diff --git a/.gitignore b/.gitignore
index f1e6d5a9..13c4499c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -27,7 +27,7 @@
 *.su
 *.swp
 *.tab.[ch]
-
+board/hobot/xj3/qos_hex.h
 # Build tree
 /build-*
 
diff --git a/Makefile b/Makefile
index 8dcbc870..afbd94f9 100644
--- a/Makefile
+++ b/Makefile
@@ -949,7 +949,13 @@ u-boot-dtb.bin: u-boot-nodtb.bin dts/dt.dtb FORCE
 u-boot.bin: u-boot-dtb.bin FORCE
 	$(call if_changed,copy)
 else
-u-boot.bin: u-boot-nodtb.bin FORCE
+qos/qos.bin: qos/qos
+	@:
+qos/qos:
+	$(Q)$(MAKE) obj=qos -f $(srctree)/scripts/Makefile.qos all
+qos_hex: qos/qos.bin
+	$(srctree)/tools/bin2c qos/qos.bin $(srctree)/board/hobot/xj3/qos_hex.h qos_hex
+u-boot.bin: u-boot-nodtb.bin qos_hex FORCE
 	$(call if_changed,copy)
 endif
 
@@ -1598,7 +1604,8 @@ CLEAN_DIRS  += $(MODVERDIR) \
 			$(filter-out include, $(shell ls -1 $d 2>/dev/null))))
 
 CLEAN_FILES += include/bmp_logo.h include/bmp_logo_data.h \
-	       boot* u-boot* MLO* SPL System.map fit-dtb.blob
+	       boot* u-boot* MLO* SPL System.map fit-dtb.blob \
+	       board/hobot/xj3/qos_hex.h qos/qos qos/qos.bin
 
 # Directories & files removed with 'make mrproper'
 MRPROPER_DIRS  += include/config include/generated spl tpl \
diff --git a/board/hobot/common/board.c b/board/hobot/common/board.c
index 83500802..bf42be78 100755
--- a/board/hobot/common/board.c
+++ b/board/hobot/common/board.c
@@ -1914,6 +1914,9 @@ int board_early_init_r(void)
 int board_early_init_f(void)
 {
 #ifdef CONFIG_TARGET_XJ3
+#ifdef SET_QOS_IN_UBOOT
+	update_qos();
+#endif // SET_QOS_IN_UBOOT
 	init_io_vol();
 #endif
 	bif_change_reset2gpio();
diff --git a/board/hobot/xj3/xj3.c b/board/hobot/xj3/xj3.c
index a360318a..57b9ca6b 100755
--- a/board/hobot/xj3/xj3.c
+++ b/board/hobot/xj3/xj3.c
@@ -17,6 +17,7 @@
 #include <asm/arch-x2/ddr.h>
 #include <hb_info.h>
 #include <scomp.h>
+#include "qos_hex.h"
 
 DECLARE_GLOBAL_DATA_PTR;
 uint32_t x3_ddr_part_num = 0xffffffff;
@@ -457,6 +458,23 @@ int init_io_vol(void)
 	return 0;
 }
 
+#ifdef SET_QOS_IN_UBOOT
+int update_qos(void)
+{
+#define WRITE_QOS_VALUE   0x0302000c
+#define READ_QOS_VALUE    0x0302000c
+#define WRITE_QOS_ADDR    0xA2D10004
+#define READ_QOS_ADDR     0xA2D10000
+#define QOS_BIN_ADDR      0x8000A000
+	if (readl(READ_QOS_ADDR) == READ_QOS_VALUE &&
+	    readl(WRITE_QOS_ADDR) == WRITE_QOS_VALUE)
+		return 0;
+	memcpy((void *)QOS_BIN_ADDR, qos_hex, sizeof(qos_hex));
+	((void(*)(unsigned int, unsigned int))QOS_BIN_ADDR)(WRITE_QOS_VALUE, READ_QOS_VALUE);
+	return 0;
+}
+#endif
+
 void change_sys_pclk_250M(void)
 {
 	uint32_t reg = readl(HB_SYS_PCLK);
diff --git a/build.sh b/build.sh
index 904fcfc2..9b78a3f5 100755
--- a/build.sh
+++ b/build.sh
@@ -198,6 +198,8 @@ function build()
 
 function all()
 {
+    make mrproper
+    make ARCH=${ARCH_UBOOT} O=${BUILD_OUTPUT_PATH} distclean
     build
 }
 
diff --git a/include/hb_info.h b/include/hb_info.h
index 39db74eb..6e9f31da 100755
--- a/include/hb_info.h
+++ b/include/hb_info.h
@@ -21,6 +21,7 @@
 #define DEBUG_LOG(fmt, ...)
 #endif
 
+//#define SET_QOS_IN_UBOOT
 #define HB_SWINFO_MEM_ADDR		0x020ff000
 #define HB_SWINFO_MEM_MAGIC		0x57534248
 #define HB_SWINFO_BOOT_OFFSET		0x4
@@ -283,5 +284,6 @@ uint32_t hb_board_type_get_by_pin(int pin_nums);
 char *hb_reset_reason_get(void);
 int hb_get_socuid(char* socuid);
 int init_io_vol(void);
+int update_qos(void);
 
 #endif /* __HB_INFO_H__ */
diff --git a/qos/qos.lds b/qos/qos.lds
new file mode 100644
index 00000000..ed8915f9
--- /dev/null
+++ b/qos/qos.lds
@@ -0,0 +1,61 @@
+
+MEMORY { .sram : ORIGIN = 0x8000a000,
+		LENGTH = 0xc00 }
+
+OUTPUT_FORMAT("elf64-littleaarch64", "elf64-littleaarch64", "elf64-littleaarch64")
+OUTPUT_ARCH(aarch64)
+ENTRY(setup_c_runtime)
+SECTIONS
+{
+	.text : {
+		. = ALIGN(8);
+		*(.__image_copy_start)
+		setup.o (.text*)
+		*(.text*)
+		KEEP(*(SORT(.text*)));
+	} >.sram
+
+	.rodata : {
+		. = ALIGN(8);
+		*(SORT_BY_ALIGNMENT(SORT_BY_NAME(.rodata*)))
+	} >.sram
+
+	.data : {
+		. = ALIGN(8);
+		*(.data*)
+		 KEEP(*(SORT(.data*)));
+	} >.sram
+
+	.image_copy_end : {
+		. = ALIGN(8);
+		*(.__image_copy_end)
+	} >.sram
+
+	.end : {
+		. = ALIGN(8);
+		*(.__end)
+	} >.sram
+
+	_image_binary_end = .;
+
+	.bss_start (NOLOAD) : {
+		. = ALIGN(8);
+		KEEP(*(.__bss_start));
+	} >.sram
+
+	.bss (NOLOAD) : {
+		*(.bss*)
+		 . = ALIGN(8);
+	} >.sram
+
+	.bss_end (NOLOAD) : {
+		KEEP(*(.__bss_end));
+	} >.sram
+
+	/DISCARD/ : { *(.dynsym) }
+	/DISCARD/ : { *(.dynstr*) }
+	/DISCARD/ : { *(.dynamic*) }
+	/DISCARD/ : { *(.plt*) }
+	/DISCARD/ : { *(.interp*) }
+	/DISCARD/ : { *(.gnu*) }
+}
diff --git a/qos/set_qos.c b/qos/set_qos.c
new file mode 100644
index 00000000..620174a0
--- /dev/null
+++ b/qos/set_qos.c
@@ -0,0 +1,68 @@
+/*
+ *   Copyright 2021 Horizon Robotics, Inc.
+ */
+#define ISB	asm volatile ("isb sy" : : : "memory")
+#define DSB	asm volatile ("dsb sy" : : : "memory")
+#define DMB	asm volatile ("dmb sy" : : : "memory")
+#define isb()	ISB
+#define dsb()	DSB
+#define dmb()	DMB
+/*
+ * Generic virtual read/write.  Note that we don't support half-word
+ * read/writes.  We define __arch_*[bl] here, and leave __arch_*w
+ * to the architecture specific code.
+ */
+#define __arch_getl(a)			(*(volatile unsigned int *)(a))
+#define __arch_putl(v, a)		(*(volatile unsigned int *)(a) = (v))
+/*
+ * TODO: The kernel offers some more advanced versions of barriers, it might
+ * have some advantages to use them instead of the simple one here.
+ */
+#define mb()		dsb()
+#define __iormb()	dmb()
+#define __iowmb()	dmb()
+
+#define writel(v, c)	({ unsigned int __v = v; __iowmb(); __arch_putl(__v, c); __v; })
+#define readl(c)	({ unsigned int __v = __arch_getl(c); __iormb(); __v; })
+
+static void set_ddrc_qos(unsigned int write_qos, unsigned int read_qos)
+{
+#define REG_DDR_PORT_READ_QOS_CTRL 0xA2D10000
+#define REG_DDR_PORT_WRITE_QOS_CTRL 0xA2D10004
+	// [0]: ACE
+	// [1]: NOC
+	// [2]: CNN0
+	// [3]: CNN1
+	// [4]: VIO0
+	// [5]: VSP
+	// [6]: VIO1
+	// [7]: peri
+
+	writel(read_qos, REG_DDR_PORT_READ_QOS_CTRL);
+	writel(write_qos, REG_DDR_PORT_WRITE_QOS_CTRL);
+}
+
+void do_update_qos(unsigned int write_qos, unsigned int read_qos)
+{
+	unsigned int port_num = 0;
+	unsigned long reg_addr = 0;
+
+	//a. diable axi port n
+	for(port_num = 0; port_num < 8; port_num++) {
+		reg_addr = 0xA2D00490 + 0xB0 * port_num;
+		writel(0, reg_addr);
+	}
+
+	//b. polling axi port n is in idle state
+	do {
+	}while(0x0 != (readl(0xA2D003FC)));
+
+	//c. Set QoS
+	set_ddrc_qos(write_qos, read_qos);
+
+	//d. enable axi port n
+	for(port_num = 0; port_num < 8; port_num++) {
+		reg_addr = 0xA2D00490 + 0xB0 * port_num;
+		writel(1, reg_addr);
+	}
+}
diff --git a/qos/setup.S b/qos/setup.S
new file mode 100644
index 00000000..e92a8cdb
--- /dev/null
+++ b/qos/setup.S
@@ -0,0 +1,37 @@
+//#include <asm-offsets.h>
+#include <asm/macro.h>
+#include <linux/linkage.h>
+ENTRY(setup_c_runtime)
+        stp     x29, x30, [sp,#-96]!
+        stp     x27, x28, [sp,#80]
+        stp     x25, x26, [sp,#64]
+        stp     x23, x24, [sp,#48]
+        stp     x21, x22, [sp,#32]
+        stp     x19, x20, [sp,#16]
+
+        mov     x25, sp
+
+        mov     x20, #0xb000
+        movk    x20, #0x8000,LSL #16
+        mov     sp, x20
+        stp     x25, x0, [sp, #-16]!
+
+        bl      do_update_qos
+
+        ldp     x25, x0, [sp],#16
+        mov     sp, x25
+        ldp     x19, x20, [sp,#16]
+        ldp     x21, x22, [sp,#32]
+        ldp     x23, x24, [sp,#48]
+        ldp     x25, x26, [sp,#64]
+        ldp     x27, x28, [sp,#80]
+        ldp     x29, x30, [sp],#96
+        mov     w0, #0x0                        // #0
+        ret
+ENDPROC(setup_c_runtime)
+
+ENTRY(_asm_invalidate_icache_all)
+ic      ialluis
+isb     sy
+ret
+ENDPROC(_asm_invalidate_icache_all)
diff --git a/scripts/Makefile.qos b/scripts/Makefile.qos
new file mode 100644
index 00000000..880ddefa
--- /dev/null
+++ b/scripts/Makefile.qos
@@ -0,0 +1,59 @@
+
+src := $(obj)
+
+# Create output directory if not already present
+_dummy := $(shell [ -d $(obj) ] || mkdir -p $(obj))
+
+QOS_BIN := qos
+
+include $(srctree)/scripts/Kbuild.include
+#-include include/config/auto.conf
+#-include $(obj)/include/autoconf.mk
+
+#include $(srctree)/config.mk
+#include $(srctree)/arch/$(ARCH)/Makefile
+#include $(srctree)/scripts/Makefile.lib
+
+KBUILD_CFLAGS += -ffunction-sections -fdata-sections
+LDFLAGS_FINAL += --gc-sections
+
+cpp_flags := -D__KERNEL__ -D__UBOOT__ -D__ASSEMBLY__ -fno-PIE -g -D__ARM__ -fno-pic -mstrict-align -ffunction-sections -fdata-sections -fno-common -ffixed-x18 -pipe -march=armv8-a -D__LINUX_ARM_ARCH__=8
+c_flags := $(KBUILD_CFLAGS) $(cpp_flags) \
+	-I $(srctree)/include/ \
+	-I $(srctree)/arch/arm/include/
+
+LDSCRIPT := $(srctree)/$(obj)/qos.lds
+
+head-y          := $(addprefix $(obj)/,$(head-y))
+qos-init := $(head-y)
+
+ALL-y   += $(obj)/$(QOS_BIN).bin
+
+quiet_cmd_ddr_qos = SET_QOS    $@
+cmd_ddr_qos = $(CC) $(c_flags) -c $< -o $@
+
+$(obj)/set_qos.o: $(obj)/set_qos.c
+	$(CC) $(c_flags) -c $< -o $@
+
+$(obj)/setup.o: $(obj)/setup.S
+	$(CC) $(c_flags) -c $< -o $@
+
+qos-main += $(obj)/set_qos.o
+qos-main += $(obj)/setup.o
+
+OBJCOPYFLAGS_$(QOS_BIN) =  -O binary
+qos_objcopy := (cd $(obj) && $(OBJCOPY)  $(OBJCOPYFLAGS_$(QOS_BIN)) qos qos.bin)
+
+LDFLAGS_$(QOS_BIN) += -T $(srctree)/$(obj)/qos.lds $(LDFLAGS_FINAL)
+
+qos := (cd $(obj) && $(LD) $(LDFLAGS) $(LDFLAGS_$(QOS_BIN)) \
+		$(patsubst $(obj)/%,%,$(qos-main))  \
+		-Map $(QOS_BIN).map -o $(QOS_BIN))
+$(info "src tree:$(srctree), obj:$(obj)")
+$(obj)/$(QOS_BIN): $(qos-main) $(srctree)/$(obj)/qos.lds
+	$(qos)
+
+$(obj)/$(QOS_BIN).bin : $(obj)/$(QOS_BIN)
+	$(qos_objcopy)
+
+all:    $(ALL-y)
diff --git a/tools/bin2c b/tools/bin2c
new file mode 100755
index 00000000..9ebc8256
Binary files /dev/null and b/tools/bin2c differ