disable;
+			slew-rate = <0>;
+		};
+
+		mmc-pins {
+			pinmux = <GPIOMUX(9, GPOUT_SYS_SDIO1_CMD,
+					     GPOEN_SYS_SDIO1_CMD,
+					     GPI_SYS_SDIO1_CMD)>,
+				 <GPIOMUX(11, GPOUT_SYS_SDIO1_DATA0,
+					      GPOEN_SYS_SDIO1_DATA0,
+					      GPI_SYS_SDIO1_DATA0)>,
+				 <GPIOMUX(12, GPOUT_SYS_SDIO1_DATA1,
+					      GPOEN_SYS_SDIO1_DATA1,
+					      GPI_SYS_SDIO1_DATA1)>,
+				 <GPIOMUX(7, GPOUT_SYS_SDIO1_DATA2,
+					     GPOEN_SYS_SDIO1_DATA2,
+					     GPI_SYS_SDIO1_DATA2)>,
+				 <GPIOMUX(8, GPOUT_SYS_SDIO1_DATA3,
+					     GPOEN_SYS_SDIO1_DATA3,
+					     GPI_SYS_SDIO1_DATA3)>;
+			bias-pull-up;
+			drive-strength = <12>;
+			input-enable;
+			input-schmitt-enable;
+			slew-rate = <0>;
+		};
+	};
+
+	pwmdac_pins: pwmdac-0 {
+		pwmdac-pins {
+			pinmux = <GPIOMUX(33, GPOUT_SYS_PWMDAC_LEFT,
+					      GPOEN_ENABLE,
+					      GPI_NONE)>,
+				 <GPIOMUX(34, GPOUT_SYS_PWMDAC_RIGHT,
+					      GPOEN_ENABLE,
+					      GPI_NONE)>;
+			bias-disable;
+			drive-strength = <2>;
+			input-disable;
+			input-schmitt-disable;
+			slew-rate = <0>;
+		};
+	};
+
+	spi0_pins: spi0-0 {
+		mosi-pins {
+			pinmux = <GPIOMUX(52, GPOUT_SYS_SPI0_TXD,
+					      GPOEN_ENABLE,
+					      GPI_NONE)>;
+			bias-disable;
+			input-disable;
+			input-schmitt-disable;
+		};
+
+		miso-pins {
+			pinmux = <GPIOMUX(53, GPOUT_LOW,
+					      GPOEN_DISABLE,
+					      GPI_SYS_SPI0_RXD)>;
+			bias-pull-up;
+			input-enable;
+			input-schmitt-enable;
+		};
+
+		sck-pins {
+			pinmux = <GPIOMUX(48, GPOUT_SYS_SPI0_CLK,
+					      GPOEN_ENABLE,
+					      GPI_SYS_SPI0_CLK)>;
+			bias-disable;
+			input-disable;
+			input-schmitt-disable;
+		};
+
+		ss-pins {
+			pinmux = <GPIOMUX(49, GPOUT_SYS_SPI0_FSS,
+					      GPOEN_ENABLE,
+					      GPI_SYS_SPI0_FSS)>;
+			bias-disable;
+			input-disable;
+			input-schmitt-disable;
+		};
+	};
+
+	tdm_pins: tdm-0 {
+		tx-pins {
+			pinmux = <GPIOMUX(44, GPOUT_SYS_TDM_TXD,
+					      GPOEN_ENABLE,
+					      GPI_NONE)>;
+			bias-pull-up;
+			drive-strength = <2>;
+			input-disable;
+			input-schmitt-disable;
+			slew-rate = <0>;
+		};
+
+		rx-pins {
+			pinmux = <GPIOMUX(61, GPOUT_HIGH,
+					      GPOEN_DISABLE,
+					      GPI_SYS_TDM_RXD)>;
+			input-enable;
+		};
+
+		sync-pins {
+			pinmux = <GPIOMUX(63, GPOUT_HIGH,
+					      GPOEN_DISABLE,
+					      GPI_SYS_TDM_SYNC)>;
+			input-enable;
+		};
+
+		pcmclk-pins {
+			pinmux = <GPIOMUX(38, GPOUT_HIGH,
+					      GPOEN_DISABLE,
+					      GPI_SYS_TDM_CLK)>;
+			input-enable;
+		};
+	};
+
+	uart0_pins: uart0-0 {
+		tx-pins {
+			pinmux = <GPIOMUX(5, GPOUT_SYS_UART0_TX,
+					     GPOEN_ENABLE,
+					     GPI_NONE)>;
+			bias-disable;
+			drive-strength = <12>;
+			input-disable;
+			input-schmitt-disable;
+			slew-rate = <0>;
+		};
+
+		rx-pins {
+			pinmux = <GPIOMUX(6, GPOUT_LOW,
+					     GPOEN_DISABLE,
+					     GPI_SYS_UART0_RX)>;
+			bias-disable; /* external pull-up */
+			drive-strength = <2>;
+			input-enable;
+			input-schmitt-enable;
+			slew-rate = <0>;
+		};
+	};
+};
+
+&tdm {
+	pinctrl-names = "default";
+	pinctrl-0 = <&tdm_pins>;
+};
+
+&uart0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart0_pins>;
+	status = "okay";
+};
+
+&usb0 {
+	dr_mode = "peripheral";
+};
+
+&U74_1 {
+	cpu-supply = <&vdd_cpu>;
+};
+
+&U74_2 {
+	cpu-supply = <&vdd_cpu>;
+};
+
+&U74_3 {
+	cpu-supply = <&vdd_cpu>;
+};
+
+&U74_4 {
+	cpu-supply = <&vdd_cpu>;
+};
