diff --git a/arch/risc-v/src/mpfs/Make.defs b/arch/risc-v/src/mpfs/Make.defs
index 8e8685998cc..2efe9299a55 100755
--- a/arch/risc-v/src/mpfs/Make.defs
+++ b/arch/risc-v/src/mpfs/Make.defs
@@ -77,6 +77,10 @@ CHIP_CSRCS += mpfs_userspace.c
 CMN_UASRCS += riscv_signal_handler.S
 endif
 
+ifeq ($(CONFIG_BUILD_KERNEL),y)
+CHIP_CSRCS += mpfs_mm_init.c
+endif
+
 ifneq ($(CONFIG_BUILD_FLAT),y)
 CMN_CSRCS += riscv_task_start.c
 CMN_CSRCS += riscv_pthread_start.c
diff --git a/arch/risc-v/src/mpfs/mpfs_mm_init.c b/arch/risc-v/src/mpfs/mpfs_mm_init.c
new file mode 100644
index 00000000000..8a35df4b6c0
--- /dev/null
+++ b/arch/risc-v/src/mpfs/mpfs_mm_init.c
@@ -0,0 +1,144 @@
+/****************************************************************************
+ * arch/risc-v/src/mpfs/mpfs_mm_init.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+
+#include <stdint.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <arch/board/board_memorymap.h>
+
+#include "mpfs_memorymap.h"
+
+#include "riscv_internal.h"
+#include "riscv_mmu.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Map the whole I/O memory with vaddr = paddr mappings */
+
+#define MMU_IO_BASE     (0x00000000)
+#define MMU_IO_SIZE     (0x80000000)
+
+/* Physical and virtual addresses to page tables (vaddr = paddr mapping) */
+
+#define PGT_L1_PBASE    (uintptr_t)&m_l1_pgtable
+#define PGT_L2_PBASE    (uintptr_t)&m_l2_pgtable
+#define PGT_L3_PBASE    (uintptr_t)&m_l3_pgtable
+#define PGT_L1_VBASE    PGT_L1_PBASE
+#define PGT_L2_VBASE    PGT_L2_PBASE
+#define PGT_L3_VBASE    PGT_L3_PBASE
+
+#define PGT_L1_SIZE     (512)  /* Enough to map 512 GiB */
+#define PGT_L2_SIZE     (512)  /* Enough to map 1 GiB */
+#define PGT_L3_SIZE     (1024) /* Enough to map 4 MiB */
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* Kernel mappings simply here, mapping is vaddr=paddr */
+
+static uint64_t         m_l1_pgtable[PGT_L1_SIZE] locate_data(".pgtables");
+static uint64_t         m_l2_pgtable[PGT_L2_SIZE] locate_data(".pgtables");
+static uint64_t         m_l3_pgtable[PGT_L3_SIZE] locate_data(".pgtables");
+
+/* Kernel mappings (L1 base) */
+
+uintptr_t               g_kernel_mappings  = PGT_L1_VBASE;
+uintptr_t               g_kernel_pgt_pbase = PGT_L1_PBASE;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void map_region(uintptr_t paddr, uintptr_t vaddr, size_t size,
+                       uint32_t mmuflags)
+{
+  uintptr_t l3base;
+  uintptr_t end_vaddr;
+
+  /* Start index for the L3 table, kernel flash is always first */
+
+  l3base = PGT_L3_PBASE + ((paddr - KFLASH_START) / RV_MMU_PAGE_ENTRIES);
+
+  /* Map the region to the L3 table as a whole */
+
+  mmu_ln_map_region(3, l3base, paddr, vaddr, size, mmuflags);
+
+  /* Connect to L2 table */
+
+  end_vaddr = vaddr + size;
+  while (vaddr < end_vaddr)
+    {
+      mmu_ln_setentry(2, PGT_L2_VBASE, l3base, vaddr, PTE_G);
+      l3base += RV_MMU_L3_PAGE_SIZE;
+      vaddr += RV_MMU_L2_PAGE_SIZE;
+    }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mpfs_kernel_mappings
+ *
+ * Description:
+ *  Setup kernel mappings when usinc CONFIG_BUILD_KERNEL. Sets up the kernel
+ *  MMU mappings.
+ *
+ ****************************************************************************/
+
+void mpfs_kernel_mappings(void)
+{
+  /* Begin mapping memory to MMU; note that at this point the MMU is not yet
+   * active, so the page table virtual addresses are actually physical
+   * addresses and so forth. M-mode does not perform translations anyhow, so
+   * this mapping is quite simple to do
+   */
+
+  /* Map I/O region, use 2 gigapages for this */
+
+  mmu_ln_map_region(1, PGT_L1_VBASE, MMU_IO_BASE, MMU_IO_BASE,
+                    MMU_IO_SIZE, MMU_IO_FLAGS);
+
+  /* Map the kernel text and data */
+
+  map_region(KFLASH_START, KFLASH_START, KFLASH_SIZE, MMU_KTEXT_FLAGS);
+  map_region(KSRAM_START, KSRAM_START, KSRAM_SIZE, MMU_KDATA_FLAGS);
+
+  /* Connect the L1 and L2 page tables */
+
+  mmu_ln_setentry(1, PGT_L1_VBASE, PGT_L2_PBASE, KFLASH_START, PTE_G);
+
+  /* Map the page pool */
+
+  mmu_ln_map_region(2, PGT_L2_VBASE, PGPOOL_START, PGPOOL_START, PGPOOL_SIZE,
+                    MMU_KDATA_FLAGS);
+}
diff --git a/arch/risc-v/src/mpfs/mpfs_mm_init.h b/arch/risc-v/src/mpfs/mpfs_mm_init.h
new file mode 100644
index 00000000000..5fa67f62909
--- /dev/null
+++ b/arch/risc-v/src/mpfs/mpfs_mm_init.h
@@ -0,0 +1,81 @@
+/****************************************************************************
+ * arch/risc-v/src/mpfs/mpfs_mm_init.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_RISC_V_SRC_MPFS_MPFS_MM_INIT_H
+#define __ARCH_RISC_V_SRC_MPFS_MPFS_MM_INIT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "riscv_mmu.h"
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+extern uintptr_t g_kernel_pgt_pbase;
+
+/****************************************************************************
+ * Public Functions Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mpfs_kernel_mappings
+ *
+ * Description:
+ *  Setup kernel mappings when using CONFIG_BUILD_KERNEL. Sets up the kernel
+ *  MMU mappings.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BUILD_KERNEL
+void mpfs_kernel_mappings(void);
+#endif
+
+/****************************************************************************
+ * Name: mpfs_mm_init
+ *
+ * Description:
+ *  Setup kernel mappings when using CONFIG_BUILD_KERNEL. Sets up kernel MMU
+ *  mappings. Function also sets the first address environment (satp value).
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BUILD_KERNEL
+static inline void mpfs_mm_init(void)
+{
+  /* Setup the kernel mappings */
+
+  mpfs_kernel_mappings();
+
+  /* Allow satp writes from S-mode */
+
+  CLEAR_CSR(mstatus, MSTATUS_TVM);
+
+  /* Enable MMU (note: system is still in M-mode) */
+
+  mmu_enable(g_kernel_pgt_pbase, 0);
+}
+#endif
+
+#endif /* __ARCH_RISC_V_SRC_MPFS_MPFS_MM_INIT_H */
diff --git a/arch/risc-v/src/mpfs/mpfs_start.c b/arch/risc-v/src/mpfs/mpfs_start.c
index 8c318218d9a..cf739534511 100755
--- a/arch/risc-v/src/mpfs/mpfs_start.c
+++ b/arch/risc-v/src/mpfs/mpfs_start.c
@@ -33,6 +33,7 @@
 #include "mpfs_clockconfig.h"
 #include "mpfs_ddr.h"
 #include "mpfs_cache.h"
+#include "mpfs_mm_init.h"
 #include "mpfs_userspace.h"
 
 #include "riscv_internal.h"
@@ -209,6 +210,10 @@ void __mpfs_start(uint64_t mhartid)
   showprogress('D');
 #endif
 
+#ifdef CONFIG_BUILD_KERNEL
+  mpfs_mm_init();
+#endif
+
   /* Call nx_start() */
 
   nx_start();
diff --git a/boards/risc-v/mpfs/icicle/include/board_memorymap.h b/boards/risc-v/mpfs/icicle/include/board_memorymap.h
index 6afed97646e..1dc7356e2b8 100644
--- a/boards/risc-v/mpfs/icicle/include/board_memorymap.h
+++ b/boards/risc-v/mpfs/icicle/include/board_memorymap.h
@@ -31,6 +31,11 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* DDR start address */
+
+#define MPFS_DDR_BASE   (0x80000000)
+#define MPFS_DDR_SIZE   (0x40000000)
+
 /* Kernel code memory (RX) */
 
 #define KFLASH_START    (uintptr_t)&__kflash_start
diff --git a/boards/risc-v/mpfs/icicle/scripts/ld-kernel.script b/boards/risc-v/mpfs/icicle/scripts/ld-kernel.script
index ab81ad1bc79..910bc255c13 100755
--- a/boards/risc-v/mpfs/icicle/scripts/ld-kernel.script
+++ b/boards/risc-v/mpfs/icicle/scripts/ld-kernel.script
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/risc-v/mpfs/icicle/scripts/ld.script
+ * boards/risc-v/mpfs/icicle/scripts/ld-kernel.script
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -93,15 +93,20 @@ SECTIONS
         *(.gnu.linkonce.b.*)
         *(.gnu.linkonce.sb.*)
         *(COMMON)
+    } > ksram
+
+    /* Page tables here, align to 4K boundary */
+
+    .pgtables : ALIGN(0x1000) {
+        *(.pgtables)
         . = ALIGN(4);
-        _ebss = ABSOLUTE(.);
     } > ksram
 
     /* Stack top */
 
     .stack_top : {
         . = ALIGN(32);
-        _default_stack_limit = ABSOLUTE(.);
+        _ebss = ABSOLUTE(.);
     } > ksram
 
     /* Stabs debugging sections. */