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I know that they are open source to some extent. I'm 99% sure that this quote has not been updated to include the 3588, but this is on Wikipedia:
Here is their stuff:
https://opensource.rock-chips.com/wiki_Main_Page
Here is the toolkit for converting AI stuff to work on their NPU. It looks like they support several 2-3b models including multimodal qwen v2: https://github.com/airockchip/rknn-toolkit2/
https://github.com/airockchip/rknn-llm
Their own documentation says they do not provide source for ATF (arm trusted firmware). So it is probably just as bad as the Intel/AMD Management Engine fascist takeover junk running in the background.
Their main document is the TRM PDF. The one for the newest RK3588 is on gitlab along with the regular mechanical and pinout documentation. At a tertiary glance, it looks comprehensive with over three thousand pages of registers, addressing, and peripherals with timing diagrams. It is way over my head to say how complete or useful it is.
https://gitlab.com/rock-chips/rk3588/rk3588-doc