Merge pull request #20 from RT-Thread/master

pr

21 files changed, 533 insertions, 152 deletions

diff --git a/bsp/efm32/rtconfig.h b/bsp/efm32/rtconfig.h
index 040f07fa02..58159f90b3 100644
--- a/bsp/efm32/rtconfig.h
+++ b/bsp/efm32/rtconfig.h
@@ -211,7 +211,6 @@
 #endif
 
 /* SECTION: Runtime library */
-// #define RT_USING_NOLIBC
 // #define RT_USING_NEWLIB
 #define RT_LIBC_USING_TIME
 
diff --git a/bsp/imxrt/libraries/MIMXRT1050/SConscript b/bsp/imxrt/libraries/MIMXRT1050/SConscript
index 6f871d6610..7f8f971b82 100644
--- a/bsp/imxrt/libraries/MIMXRT1050/SConscript
+++ b/bsp/imxrt/libraries/MIMXRT1050/SConscript
@@ -34,6 +34,7 @@ if GetDepend(['BSP_USING_HWTIMER']) or GetDepend(['BSP_USING_PWM']):
 
 if GetDepend(['BSP_USING_PWM']):
     src += ['MIMXRT1052/drivers/fsl_pwm.c']
+    src += ['MIMXRT1052/drivers/fsl_qtmr.c']
 
 if GetDepend(['BSP_USING_RTC']):
     src += ['MIMXRT1052/drivers/fsl_snvs_hp.c']
@@ -52,9 +53,6 @@ if GetDepend(['BSP_USING_SDRAM']):
 if GetDepend(['BSP_USING_LCD']):
     src += ['MIMXRT1052/drivers/fsl_elcdif.c']
 
-if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
-    src += ['MIMXRT1052/drivers/fsl_usdhc.c']
-
 if GetDepend(['BSP_USING_CAN']):
     src += ['MIMXRT1052/drivers/fsl_flexcan.c']
 
@@ -78,6 +76,9 @@ if GetDepend(['BSP_USING_DMA']):
     src += ['MIMXRT1052/drivers/fsl_lpspi_edma.c']
     
 
-group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path)
+if rtconfig.CROSS_TOOL == 'gcc':
+    group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path, ASFLAGS = '$ASFLAGS -D __STARTUP_CLEAR_BSS')
+else:
+    group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path)
 
 Return('group')
diff --git a/bsp/imxrt/libraries/MIMXRT1064/SConscript b/bsp/imxrt/libraries/MIMXRT1064/SConscript
index 2035ca530f..c83546f0eb 100644
--- a/bsp/imxrt/libraries/MIMXRT1064/SConscript
+++ b/bsp/imxrt/libraries/MIMXRT1064/SConscript
@@ -49,9 +49,6 @@ if GetDepend(['BSP_USING_ADC']):
 if GetDepend(['BSP_USING_SDRAM']):
     src += ['MIMXRT1064/drivers/fsl_semc.c']
 
-if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
-    src += ['MIMXRT1064/drivers/fsl_usdhc.c']
-
 if GetDepend(['RT_USING_CAN']):
     src += ['MIMXRT1064/drivers/fsl_flexcan.c']
 
@@ -77,6 +74,9 @@ if GetDepend(['RT_SERIAL_USING_DMA']):
     src += ['MIMXRT1064/drivers/fsl_lpuart_edma.c']
     src += ['MIMXRT1064/drivers/fsl_lpspi_edma.c']
 
-group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path)
+if rtconfig.CROSS_TOOL == 'gcc':
+    group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path, ASFLAGS = '$ASFLAGS -D __STARTUP_CLEAR_BSS')
+else:
+    group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path)
 
 Return('group')
diff --git a/bsp/imxrt/libraries/drivers/drv_pwm.c b/bsp/imxrt/libraries/drivers/drv_pwm.c
index fdfb8907f6..3f2a11b4e6 100644
--- a/bsp/imxrt/libraries/drivers/drv_pwm.c
+++ b/bsp/imxrt/libraries/drivers/drv_pwm.c
@@ -16,8 +16,12 @@
 #if !defined(BSP_USING_PWM1_CH0) && !defined(BSP_USING_PWM1_CH1) && !defined(BSP_USING_PWM1_CH2) && !defined(BSP_USING_PWM1_CH3) && \
     !defined(BSP_USING_PWM2_CH0) && !defined(BSP_USING_PWM2_CH1) && !defined(BSP_USING_PWM2_CH2) && !defined(BSP_USING_PWM2_CH3) && \
     !defined(BSP_USING_PWM3_CH0) && !defined(BSP_USING_PWM3_CH1) && !defined(BSP_USING_PWM3_CH2) && !defined(BSP_USING_PWM3_CH3) && \
-    !defined(BSP_USING_PWM4_CH0) && !defined(BSP_USING_PWM4_CH1) && !defined(BSP_USING_PWM4_CH2) && !defined(BSP_USING_PWM4_CH3)
-#error "Please define at least one BSP_USING_PWMx_CHx"
+    !defined(BSP_USING_PWM4_CH0) && !defined(BSP_USING_PWM4_CH1) && !defined(BSP_USING_PWM4_CH2) && !defined(BSP_USING_PWM4_CH3) && \
+    !defined(BSP_USING_QTMR1_CH0) && !defined(BSP_USING_QTMR1_CH1) && !defined(BSP_USING_QTMR1_CH2) && !defined(BSP_USING_QTMR1_CH3) && \
+    !defined(BSP_USING_QTMR2_CH0) && !defined(BSP_USING_QTMR2_CH1) && !defined(BSP_USING_QTMR2_CH2) && !defined(BSP_USING_QTMR2_CH3) && \
+    !defined(BSP_USING_QTMR3_CH0) && !defined(BSP_USING_QTMR3_CH1) && !defined(BSP_USING_QTMR3_CH2) && !defined(BSP_USING_QTMR3_CH3) && \
+    !defined(BSP_USING_QTMR4_CH0) && !defined(BSP_USING_QTMR4_CH1) && !defined(BSP_USING_QTMR4_CH2) && !defined(BSP_USING_QTMR4_CH3)
+#error "Please define at least one BSP_USING_PWMx_CHx or BSP_USING_QTMRx_CHx"
 #endif
 
 #define LOG_TAG             "drv.pwm"
@@ -25,6 +29,9 @@
 
 #include <rtdevice.h>
 #include "fsl_pwm.h"
+#if defined(FSL_FEATURE_SOC_TMR_COUNT) && FSL_FEATURE_SOC_TMR_COUNT > 0
+    #include "fsl_qtmr.h"
+#endif
 #include "drv_pwm.h"
 
 #define DEFAULT_PRE                   5
@@ -153,7 +160,7 @@ static rt_err_t imxrt_drv_pwm_init(PWM_Type *base, pwm_submodule_t pwm_submodule
     if (PWM_Init(base, pwm_submodule, &PwmConfig) == kStatus_Fail)
     {
         LOG_E("init pwm failed \n");
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 
     base->SM[fault_input].DISMAP[0] = 0x00;
@@ -176,28 +183,28 @@ static rt_err_t imxrt_pwm1_init(PWM_Type *base)
 #ifdef BSP_USING_PWM1_CH0
     if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM1_CH0 */
 
 #ifdef BSP_USING_PWM1_CH1
     if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM1_CH1 */
 
 #ifdef BSP_USING_PWM1_CH2
     if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /*BSP_USING_PWM1_CH2 */
 
 #ifdef BSP_USING_PWM1_CH3
     if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM1_CH3 */
 
@@ -213,28 +220,28 @@ static rt_err_t imxrt_pwm2_init(PWM_Type *base)
 #ifdef BSP_USING_PWM2_CH0
     if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM2_CH0 */
 
 #ifdef BSP_USING_PWM2_CH1
     if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM2_CH1 */
 
 #ifdef BSP_USING_PWM2_CH2
     if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /*BSP_USING_PWM2_CH2 */
 
 #ifdef BSP_USING_PWM2_CH3
     if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM2_CH3 */
 
@@ -250,28 +257,28 @@ static rt_err_t imxrt_pwm3_init(PWM_Type *base)
 #ifdef BSP_USING_PWM3_CH0
     if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM3_CH0 */
 
 #ifdef BSP_USING_PWM3_CH1
     if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM3_CH1 */
 
 #ifdef BSP_USING_PWM3_CH2
     if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /*BSP_USING_PWM3_CH2 */
 
 #ifdef BSP_USING_PWM3_CH3
     if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM3_CH3 */
 
@@ -287,28 +294,28 @@ static rt_err_t imxrt_pwm4_init(PWM_Type *base)
 #ifdef BSP_USING_PWM4_CH0
     if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM4_CH0 */
 
 #ifdef BSP_USING_PWM4_CH1
     if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM4_CH1 */
 
 #ifdef BSP_USING_PWM4_CH2
     if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /*BSP_USING_PWM4_CH2 */
 
 #ifdef BSP_USING_PWM4_CH3
     if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
 #endif /* BSP_USING_PWM4_CH3 */
 
@@ -317,6 +324,224 @@ static rt_err_t imxrt_pwm4_init(PWM_Type *base)
 
 #endif /* BSP_USING_PWM4 */
 
+static rt_err_t imxrt_drv_qtmr_control(struct rt_device_pwm *device, int cmd, void *arg);
+
+static struct rt_pwm_ops imxrt_drv_qtmr_ops =
+{
+    .control = imxrt_drv_qtmr_control
+};
+
+static rt_err_t imxrt_drv_qtmr_enable(struct rt_device_pwm *device, struct rt_pwm_configuration *configuration, rt_bool_t enable)
+{
+    TMR_Type *base;
+    base = (TMR_Type *)device->parent.user_data;
+
+    if (!enable)
+    {
+        QTMR_StopTimer(base, configuration->channel);
+        base->CHANNEL[configuration->channel].SCTRL |= (TMR_SCTRL_FORCE_MASK | TMR_SCTRL_OEN_MASK);
+    }
+    else
+    {
+        QTMR_StartTimer(base, configuration->channel, kQTMR_PriSrcRiseEdge);
+    }
+
+    return RT_EOK;
+}
+
+static rt_err_t imxrt_drv_qtmr_get(struct rt_device_pwm *device, struct rt_pwm_configuration *configuration)
+{
+    TMR_Type *base;
+    rt_uint32_t high_count, low_count, clk_divider, clk_freq;
+
+    base = (TMR_Type *)device->parent.user_data;
+
+    low_count = base->CHANNEL[configuration->channel].COMP1;
+    high_count = base->CHANNEL[configuration->channel].COMP2;
+    clk_divider = 1 << (((base->CHANNEL[configuration->channel].CTRL & TMR_CTRL_PCS_MASK) >> TMR_CTRL_PCS_SHIFT) - 8);
+    clk_freq = CLOCK_GetFreq(kCLOCK_IpgClk) / clk_divider;
+
+    configuration->period = 1000000000 / clk_freq * (high_count + low_count);
+    configuration->pulse = 1000000000 / clk_freq * high_count;
+
+    return RT_EOK;
+}
+
+static rt_err_t imxrt_drv_qtmr_set(struct rt_device_pwm *device, struct rt_pwm_configuration *configuration)
+{
+    RT_ASSERT(configuration->period > 0);
+    RT_ASSERT(configuration->pulse <= configuration->period);
+
+    TMR_Type *base = (TMR_Type *)device->parent.user_data;
+
+    rt_size_t clk_freq = CLOCK_GetFreq(kCLOCK_IpgClk) / (1 << (((base->CHANNEL[configuration->channel].CTRL & TMR_CTRL_PCS_MASK) >> TMR_CTRL_PCS_SHIFT) - 8));
+    rt_size_t current_period_count = base->CHANNEL[configuration->channel].CMPLD1 + base->CHANNEL[configuration->channel].CMPLD2;
+    rt_size_t period_count = clk_freq / (1000000000 / configuration->period);
+    if (current_period_count == period_count)
+    {
+        rt_size_t high_count   = period_count * configuration->pulse / configuration->period;
+        rt_size_t low_count    = period_count - high_count;
+        base->CHANNEL[configuration->channel].CMPLD1 = (uint16_t)low_count;
+        base->CHANNEL[configuration->channel].CMPLD2 = (uint16_t)high_count;
+    }
+    else
+    {
+        rt_bool_t timer_is_on = base->CHANNEL[configuration->channel].CTRL & TMR_CTRL_CM_MASK;
+        rt_uint8_t duty = configuration->pulse * 100 / configuration->period;
+        QTMR_StopTimer(base, configuration->channel);
+        if (kStatus_Success != QTMR_SetupPwm(base, configuration->channel, 1000000000 / configuration->period, duty, DEFAULT_POLARITY, clk_freq))
+        {
+            LOG_E(LOG_TAG" setup pwm failed \n");
+            return -RT_ERROR;
+        }
+        if (timer_is_on)
+        {
+            QTMR_StartTimer(base, configuration->channel, kQTMR_PriSrcRiseEdge);
+        }
+    }
+
+    return RT_EOK;
+}
+
+static rt_err_t imxrt_drv_qtmr_control(struct rt_device_pwm *device, int cmd, void *arg)
+{
+    struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg;
+
+    switch (cmd)
+    {
+    case PWM_CMD_ENABLE:
+        return imxrt_drv_qtmr_enable(device, configuration, RT_TRUE);
+    case PWM_CMD_DISABLE:
+        return imxrt_drv_qtmr_enable(device, configuration, RT_FALSE);
+    case PWM_CMD_SET:
+        return imxrt_drv_qtmr_set(device, configuration);
+    case PWM_CMD_GET:
+        return imxrt_drv_qtmr_get(device, configuration);
+    default:
+        return RT_EINVAL;
+    }
+}
+
+static rt_err_t imxrt_drv_qtmr_init(TMR_Type *base, qtmr_channel_selection_t channel, uint16_t psc, uint32_t fre, uint8_t duty)
+{
+    qtmr_config_t qtmr_config;
+    rt_uint32_t qtmr_clock_freq;
+    QTMR_GetDefaultConfig(&qtmr_config);
+
+    qtmr_config.primarySource = (qtmr_primary_count_source_t)(psc + 8);
+    qtmr_clock_freq = CLOCK_GetFreq(kCLOCK_IpgClk) / (1 << psc);
+
+    QTMR_Init(base, channel, &qtmr_config);
+
+    if (kStatus_Success != QTMR_SetupPwm(base, channel, fre, duty, DEFAULT_POLARITY, qtmr_clock_freq))
+    {
+        LOG_E(LOG_TAG" setup pwm failed \n");
+        return -RT_ERROR;
+    }
+
+    return RT_EOK;
+}
+
+static rt_err_t imxrt_qtmr_init()
+{
+    TMR_Type *base_list[] =
+    {
+#ifdef BSP_USING_QTMR1
+        TMR1,
+#endif
+#ifdef BSP_USING_QTMR2
+        TMR2,
+#endif
+#ifdef BSP_USING_QTMR3
+        TMR3,
+#endif
+#ifdef BSP_USING_QTMR4
+        TMR4,
+#endif
+    };
+
+    rt_uint8_t channel_list[] =
+    {
+#ifdef BSP_USING_QTMR1
+#ifdef BSP_USING_QTMR1_CH0
+        1 << 0 |
+#endif
+#ifdef BSP_USING_QTMR1_CH1
+        1 << 1 |
+#endif
+#ifdef BSP_USING_QTMR1_CH2
+        1 << 2 |
+#endif
+#ifdef BSP_USING_QTMR1_CH3
+        1 << 3 |
+#endif
+        0,
+#endif
+#ifdef BSP_USING_QTMR2
+#ifdef BSP_USING_QTMR2_CH0
+        1 << 0 |
+#endif
+#ifdef BSP_USING_QTMR2_CH1
+        1 << 1 |
+#endif
+#ifdef BSP_USING_QTMR2_CH2
+        1 << 2 |
+#endif
+#ifdef BSP_USING_QTMR2_CH3
+        1 << 3 |
+#endif
+        0,
+#endif
+#ifdef BSP_USING_QTMR3
+#ifdef BSP_USING_QTMR3_CH0
+        1 << 0 |
+#endif
+#ifdef BSP_USING_QTMR3_CH1
+        1 << 1 |
+#endif
+#ifdef BSP_USING_QTMR3_CH2
+        1 << 2 |
+#endif
+#ifdef BSP_USING_QTMR3_CH3
+        1 << 3 |
+#endif
+        0,
+#endif
+#ifdef BSP_USING_QTMR4
+#ifdef BSP_USING_QTMR4_CH0
+        1 << 0 |
+#endif
+#ifdef BSP_USING_QTMR4_CH1
+        1 << 1 |
+#endif
+#ifdef BSP_USING_QTMR4_CH2
+        1 << 2 |
+#endif
+#ifdef BSP_USING_QTMR4_CH3
+        1 << 3 |
+#endif
+        0,
+#endif
+    };
+
+    for (rt_uint8_t i = 0; i < sizeof(base_list)/sizeof(TMR_Type *); ++i)
+    {
+        for (rt_uint8_t j = 0; j < 8; ++j)
+        {
+            if ((channel_list[i] >> j) & 1)
+            {
+                if (imxrt_drv_qtmr_init(base_list[i], j, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
+                {
+                    return -RT_ERROR;
+                }
+            }
+        }
+    }
+    return RT_EOK;
+}
+
+
+
 int rt_hw_pwm_init(void)
 {
     rt_err_t ret = RT_EOK;
@@ -391,9 +616,52 @@ int rt_hw_pwm_init(void)
     }
 #endif /* BSP_USING_PWM4 */
 
+#if defined(BSP_USING_QTMR1) || defined(BSP_USING_QTMR2) || defined(BSP_USING_QTMR3) || defined(BSP_USING_QTMR4)
+    if (imxrt_qtmr_init() != RT_EOK)
+    {
+        LOG_E(LOG_TAG" init qtmr failed");
+    }
+#endif
+
+#ifdef BSP_USING_QTMR1
+    static struct rt_device_pwm qtmr1_device;
+    ret = rt_device_pwm_register(&qtmr1_device, "pwm5", &imxrt_drv_qtmr_ops, TMR1);
+    if (ret != RT_EOK)
+    {
+        LOG_E("%s register failed", "pwm5");
+    }
+#endif /* BSP_USING_QTMR1 */
+
+#ifdef BSP_USING_QTMR2
+    static struct rt_device_pwm qtmr2_device;
+    ret = rt_device_pwm_register(&qtmr2_device, "pwm6", &imxrt_drv_qtmr_ops, TMR2);
+    if (ret != RT_EOK)
+    {
+        LOG_E("%s register failed", "pwm6");
+    }
+#endif /* BSP_USING_QTMR2 */
+
+#ifdef BSP_USING_QTMR3
+    static struct rt_device_pwm qtmr3_device;
+    ret = rt_device_pwm_register(&qtmr3_device, "pwm7", &imxrt_drv_qtmr_ops, TMR3);
+    if (ret != RT_EOK)
+    {
+        LOG_E("%s register failed", "pwm7");
+    }
+#endif /* BSP_USING_QTMR3 */
+
+#ifdef BSP_USING_QTMR4
+    static struct rt_device_pwm qtmr4_device;
+    ret = rt_device_pwm_register(&qtmr4_device, "pwm8", &imxrt_drv_qtmr_ops, TMR4);
+    if (ret != RT_EOK)
+    {
+        LOG_E("%s register failed", "pwm8");
+    }
+#endif /* BSP_USING_QTMR4 */
+
     return ret;
 }
 
-INIT_DEVICE_EXPORT(rt_hw_pwm_init);
+INIT_BOARD_EXPORT(rt_hw_pwm_init);
 
 #endif /* BSP_USING_PWM */
diff --git a/bsp/imxrt/libraries/drivers/drv_spi.c b/bsp/imxrt/libraries/drivers/drv_spi.c
index e0375166a2..04c9e94020 100644
--- a/bsp/imxrt/libraries/drivers/drv_spi.c
+++ b/bsp/imxrt/libraries/drivers/drv_spi.c
@@ -64,6 +64,8 @@ struct imxrt_spi
     char *bus_name;
     LPSPI_Type *base;
     struct rt_spi_bus spi_bus;
+    rt_sem_t xfer_sem;
+    lpspi_master_handle_t spi_normal;
     struct dma_config *dma;
     rt_uint8_t dma_flag;
 };
@@ -159,9 +161,18 @@ static void spi_get_dma_config(void)
 #endif
 }
 
+void normal_xfer_callback(LPSPI_Type *base, lpspi_master_handle_t *handle, status_t status, void *userData)
+{
+    /* xfer complete callback */
+    struct imxrt_spi *spi = (struct imxrt_spi *)userData;
+    rt_sem_release(spi->xfer_sem);
+}
+
 void edma_xfer_callback(LPSPI_Type *base, lpspi_master_edma_handle_t *handle, status_t status, void *userData)
 {
     /* xfer complete callback */
+    struct imxrt_spi *spi = (struct imxrt_spi *)userData;
+    rt_sem_release(spi->xfer_sem);
 }
 
 rt_err_t rt_hw_spi_device_attach(const char *bus_name, const char *device_name, rt_uint32_t pin)
@@ -217,6 +228,17 @@ static uint32_t imxrt_get_lpspi_freq(void)
     return freq;
 }
 
+static void lpspi_normal_config(struct imxrt_spi *spi)
+{
+    RT_ASSERT(spi != RT_NULL);
+
+    LPSPI_MasterTransferCreateHandle(spi->base,
+                                    &spi->spi_normal,
+                                    normal_xfer_callback,
+                                    spi);
+    LOG_D(LOG_TAG" %s normal config done\n", spi->bus_name);
+}
+
 static void lpspi_dma_config(struct imxrt_spi *spi)
 {
     RT_ASSERT(spi != RT_NULL);
@@ -325,12 +347,17 @@ static rt_uint32_t spixfer(struct rt_spi_device *device, struct rt_spi_message *
 
     if(RT_FALSE == spi->dma_flag)
     {
+#ifdef BSP_USING_BLOCKING_SPI
         status = LPSPI_MasterTransferBlocking(spi->base, &transfer);
+#else
+        status = LPSPI_MasterTransferNonBlocking(spi->base, &spi->spi_normal, &transfer);
+#endif
     }
     else
     {
         status = LPSPI_MasterTransferEDMA(spi->base,&spi->dma->spi_edma,&transfer);
     }
+    rt_sem_take(spi->xfer_sem, RT_WAITING_FOREVER);
 
     if(message->cs_release)
     {
@@ -369,6 +396,13 @@ int rt_hw_spi_bus_init(void)
         {
             lpspi_dma_config(&lpspis[i]);
         }
+        else
+        {
+            lpspi_normal_config(&lpspis[i]);
+        }
+        char sem_name[RT_NAME_MAX];
+        rt_sprintf(sem_name, "%s_s", lpspis[i].bus_name);
+        lpspis[i].xfer_sem = rt_sem_create(sem_name, 0, RT_IPC_FLAG_PRIO);
     }
 
     return ret; 
diff --git a/bsp/raspberry-pico/drivers/drv_uart.c b/bsp/raspberry-pico/drivers/drv_uart.c
index 48599e01f8..925968f6d7 100644
--- a/bsp/raspberry-pico/drivers/drv_uart.c
+++ b/bsp/raspberry-pico/drivers/drv_uart.c
@@ -60,6 +60,23 @@ static rt_err_t pico_uart_configure(struct rt_serial_device *serial, struct seri
 
 static rt_err_t pico_uart_control(struct rt_serial_device *serial, int cmd, void *arg)
 {
+    // Select correct interrupt for the UART we are using
+    int UART_IRQ = UART_ID == uart0 ? UART0_IRQ : UART1_IRQ;
+
+    switch (cmd)
+    {
+    /* enable interrupt */
+    case RT_DEVICE_CTRL_SET_INT:
+        // Set up a RX interrupt
+        // We need to set up the handler first
+        // And set up and enable the interrupt handlers
+        irq_set_exclusive_handler(UART_IRQ, pico_uart_isr);
+        irq_set_enabled(UART_IRQ, true);
+
+        // Now enable the UART to send interrupts - RX only
+        uart_set_irq_enables(UART_ID, true, false);
+        break;
+    }
     return RT_EOK;
 }
 
@@ -125,18 +142,6 @@ int rt_hw_uart_init(void)
     // Turn off FIFO's - we want to do this character by character
     uart_set_fifo_enabled(UART_ID, false);
 
-    // Set up a RX interrupt
-    // We need to set up the handler first
-    // Select correct interrupt for the UART we are using
-    int UART_IRQ = UART_ID == uart0 ? UART0_IRQ : UART1_IRQ;
-
-    // And set up and enable the interrupt handlers
-    irq_set_exclusive_handler(UART_IRQ, pico_uart_isr);
-    irq_set_enabled(UART_IRQ, true);
-
-    // Now enable the UART to send interrupts - RX only
-    uart_set_irq_enables(UART_ID, true, false);
-
     uart0_dev.parent.ops = &_uart_ops;
     uart0_dev.parent.config = config;
 
diff --git a/bsp/simulator/rtconfig_project.h b/bsp/simulator/rtconfig_project.h
index 02e29c1a65..2ff5c8d3a4 100644
--- a/bsp/simulator/rtconfig_project.h
+++ b/bsp/simulator/rtconfig_project.h
@@ -17,9 +17,6 @@
 #pragma warning(disable:4267)   /* to ignore: warning C4267: conversion from 'size_t' to 'rt_size_t', possible loss of data */
 #pragma warning(disable:4244)   /* to ignore: warning C4244: '=' : conversion from '__w64 int' to 'rt_size_t', possible loss of data */
 
-#elif defined(__GNUC__)
-#define RT_USING_NOLIBC
-
 #endif /* end of _MSC_VER */
 
 #endif
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_qspi.c b/bsp/stm32/libraries/HAL_Drivers/drv_qspi.c
index b3090ec6a1..fe24651dd3 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_qspi.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_qspi.c
@@ -341,7 +341,7 @@ rt_err_t stm32_qspi_bus_attach_device(const char *bus_name, const char *device_n
     qspi_device->exit_qspi_mode = exit_qspi_mode;
     qspi_device->config.qspi_dl_width = data_line_width;
 
-    cs_pin->Pin = pin;
+    cs_pin->pin = pin;
 #ifdef BSP_QSPI_USING_SOFTCS
     rt_pin_mode(pin, PIN_MODE_OUTPUT);
     rt_pin_write(pin, 1);
diff --git a/bsp/taihu/rtconfig.h b/bsp/taihu/rtconfig.h
index 2437f6b2a3..0ca8b43a19 100644
--- a/bsp/taihu/rtconfig.h
+++ b/bsp/taihu/rtconfig.h
@@ -53,7 +53,6 @@
 /* Using Small MM*/
 #define RT_USING_SMALL_MEM
 
-// #define RT_USING_NOLIBC
 #define RT_TINY_SIZE
 
 /* SECTION: Device System */
diff --git a/components/libc/compilers/armlibc/sys/types.h b/components/libc/compilers/armlibc/sys/types.h
index 78fee1bb99..d1e457b36f 100644
--- a/components/libc/compilers/armlibc/sys/types.h
+++ b/components/libc/compilers/armlibc/sys/types.h
@@ -15,7 +15,9 @@
 
 typedef int32_t          clockid_t;
 typedef int32_t          key_t;         /* Used for interprocess communication. */
-typedef int32_t          pid_t;         /* Used for process IDs and process group IDs. */
+typedef int              pid_t;         /* Used for process IDs and process group IDs. */
+typedef unsigned short   uid_t;
+typedef unsigned short   gid_t;
 #ifndef ARCH_CPU_64BIT
 typedef signed int       ssize_t;       /* Used for a count of bytes or an error indication. */
 #else
diff --git a/components/libc/compilers/armlibc/sys/unistd.h b/components/libc/compilers/armlibc/sys/unistd.h
index 73a73a267e..ee1e1c4db9 100644
--- a/components/libc/compilers/armlibc/sys/unistd.h
+++ b/components/libc/compilers/armlibc/sys/unistd.h
@@ -73,4 +73,11 @@ char *  ttyname     (int desc);
 unsigned int sleep(unsigned int seconds);
 int usleep(useconds_t usec);
 
+pid_t getpid(void);
+pid_t getppid(void);
+uid_t getuid(void);
+uid_t geteuid(void);
+gid_t getgid(void);
+gid_t getegid(void);
+
 #endif /* _SYS_UNISTD_H */
diff --git a/components/libc/compilers/common/readme.md b/components/libc/compilers/common/readme.md
index 99797d933c..81bb005d0a 100644
--- a/components/libc/compilers/common/readme.md
+++ b/components/libc/compilers/common/readme.md
@@ -1,8 +1,8 @@
 ## Attentions
 
-1. This folder is "common" for armlibc newlibc and dlib. It's not "common" for minilibc.
+1. This folder is "common" for armlibc newlibc and dlib.
 
-2. If you want to add new .c files, please do not forget to fix SConscript file too. eg:
+2. If you want to add new `.c` files, please do not forget to fix SConscript file too. eg:
 
 ```python
 if GetDepend('RT_USING_POSIX') == False:
diff --git a/components/libc/compilers/common/stdlib.c b/components/libc/compilers/common/stdlib.c
index 9f801ab966..48a86098cd 100644
--- a/components/libc/compilers/common/stdlib.c
+++ b/components/libc/compilers/common/stdlib.c
@@ -14,18 +14,10 @@ void __rt_libc_exit(int status)
 {
     rt_thread_t self = rt_thread_self();
 
-#ifdef RT_USING_MODULE
-    if (dlmodule_self())
-    {
-        dlmodule_exit(status);
-    }
-#endif
-
     if (self != RT_NULL)
     {
         rt_kprintf("thread:%s exit:%d!\n", self->name, status);
-        rt_thread_suspend(self);
-        rt_schedule();
+        rt_thread_control(self, RT_THREAD_CTRL_CLOSE, RT_NULL);
     }
 }
 
diff --git a/components/libc/compilers/common/unistd.c b/components/libc/compilers/common/unistd.c
index 48e6beee4e..0966242e55 100644
--- a/components/libc/compilers/common/unistd.c
+++ b/components/libc/compilers/common/unistd.c
@@ -49,3 +49,40 @@ int usleep(useconds_t usec)
     return 0;
 }
 RTM_EXPORT(usleep);
+
+pid_t getpid(void)
+{
+    /*TODO*/
+    return 0;
+}
+RTM_EXPORT(getpid);
+
+pid_t getppid(void)
+{
+    return 0;
+}
+RTM_EXPORT(getppid);
+
+uid_t getuid(void)
+{
+    return 0; /*ROOT*/
+}
+RTM_EXPORT(getuid);
+
+uid_t geteuid(void)
+{
+    return 0; /*ROOT*/
+}
+RTM_EXPORT(geteuid);
+
+gid_t getgid(void)
+{
+    return 0; /*ROOT*/
+}
+RTM_EXPORT(getgid);
+
+gid_t getegid(void)
+{
+    return 0; /*ROOT*/
+}
+RTM_EXPORT(getegid);
diff --git a/components/libc/compilers/dlib/sys/types.h b/components/libc/compilers/dlib/sys/types.h
index 7dbeddcaa9..3af15ba251 100644
--- a/components/libc/compilers/dlib/sys/types.h
+++ b/components/libc/compilers/dlib/sys/types.h
@@ -14,7 +14,9 @@
 
 typedef int32_t          clockid_t;
 typedef int32_t          key_t;         /* Used for interprocess communication. */
-typedef int32_t          pid_t;         /* Used for process IDs and process group IDs. */
+typedef int              pid_t;         /* Used for process IDs and process group IDs. */
+typedef unsigned short   uid_t;
+typedef unsigned short   gid_t;
 #ifndef ARCH_CPU_64BIT
 typedef signed int       ssize_t;       /* Used for a count of bytes or an error indication. */
 #else
diff --git a/components/libc/compilers/dlib/sys/unistd.h b/components/libc/compilers/dlib/sys/unistd.h
index 6d99cd6c55..5b86822635 100644
--- a/components/libc/compilers/dlib/sys/unistd.h
+++ b/components/libc/compilers/dlib/sys/unistd.h
@@ -47,4 +47,11 @@ char *  ttyname     (int desc);
 unsigned int sleep(unsigned int seconds);
 int usleep(useconds_t usec);
 
+pid_t getpid(void);
+pid_t getppid(void);
+uid_t getuid(void);
+uid_t geteuid(void);
+gid_t getgid(void);
+gid_t getegid(void);
+
 #endif /* _SYS_UNISTD_H */
diff --git a/components/libc/compilers/newlib/syscalls.c b/components/libc/compilers/newlib/syscalls.c
index aee8ac360d..45aa4a34de 100644
--- a/components/libc/compilers/newlib/syscalls.c
+++ b/components/libc/compilers/newlib/syscalls.c
@@ -7,12 +7,13 @@
  * Date           Author       Notes
  * 2021-02-11     Meco Man     remove _gettimeofday_r() and _times_r()
  * 2020-02-13     Meco Man     re-implement exit() and abort()
+ * 2020-02-21     Meco Man     improve and beautify syscalls
  */
 
 #include <reent.h>
-#include <sys/errno.h>
-#include <sys/time.h>
+#include <errno.h>
 #include <stdio.h>
+#include <sys/time.h>
 
 #include <rtthread.h>
 
@@ -35,10 +36,18 @@ __errno ()
 #endif
 
 int
+_getpid_r(struct _reent *ptr)
+{
+    return 0;
+}
+
+int
 _close_r(struct _reent *ptr, int fd)
 {
 #ifndef RT_USING_DFS
-    return 0;
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
 #else
     return close(fd);
 #endif
@@ -77,19 +86,13 @@ _fstat_r(struct _reent *ptr, int fd, struct stat *pstat)
 }
 
 int
-_getpid_r(struct _reent *ptr)
-{
-    return 0;
-}
-
-int
 _isatty_r(struct _reent *ptr, int fd)
 {
-    if (fd >=0 && fd < 3) return 1;
+    if (fd >=0 && fd < 3)
+        return 1;
 
-    /* return "not supported" */
-    ptr->_errno = ENOTSUP;
-    return -1;
+    ptr->_errno = ENOTTY ;
+    return 0;
 }
 
 int
@@ -112,7 +115,9 @@ _off_t
 _lseek_r(struct _reent *ptr, int fd, _off_t pos, int whence)
 {
 #ifndef RT_USING_DFS
-    return 0;
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
 #else
     _off_t rc;
 
@@ -125,7 +130,9 @@ int
 _mkdir_r(struct _reent *ptr, const char *name, int mode)
 {
 #ifndef RT_USING_DFS
-    return 0;
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
 #else
     int rc;
 
@@ -138,7 +145,9 @@ int
 _open_r(struct _reent *ptr, const char *file, int flags, int mode)
 {
 #ifndef RT_USING_DFS
-    return 0;
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
 #else
     int rc;
 
@@ -151,7 +160,9 @@ _ssize_t
 _read_r(struct _reent *ptr, int fd, void *buf, size_t nbytes)
 {
 #ifndef RT_USING_DFS
-    return 0;
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
 #else
     _ssize_t rc;
 
@@ -164,7 +175,9 @@ int
 _rename_r(struct _reent *ptr, const char *old, const char *new)
 {
 #ifndef RT_USING_DFS
-    return 0;
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
 #else
     int rc;
 
@@ -184,7 +197,9 @@ int
 _stat_r(struct _reent *ptr, const char *file, struct stat *pstat)
 {
 #ifndef RT_USING_DFS
-    return 0;
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
 #else
     int rc;
 
@@ -197,6 +212,8 @@ int
 _unlink_r(struct _reent *ptr, const char *file)
 {
 #ifndef RT_USING_DFS
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
     return -1;
 #else
     return unlink(file);
@@ -211,11 +228,11 @@ _wait_r(struct _reent *ptr, int *status)
     return -1;
 }
 
-#ifdef RT_USING_DEVICE
 _ssize_t
 _write_r(struct _reent *ptr, int fd, const void *buf, size_t nbytes)
 {
 #ifndef RT_USING_DFS
+#ifdef RT_USING_DEVICE
     if (fileno(stdout) == fd)
     {
         rt_device_t console;
@@ -225,7 +242,11 @@ _write_r(struct _reent *ptr, int fd, const void *buf, size_t nbytes)
     }
 
     return 0;
-
+#else
+    /* return "not supported" */
+    ptr->_errno = ENOTSUP;
+    return -1;
+#endif /*RT_USING_DEVICE*/
 #else
     _ssize_t rc;
 
@@ -233,7 +254,6 @@ _write_r(struct _reent *ptr, int fd, const void *buf, size_t nbytes)
     return rc;
 #endif
 }
-#endif
 
 /* Memory routine */
 void *
@@ -304,11 +324,6 @@ void __libc_init_array(void)
     /* we not use __libc init_aray to initialize C++ objects */
 }
 
-uid_t getuid(void)
-{
-    return 0;
-}
-
 mode_t umask(mode_t mask)
 {
     return 022;
@@ -320,7 +335,7 @@ int flock(int fd, int operation)
 }
 
 /*
-These functions will be implemented and replaced by the 'common/time.c' file
+These functions are implemented and replaced by the 'common/time.c' file
 int _gettimeofday_r(struct _reent *ptr, struct timeval *__tp, void *__tzp);
 _CLOCK_T_  _times_r(struct _reent *ptr, struct tms *ptms);
 */
diff --git a/libcpu/arm/cortex-m33/trustzone.c b/libcpu/arm/cortex-m33/trustzone.c
index 86654a7199..5f37ddbb8f 100644
--- a/libcpu/arm/cortex-m33/trustzone.c
+++ b/libcpu/arm/cortex-m33/trustzone.c
@@ -10,11 +10,19 @@
 
 #include <rtthread.h>
 
+#ifdef ARM_CM33_ENABLE_TRUSTZONE
 extern void TZ_InitContextSystem_S(void);
 extern rt_uint32_t TZ_AllocModuleContext_S (rt_uint32_t module);
 extern rt_uint32_t TZ_FreeModuleContext_S(rt_uint32_t id);
 extern rt_uint32_t TZ_LoadContext_S(rt_uint32_t id);
 extern rt_uint32_t TZ_StoreContext_S(rt_uint32_t id);
+#else
+void TZ_InitContextSystem_S(void){}
+rt_uint32_t TZ_AllocModuleContext_S (rt_uint32_t module){return 0;}
+rt_uint32_t TZ_FreeModuleContext_S(rt_uint32_t id) {return 0;}
+rt_uint32_t TZ_LoadContext_S(rt_uint32_t id){return 0;};
+rt_uint32_t TZ_StoreContext_S(rt_uint32_t id){return 0;};
+#endif
 extern int tzcall(int id, rt_ubase_t arg0, rt_ubase_t arg1, rt_ubase_t arg2);
 
 #define TZ_INIT_CONTEXT_ID     (0x1001)
diff --git a/src/ipc.c b/src/ipc.c
index d037708979..37b05b9ae3 100755
--- a/src/ipc.c
+++ b/src/ipc.c
@@ -2203,7 +2203,7 @@ rt_err_t rt_mq_send_wait(rt_mq_t     mq,
     }
 
     /* message queue is full */
-    while ((msg = mq->msg_queue_free) == RT_NULL)
+    while ((msg = (struct rt_mq_message *)mq->msg_queue_free) == RT_NULL)
     {
         /* reset error number in thread */
         thread->error = RT_EOK;
diff --git a/src/thread.c b/src/thread.c
index 0db9dd8e4d..2681eca59f 100644
--- a/src/thread.c
+++ b/src/thread.c
@@ -26,6 +26,7 @@
  *                             bug when thread has not startup.
  * 2018-11-22     Jesven       yield is same to rt_schedule
  *                             add support for tasks bound to cpu
+ * 2021-02-24     Meco Man     rearrange rt_thread_control() - schedule the thread when close it
  */
 
 #include <rthw.h>
@@ -670,83 +671,93 @@ rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg)
 
     switch (cmd)
     {
-    case RT_THREAD_CTRL_CHANGE_PRIORITY:
-        /* disable interrupt */
-        temp = rt_hw_interrupt_disable();
-
-        /* for ready thread, change queue */
-        if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY)
+        case RT_THREAD_CTRL_CHANGE_PRIORITY:
         {
-            /* remove thread from schedule queue first */
-            rt_schedule_remove_thread(thread);
+            /* disable interrupt */
+            temp = rt_hw_interrupt_disable();
 
-            /* change thread priority */
-            thread->current_priority = *(rt_uint8_t *)arg;
+            /* for ready thread, change queue */
+            if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY)
+            {
+                /* remove thread from schedule queue first */
+                rt_schedule_remove_thread(thread);
 
-            /* recalculate priority attribute */
-#if RT_THREAD_PRIORITY_MAX > 32
-            thread->number      = thread->current_priority >> 3;            /* 5bit */
-            thread->number_mask = 1 << thread->number;
-            thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
-#else
-            thread->number_mask = 1 << thread->current_priority;
-#endif
+                /* change thread priority */
+                thread->current_priority = *(rt_uint8_t *)arg;
 
-            /* insert thread to schedule queue again */
-            rt_schedule_insert_thread(thread);
-        }
-        else
-        {
-            thread->current_priority = *(rt_uint8_t *)arg;
+                /* recalculate priority attribute */
+    #if RT_THREAD_PRIORITY_MAX > 32
+                thread->number      = thread->current_priority >> 3;            /* 5bit */
+                thread->number_mask = 1 << thread->number;
+                thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
+    #else
+                thread->number_mask = 1 << thread->current_priority;
+    #endif
 
-            /* recalculate priority attribute */
-#if RT_THREAD_PRIORITY_MAX > 32
-            thread->number      = thread->current_priority >> 3;            /* 5bit */
-            thread->number_mask = 1 << thread->number;
-            thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
-#else
-            thread->number_mask = 1 << thread->current_priority;
-#endif
-        }
-
-        /* enable interrupt */
-        rt_hw_interrupt_enable(temp);
-        break;
+                /* insert thread to schedule queue again */
+                rt_schedule_insert_thread(thread);
+            }
+            else
+            {
+                thread->current_priority = *(rt_uint8_t *)arg;
 
-    case RT_THREAD_CTRL_STARTUP:
-        return rt_thread_startup(thread);
+                /* recalculate priority attribute */
+    #if RT_THREAD_PRIORITY_MAX > 32
+                thread->number      = thread->current_priority >> 3;            /* 5bit */
+                thread->number_mask = 1 << thread->number;
+                thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
+    #else
+                thread->number_mask = 1 << thread->current_priority;
+    #endif
+            }
 
-    case RT_THREAD_CTRL_CLOSE:
+            /* enable interrupt */
+            rt_hw_interrupt_enable(temp);
+            break;
+        }
 
-        if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
+        case RT_THREAD_CTRL_STARTUP:
         {
-            return rt_thread_detach(thread);
+            return rt_thread_startup(thread);
         }
-#ifdef RT_USING_HEAP
-        else
+
+        case RT_THREAD_CTRL_CLOSE:
         {
-            return rt_thread_delete(thread);
-        }
-#endif
+            rt_err_t rt_err;
 
-#ifdef RT_USING_SMP
-    case RT_THREAD_CTRL_BIND_CPU:
-    {
-        rt_uint8_t cpu;
+            if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
+            {
+                rt_err = rt_thread_detach(thread);
+            }
+    #ifdef RT_USING_HEAP
+            else
+            {
+                rt_err = rt_thread_delete(thread);
+            }
+    #endif
+            rt_schedule();
+            return rt_err;
+        }
 
-        if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
+    #ifdef RT_USING_SMP
+        case RT_THREAD_CTRL_BIND_CPU:
         {
-            /* we only support bind cpu before started phase. */
-            return RT_ERROR;
+            rt_uint8_t cpu;
+
+            if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
+            {
+                /* we only support bind cpu before started phase. */
+                return RT_ERROR;
+            }
+
+            cpu = (rt_uint8_t)(size_t)arg;
+            thread->bind_cpu = cpu > RT_CPUS_NR? RT_CPUS_NR : cpu;
+            break;
         }
+    #endif /*RT_USING_SMP*/
 
-        cpu = (rt_uint8_t)(size_t)arg;
-        thread->bind_cpu = cpu > RT_CPUS_NR? RT_CPUS_NR : cpu;
-        break;
-    }
-#endif /*RT_USING_SMP*/
-    default:
-        break;
+        default:
+            break;
     }
 
     return RT_EOK;
diff --git a/tools/building.py b/tools/building.py
index 3cea6fc692..ba995af278 100644
--- a/tools/building.py
+++ b/tools/building.py
@@ -276,9 +276,6 @@ def PrepareBuilding(env, root_directory, has_libcpu=False, remove_components = [
         except KeyError:
             print ('Unknow target: '+ tgt_name+'. Avaible targets: ' +', '.join(tgt_dict.keys()))
             sys.exit(1)
-    elif (GetDepend('RT_USING_NEWLIB') == False and GetDepend('RT_USING_NOLIBC') == False) \
-        and rtconfig.PLATFORM == 'gcc':
-        AddDepend('RT_USING_MINILIBC')
 
     # auto change the 'RTT_EXEC_PATH' when 'rtconfig.EXEC_PATH' get failed
     if not os.path.exists(rtconfig.EXEC_PATH):