diff --git a/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml b/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml
index 0b6fbab48b74..99194d8721ef 100644
--- a/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml
+++ b/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml
@@ -35,6 +35,10 @@ properties:
           - enum:
               - milkv,duo-s
           - const: sophgo,sg2000
+      - items:
+          - enum:
+              - milkv,duo256m
+          - const: sophgo,sg2002
       - items:
           - enum:
               - sipeed,licheerv-nano-b
diff --git a/arch/riscv/boot/dts/sophgo/Makefile b/arch/riscv/boot/dts/sophgo/Makefile
index 6f65526d4193..d5c80d4ff005 100644
--- a/arch/riscv/boot/dts/sophgo/Makefile
+++ b/arch/riscv/boot/dts/sophgo/Makefile
@@ -1,7 +1,9 @@
 # SPDX-License-Identifier: GPL-2.0
 dtb-$(CONFIG_ARCH_SOPHGO) += cv1800b-milkv-duo.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += cv1812h-huashan-pi.dtb
+dtb-$(CONFIG_ARCH_SOPHGO) += sg2000-milkv-duo-s.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2002-licheerv-nano-b.dtb
+dtb-$(CONFIG_ARCH_SOPHGO) += sg2002-milkv-duo256m.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2042-milkv-pioneer.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2042-evb-v1.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2042-evb-v2.dtb
diff --git a/arch/riscv/boot/dts/sophgo/cv180x.dtsi b/arch/riscv/boot/dts/sophgo/cv180x.dtsi
index 06b0ce5a2db7..ec3bf305274a 100644
--- a/arch/riscv/boot/dts/sophgo/cv180x.dtsi
+++ b/arch/riscv/boot/dts/sophgo/cv180x.dtsi
@@ -417,7 +417,7 @@ sdhci1: mmc@4320000 {
 		};
 
 		dmac: dma-controller@4330000 {
-			compatible = "snps,axi-dma-1.01a";
+			compatible = "sophgo,cv1800b-axi-dma", "snps,axi-dma-1.01a";
 			reg = <0x04330000 0x1000>;
 			interrupts = <SOC_PERIPHERAL_IRQ(13) IRQ_TYPE_LEVEL_HIGH>;
 			clocks = <&clk CLK_SDMA_AXI>, <&clk CLK_SDMA_AXI>;
@@ -448,6 +448,24 @@ usb: usb@4340000 {
 			status = "disabled";
 		};
 
+		gpio4: gpio@5021000 {
+			compatible = "snps,dw-apb-gpio";
+			reg = <0x5021000 0x1000>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			porte: gpio-controller@0 {
+				compatible = "snps,dw-apb-gpio-port";
+				gpio-controller;
+				#gpio-cells = <2>;
+				ngpios = <32>;
+				reg = <0>;
+				interrupt-controller;
+				#interrupt-cells = <2>;
+				interrupts = <SOC_PERIPHERAL_IRQ(54) IRQ_TYPE_LEVEL_HIGH>;
+			};
+		};
+
 		rtc@5025000 {
 			compatible = "sophgo,cv1800b-rtc", "syscon";
 			reg = <0x5025000 0x2000>;
diff --git a/arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts b/arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts
new file mode 100644
index 000000000000..78a257839f6f
--- /dev/null
+++ b/arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts
@@ -0,0 +1,244 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+
+/dts-v1/;
+
+#include <dt-bindings/pinctrl/pinctrl-sg2000.h>
+#include "sg2000.dtsi"
+
+/ {
+	model = "Milk-V Duo S";
+	compatible = "milkv,duo-s", "sophgo,sg2000";
+
+	aliases {
+		i2c4 = &i2c4;
+		mmc0 = &sdhci0;
+		mmc1 = &emmc;
+		mmc2 = &sdhci1;
+		serial0 = &uart0;
+		serial4 = &uart4;
+	};
+
+	chosen {
+		stdout-path = "serial0:115200n8";
+	};
+
+	wifi_pwrseq: wifi-pwrseq {
+		compatible = "mmc-pwrseq-simple";
+		reset-gpios = <&porta 15 GPIO_ACTIVE_LOW>;
+		power-off-delay-us = <50000>;
+		post-power-on-delay-ms = <200>;
+	};
+};
+
+&osc {
+	clock-frequency = <25000000>;
+};
+
+&pinctrl {
+	emmc_cfg: emmc-cfg {
+		emmc-rstn-pins {
+			pinmux = <PINMUX(PIN_EMMC_RSTN, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <1800>;
+		};
+
+		emmc-clk-pins {
+			pinmux = <PINMUX(PIN_EMMC_CLK, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <1800>;
+		};
+
+		emmc-cmd-pins {
+			pinmux = <PINMUX(PIN_EMMC_CMD, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <1800>;
+		};
+
+		emmc-data-pins {
+			pinmux = <PINMUX(PIN_EMMC_DAT0, 0)>,
+				 <PINMUX(PIN_EMMC_DAT1, 0)>,
+				 <PINMUX(PIN_EMMC_DAT2, 0)>,
+				 <PINMUX(PIN_EMMC_DAT3, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <1800>;
+		};
+	};
+
+	i2c4_cfg: i2c4-cfg {
+		i2c4-pins {
+			pinmux = <PINMUX(PIN_VIVO_D1, 7)>,
+				 <PINMUX(PIN_VIVO_D0, 7)>;
+			bias-pull-up;
+			drive-strength-microamp = <4000>;
+			power-source = <1800>;
+		};
+	};
+
+	sdhci0_cfg: sdhci0-cfg {
+		sdhci0-cd-pins {
+			pinmux = <PINMUX(PIN_SD0_CD, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+
+		sdhci0-clk-pins {
+			pinmux = <PINMUX(PIN_SD0_CLK, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <16100>;
+			power-source = <3300>;
+		};
+
+		sdhci0-cmd-pins {
+			pinmux = <PINMUX(PIN_SD0_CMD, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+
+		sdhci0-data-pins {
+			pinmux = <PINMUX(PIN_SD0_D0, 0)>,
+				 <PINMUX(PIN_SD0_D1, 0)>,
+				 <PINMUX(PIN_SD0_D2, 0)>,
+				 <PINMUX(PIN_SD0_D3, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+	};
+
+	sdhci1_cfg: sdhci1-cfg {
+		sdhci1-clk-pins {
+			pinmux = <PINMUX(PIN_MIPI_TXM4, 1)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <1800>;
+		};
+
+		sdhci1-cmd-pins {
+			pinmux = <PINMUX(PIN_MIPI_TXP4, 1)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <1800>;
+		};
+
+		sdhci1-data-pins {
+			pinmux = <PINMUX(PIN_MIPI_TXM3, 1)>,
+				 <PINMUX(PIN_MIPI_TXP3, 1)>,
+				 <PINMUX(PIN_MIPI_TXM2, 7)>,
+				 <PINMUX(PIN_MIPI_TXP2, 7)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <1800>;
+		};
+	};
+
+	uart0_cfg: uart0-cfg {
+		uart0-pins {
+			pinmux = <PINMUX(PIN_UART0_TX, 0)>,
+				 <PINMUX(PIN_UART0_RX, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+	};
+
+	uart4_cfg: uart4-cfg {
+		uart4-data-pins {
+			pinmux = <PINMUX(PIN_UART2_TX, 5)>,
+				 <PINMUX(PIN_UART2_RX, 5)>;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+
+		uart4-control-pins {
+			pinmux = <PINMUX(PIN_UART2_CTS, 5)>,
+				 <PINMUX(PIN_UART2_RTS, 5)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+	};
+};
+
+&dmac {
+	status = "okay";
+};
+
+&emmc {
+	bus-width = <4>;
+	no-1-8-v;
+	cap-mmc-hw-reset;
+	no-sd;
+	no-sdio;
+	non-removable;
+	pinctrl-0 = <&emmc_cfg>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&gmac0 {
+	status = "okay";
+};
+
+&i2c4 {
+	pinctrl-0 = <&i2c4_cfg>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&mdio {
+	status = "okay";
+};
+
+&saradc {
+	status = "okay";
+};
+
+&sdhci0 {
+	bus-width = <4>;
+	disable-wp;
+	no-1-8-v;
+	pinctrl-0 = <&sdhci0_cfg>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&sdhci1 {
+	bus-width = <4>;
+	cap-sdio-irq;
+	cap-sd-highspeed;
+	keep-power-in-suspend;
+	no-mmc;
+	no-sd;
+	non-removable;
+	max-frequency = <150000000>;
+	mmc-pwrseq = <&wifi_pwrseq>;
+	pinctrl-0 = <&sdhci1_cfg>;
+	pinctrl-names = "default";
+	sd-uhs-sdr50;
+	sd-uhs-sdr104;
+	status = "okay";
+};
+
+&uart0 {
+	pinctrl-0 = <&uart0_cfg>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&uart4 {
+	pinctrl-0 = <&uart4_cfg>;
+	pinctrl-names = "default";
+	uart-has-rtscts;
+	status = "okay";
+};
+
+&usb {
+	dr_mode = "host";
+	status = "okay";
+};
diff --git a/arch/riscv/boot/dts/sophgo/sg2000.dtsi b/arch/riscv/boot/dts/sophgo/sg2000.dtsi
new file mode 100644
index 000000000000..38462769574f
--- /dev/null
+++ b/arch/riscv/boot/dts/sophgo/sg2000.dtsi
@@ -0,0 +1,53 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+
+#define SOC_PERIPHERAL_IRQ(nr)	((nr) + 16)
+
+#include <dt-bindings/interrupt-controller/irq.h>
+#include <dt-bindings/pinctrl/pinctrl-sg2000.h>
+#include "cv180x-cpus.dtsi"
+#include "cv180x.dtsi"
+#include "cv181x.dtsi"
+
+/ {
+	compatible = "sophgo,sg2000";
+
+	memory@80000000 {
+		device_type = "memory";
+		reg = <0x80000000 0x20000000>;
+	};
+
+	soc {
+		interrupt-parent = <&plic>;
+		dma-noncoherent;
+
+		pinctrl: pinctrl@3001000 {
+			compatible = "sophgo,sg2000-pinctrl";
+			reg = <0x03001000 0x1000>,
+			      <0x05027000 0x1000>;
+			reg-names = "sys", "rtc";
+		};
+
+		clk: clock-controller@3002000 {
+			compatible = "sophgo,sg2000-clk";
+			reg = <0x03002000 0x1000>;
+			clocks = <&osc>;
+			#clock-cells = <1>;
+		};
+
+		plic: interrupt-controller@70000000 {
+			compatible = "sophgo,sg2000-plic", "thead,c900-plic";
+			reg = <0x70000000 0x4000000>;
+			interrupts-extended = <&cpu0_intc 11>, <&cpu0_intc 9>;
+			interrupt-controller;
+			#address-cells = <0>;
+			#interrupt-cells = <2>;
+			riscv,ndev = <101>;
+		};
+
+		clint: timer@74000000 {
+			compatible = "sophgo,sg2000-clint", "thead,c900-clint";
+			reg = <0x74000000 0x10000>;
+			interrupts-extended = <&cpu0_intc 3>, <&cpu0_intc 7>;
+		};
+	};
+};
diff --git a/arch/riscv/boot/dts/sophgo/sg2002-milkv-duo256m.dts b/arch/riscv/boot/dts/sophgo/sg2002-milkv-duo256m.dts
new file mode 100644
index 000000000000..a2797c0bd767
--- /dev/null
+++ b/arch/riscv/boot/dts/sophgo/sg2002-milkv-duo256m.dts
@@ -0,0 +1,121 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+/*
+ * Copyright (C) 2023 Jisheng Zhang <jszhang@kernel.org>
+ * Copyright (C) 2026 Chen-Yu Yeh <chenyou910331@gmail.com>
+ */
+
+/dts-v1/;
+
+#include "sg2002.dtsi"
+#include <dt-bindings/gpio/gpio.h>
+#include <dt-bindings/leds/common.h>
+
+/ {
+	model = "Milk-V Duo 256M";
+	compatible = "milkv,duo256m", "sophgo,sg2002";
+
+	aliases {
+		serial0 = &uart0;
+		serial1 = &uart1;
+		serial2 = &uart2;
+		serial3 = &uart3;
+		serial4 = &uart4;
+	};
+
+	chosen {
+		stdout-path = "serial0:115200n8";
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		led-0 {
+			gpios = <&porte 2 GPIO_ACTIVE_HIGH>;
+			color = <LED_COLOR_ID_BLUE>;
+			function = LED_FUNCTION_STATUS;
+			linux,default-trigger = "heartbeat";
+		};
+	};
+
+	reserved-memory {
+		#address-cells = <1>;
+		#size-cells = <1>;
+		ranges;
+
+		coprocessor_rtos: region@8fe00000 {
+			reg = <0x8fe00000 0x200000>;
+			no-map;
+		};
+	};
+};
+
+&osc {
+	clock-frequency = <25000000>;
+};
+
+&pinctrl {
+	uart0_cfg: uart0-cfg {
+		uart0-pins {
+			pinmux = <PINMUX(PIN_UART0_TX, 0)>,
+				 <PINMUX(PIN_UART0_RX, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+	};
+
+	sdhci0_cfg: sdhci0-cfg {
+		sdhci0-clk-pins {
+			pinmux = <PINMUX(PIN_SD0_CLK, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <16100>;
+			power-source = <3300>;
+		};
+
+		sdhci0-cmd-pins {
+			pinmux = <PINMUX(PIN_SD0_CMD, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+
+		sdhci0-data-pins {
+			pinmux = <PINMUX(PIN_SD0_D0, 0)>,
+				 <PINMUX(PIN_SD0_D1, 0)>,
+				 <PINMUX(PIN_SD0_D2, 0)>,
+				 <PINMUX(PIN_SD0_D3, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+
+		sdhci0-cd-pins {
+			pinmux = <PINMUX(PIN_SD0_CD, 0)>;
+			bias-pull-up;
+			drive-strength-microamp = <10800>;
+			power-source = <3300>;
+		};
+	};
+};
+
+&sdhci0 {
+	pinctrl-0 = <&sdhci0_cfg>;
+	pinctrl-names = "default";
+	status = "okay";
+	bus-width = <4>;
+	no-1-8-v;
+	no-mmc;
+	no-sdio;
+	disable-wp;
+};
+
+&uart0 {
+	pinctrl-0 = <&uart0_cfg>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&usb {
+	dr_mode = "host";
+	status = "okay";
+};