Merge branch 'master' into developer

7 files changed, 175 insertions, 230 deletions

diff --git a/components/drivers/src/completion.c b/components/drivers/src/completion.c
index 9e461e49ce..b91ae3d6dc 100644
--- a/components/drivers/src/completion.c
+++ b/components/drivers/src/completion.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/drivers/src/dataqueue.c b/components/drivers/src/dataqueue.c
index 1651417bb9..f32efa1849 100644
--- a/components/drivers/src/dataqueue.c
+++ b/components/drivers/src/dataqueue.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -62,7 +62,7 @@ rt_err_t rt_data_queue_push(struct rt_data_queue *queue,
     rt_ubase_t  level;
     rt_thread_t thread;
     rt_err_t    result;
-    
+
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(queue->magic == DATAQUEUE_MAGIC);
 
@@ -85,7 +85,7 @@ rt_err_t rt_data_queue_push(struct rt_data_queue *queue,
 
         /* reset thread error number */
         thread->error = RT_EOK;
-        
+
         /* suspend thread on the push list */
         rt_thread_suspend(thread);
         rt_list_insert_before(&(queue->suspended_push_list), &(thread->tlist));
@@ -155,13 +155,13 @@ RTM_EXPORT(rt_data_queue_push);
 
 rt_err_t rt_data_queue_pop(struct rt_data_queue *queue,
                            const void** data_ptr,
-                           rt_size_t *size, 
+                           rt_size_t *size,
                            rt_int32_t timeout)
 {
     rt_ubase_t  level;
     rt_thread_t thread;
     rt_err_t    result;
-    
+
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(queue->magic == DATAQUEUE_MAGIC);
     RT_ASSERT(data_ptr != RT_NULL);
@@ -185,7 +185,7 @@ rt_err_t rt_data_queue_pop(struct rt_data_queue *queue,
 
         /* reset thread error number */
         thread->error = RT_EOK;
-        
+
         /* suspend thread on the pop list */
         rt_thread_suspend(thread);
         rt_list_insert_before(&(queue->suspended_pop_list), &(thread->tlist));
@@ -269,11 +269,11 @@ rt_err_t rt_data_queue_peek(struct rt_data_queue *queue,
                             rt_size_t *size)
 {
     rt_ubase_t  level;
-    
+
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(queue->magic == DATAQUEUE_MAGIC);
 
-    if (queue->is_empty) 
+    if (queue->is_empty)
     {
         return -RT_EEMPTY;
     }
@@ -293,7 +293,7 @@ void rt_data_queue_reset(struct rt_data_queue *queue)
 {
     rt_ubase_t  level;
     struct rt_thread *thread;
-    
+
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(queue->magic == DATAQUEUE_MAGIC);
 
@@ -303,9 +303,9 @@ void rt_data_queue_reset(struct rt_data_queue *queue)
     queue->put_index = 0;
     queue->is_empty = 1;
     queue->is_full = 0;
-    
+
     rt_hw_interrupt_enable(level);
-    
+
     rt_enter_critical();
     /* wakeup all suspend threads */
 
@@ -375,7 +375,7 @@ rt_err_t rt_data_queue_deinit(struct rt_data_queue *queue)
     level = rt_hw_interrupt_disable();
     queue->magic = 0;
     rt_hw_interrupt_enable(level);
-    
+
     rt_free(queue->queue);
 
     return RT_EOK;
@@ -386,7 +386,7 @@ rt_uint16_t rt_data_queue_len(struct rt_data_queue *queue)
 {
     rt_ubase_t level;
     rt_int16_t len;
-    
+
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(queue->magic == DATAQUEUE_MAGIC);
 
@@ -405,7 +405,7 @@ rt_uint16_t rt_data_queue_len(struct rt_data_queue *queue)
     {
         len = queue->size + queue->put_index - queue->get_index;
     }
-    
+
     rt_hw_interrupt_enable(level);
 
     return len;
diff --git a/components/drivers/src/pipe.c b/components/drivers/src/pipe.c
index bd392cba2b..236c1ffec7 100644
--- a/components/drivers/src/pipe.c
+++ b/components/drivers/src/pipe.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -320,7 +320,7 @@ static const struct dfs_file_ops pipe_fops =
 };
 #endif /* end of RT_USING_POSIX */
 
-rt_err_t  rt_pipe_open (rt_device_t device, rt_uint16_t oflag)
+rt_err_t  rt_pipe_open(rt_device_t device, rt_uint16_t oflag)
 {
     rt_pipe_t *pipe = (rt_pipe_t *)device;
     rt_err_t ret = RT_EOK;
@@ -330,7 +330,7 @@ rt_err_t  rt_pipe_open (rt_device_t device, rt_uint16_t oflag)
         ret = -RT_EINVAL;
         goto __exit;
     }
-    
+
     rt_mutex_take(&(pipe->lock), RT_WAITING_FOREVER);
 
     if (pipe->fifo == RT_NULL)
@@ -348,7 +348,7 @@ __exit:
     return ret;
 }
 
-rt_err_t  rt_pipe_close  (rt_device_t device)
+rt_err_t  rt_pipe_close(rt_device_t device)
 {
     rt_pipe_t *pipe = (rt_pipe_t *)device;
 
@@ -366,7 +366,7 @@ rt_err_t  rt_pipe_close  (rt_device_t device)
     return RT_EOK;
 }
 
-rt_size_t rt_pipe_read   (rt_device_t device, rt_off_t pos, void *buffer, rt_size_t count)
+rt_size_t rt_pipe_read(rt_device_t device, rt_off_t pos, void *buffer, rt_size_t count)
 {
     uint8_t *pbuf;
     rt_size_t read_bytes = 0;
@@ -394,7 +394,7 @@ rt_size_t rt_pipe_read   (rt_device_t device, rt_off_t pos, void *buffer, rt_siz
     return read_bytes;
 }
 
-rt_size_t rt_pipe_write  (rt_device_t device, rt_off_t pos, const void *buffer, rt_size_t count)
+rt_size_t rt_pipe_write(rt_device_t device, rt_off_t pos, const void *buffer, rt_size_t count)
 {
     uint8_t *pbuf;
     rt_size_t write_bytes = 0;
@@ -428,7 +428,7 @@ rt_err_t  rt_pipe_control(rt_device_t dev, int cmd, void *args)
 }
 
 #ifdef RT_USING_DEVICE_OPS
-const static struct rt_device_ops pipe_ops = 
+const static struct rt_device_ops pipe_ops =
 {
     RT_NULL,
     rt_pipe_open,
@@ -507,7 +507,7 @@ int rt_pipe_delete(const char *name)
             rt_device_unregister(device);
 
             /* close fifo ringbuffer */
-            if (pipe->fifo) 
+            if (pipe->fifo)
             {
                 rt_ringbuffer_destroy(pipe->fifo);
                 pipe->fifo = RT_NULL;
@@ -531,8 +531,8 @@ int rt_pipe_delete(const char *name)
 int pipe(int fildes[2])
 {
     rt_pipe_t *pipe;
-    char dname[8];
-    char dev_name[32];
+    char dname[RT_NAME_MAX];
+    char dev_name[RT_NAME_MAX * 4];
     static int pipeno = 0;
 
     rt_snprintf(dname, sizeof(dname), "pipe%d", pipeno++);
@@ -564,7 +564,7 @@ int pipe(int fildes[2])
 int mkfifo(const char *path, mode_t mode)
 {
     rt_pipe_t *pipe;
-    
+
     pipe = rt_pipe_create(path, PIPE_BUFSZ);
     if (pipe == RT_NULL)
     {
diff --git a/components/drivers/src/ringblk_buf.c b/components/drivers/src/ringblk_buf.c
index 7d83149c5e..c6688b3d2b 100644
--- a/components/drivers/src/ringblk_buf.c
+++ b/components/drivers/src/ringblk_buf.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -50,26 +50,26 @@ RTM_EXPORT(rt_rbb_init);
  * @param buf_size buffer size
  * @param blk_max_num max block number
  *
- * @return != NULL: ring block buffer object
- *            NULL: create failed
+ * @return != RT_NULL: ring block buffer object
+ *            RT_NULL: create failed
  */
 rt_rbb_t rt_rbb_create(rt_size_t buf_size, rt_size_t blk_max_num)
 {
-    rt_rbb_t rbb = NULL;
+    rt_rbb_t rbb = RT_NULL;
     rt_uint8_t *buf;
     rt_rbb_blk_t blk_set;
 
     rbb = (rt_rbb_t)rt_malloc(sizeof(struct rt_rbb));
     if (!rbb)
     {
-        return NULL;
+        return RT_NULL;
     }
 
     buf = (rt_uint8_t *)rt_malloc(buf_size);
     if (!buf)
     {
         rt_free(rbb);
-        return NULL;
+        return RT_NULL;
     }
 
     blk_set = (rt_rbb_blk_t)rt_malloc(sizeof(struct rt_rbb_blk) * blk_max_num);
@@ -77,7 +77,7 @@ rt_rbb_t rt_rbb_create(rt_size_t buf_size, rt_size_t blk_max_num)
     {
         rt_free(buf);
         rt_free(rbb);
-        return NULL;
+        return RT_NULL;
     }
 
     rt_rbb_init(rbb, buf, buf_size, blk_set, blk_max_num);
@@ -116,7 +116,7 @@ static rt_rbb_blk_t find_empty_blk_in_set(rt_rbb_t rbb)
         }
     }
 
-    return NULL;
+    return RT_NULL;
 }
 
 /**
@@ -127,14 +127,14 @@ static rt_rbb_blk_t find_empty_blk_in_set(rt_rbb_t rbb)
  *
  * @note When your application need align access, please make the blk_szie is aligned.
  *
- * @return != NULL: allocated block
- *            NULL: allocate failed
+ * @return != RT_NULL: allocated block
+ *            RT_NULL: allocate failed
  */
 rt_rbb_blk_t rt_rbb_blk_alloc(rt_rbb_t rbb, rt_size_t blk_size)
 {
     rt_base_t level;
     rt_size_t empty1 = 0, empty2 = 0;
-    rt_rbb_blk_t head, tail, new_rbb = NULL;
+    rt_rbb_blk_t head, tail, new_rbb = RT_NULL;
 
     RT_ASSERT(rbb);
     RT_ASSERT(blk_size < (1L << 24));
@@ -178,7 +178,7 @@ rt_rbb_blk_t rt_rbb_blk_alloc(rt_rbb_t rbb, rt_size_t blk_size)
                 else
                 {
                     /* no space */
-                    new_rbb = NULL;
+                    new_rbb = RT_NULL;
                 }
             }
             else
@@ -202,7 +202,7 @@ rt_rbb_blk_t rt_rbb_blk_alloc(rt_rbb_t rbb, rt_size_t blk_size)
                 else
                 {
                     /* no space */
-                    new_rbb = NULL;
+                    new_rbb = RT_NULL;
                 }
             }
         }
@@ -217,7 +217,7 @@ rt_rbb_blk_t rt_rbb_blk_alloc(rt_rbb_t rbb, rt_size_t blk_size)
     }
     else
     {
-        new_rbb = NULL;
+        new_rbb = RT_NULL;
     }
 
     rt_hw_interrupt_enable(level);
@@ -245,13 +245,13 @@ RTM_EXPORT(rt_rbb_blk_put);
  *
  * @param rbb ring block buffer object
  *
- * @return != NULL: block
- *            NULL: get failed
+ * @return != RT_NULL: block
+ *            RT_NULL: get failed
  */
 rt_rbb_blk_t rt_rbb_blk_get(rt_rbb_t rbb)
 {
     rt_base_t level;
-    rt_rbb_blk_t block = NULL;
+    rt_rbb_blk_t block = RT_NULL;
     rt_slist_t *node;
 
     RT_ASSERT(rbb);
@@ -271,7 +271,7 @@ rt_rbb_blk_t rt_rbb_blk_get(rt_rbb_t rbb)
         }
     }
     /* not found */
-    block = NULL;
+    block = RT_NULL;
 
 __exit:
 
@@ -364,7 +364,7 @@ rt_size_t rt_rbb_blk_queue_get(rt_rbb_t rbb, rt_size_t queue_data_len, rt_rbb_bl
     rt_base_t level;
     rt_size_t data_total_size = 0;
     rt_slist_t *node;
-    rt_rbb_blk_t last_block = NULL, block;
+    rt_rbb_blk_t last_block = RT_NULL, block;
 
     RT_ASSERT(rbb);
     RT_ASSERT(blk_queue);
@@ -388,7 +388,7 @@ rt_size_t rt_rbb_blk_queue_get(rt_rbb_t rbb, rt_size_t queue_data_len, rt_rbb_bl
             else
             {
                 /* the first block must be put status */
-                last_block = NULL;
+                last_block = RT_NULL;
                 continue;
             }
         }
@@ -493,7 +493,7 @@ rt_size_t rt_rbb_next_blk_queue_len(rt_rbb_t rbb)
     rt_base_t level;
     rt_size_t data_len = 0;
     rt_slist_t *node;
-    rt_rbb_blk_t last_block = NULL, block;
+    rt_rbb_blk_t last_block = RT_NULL, block;
 
     RT_ASSERT(rbb);
 
@@ -510,7 +510,7 @@ rt_size_t rt_rbb_next_blk_queue_len(rt_rbb_t rbb)
             if (last_block->status != RT_RBB_BLK_PUT)
             {
                 /* the first block must be put status */
-                last_block = NULL;
+                last_block = RT_NULL;
                 continue;
             }
         }
diff --git a/components/drivers/src/ringbuffer.c b/components/drivers/src/ringbuffer.c
index 88afd19506..29de20b087 100644
--- a/components/drivers/src/ringbuffer.c
+++ b/components/drivers/src/ringbuffer.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -320,8 +320,8 @@ rt_size_t rt_ringbuffer_getchar(struct rt_ringbuffer *rb, rt_uint8_t *ch)
 }
 RTM_EXPORT(rt_ringbuffer_getchar);
 
-/** 
- * get the size of data in rb 
+/**
+ * get the size of data in rb
  */
 rt_size_t rt_ringbuffer_data_len(struct rt_ringbuffer *rb)
 {
@@ -341,8 +341,8 @@ rt_size_t rt_ringbuffer_data_len(struct rt_ringbuffer *rb)
 }
 RTM_EXPORT(rt_ringbuffer_data_len);
 
-/** 
- * empty the rb 
+/**
+ * empty the rb
  */
 void rt_ringbuffer_reset(struct rt_ringbuffer *rb)
 {
@@ -362,7 +362,7 @@ struct rt_ringbuffer* rt_ringbuffer_create(rt_uint16_t size)
     struct rt_ringbuffer *rb;
     rt_uint8_t *pool;
 
-	RT_ASSERT(size > 0);
+    RT_ASSERT(size > 0);
 
     size = RT_ALIGN_DOWN(size, RT_ALIGN_SIZE);
 
diff --git a/components/drivers/src/waitqueue.c b/components/drivers/src/waitqueue.c
index 02240edbdf..7fe75a51ba 100644
--- a/components/drivers/src/waitqueue.c
+++ b/components/drivers/src/waitqueue.c
@@ -1,11 +1,11 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Change Logs:
  * Date           Author       Notes
- * 2018/06/26     Bernard      Fix the wait queue issue when wakeup a soon 
+ * 2018/06/26     Bernard      Fix the wait queue issue when wakeup a soon
  *                             to blocked thread.
  */
 
@@ -121,7 +121,7 @@ int rt_wqueue_wait(rt_wqueue_t *queue, int condition, int msec)
     level = rt_hw_interrupt_disable();
 
 __exit_wakeup:
-    queue->flag = 0;
+    queue->flag = RT_WQ_FLAG_CLEAN;
     rt_hw_interrupt_enable(level);
 
     rt_wqueue_remove(&__wait);
diff --git a/components/drivers/src/workqueue.c b/components/drivers/src/workqueue.c
index 2b5630d8d0..f195dad927 100644
--- a/components/drivers/src/workqueue.c
+++ b/components/drivers/src/workqueue.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -58,15 +58,17 @@ static void _workqueue_thread_entry(void *parameter)
 
     while (1)
     {
+        level = rt_hw_interrupt_disable();
         if (rt_list_isempty(&(queue->work_list)))
         {
             /* no software timer exist, suspend self. */
             rt_thread_suspend(rt_thread_self());
+            rt_hw_interrupt_enable(level);
             rt_schedule();
+            continue;
         }
 
         /* we have work to do with. */
-        level = rt_hw_interrupt_disable();
         work = rt_list_entry(queue->work_list.next, struct rt_work, list);
         rt_list_remove(&(work->list));
         queue->work_current = work;
@@ -76,175 +78,134 @@ static void _workqueue_thread_entry(void *parameter)
 
         /* do work */
         work->work_func(work, work->work_data);
-        level = rt_hw_interrupt_disable();
         /* clean current work */
         queue->work_current = RT_NULL;
-        rt_hw_interrupt_enable(level);
 
         /* ack work completion */
         _workqueue_work_completion(queue);
     }
 }
 
-static rt_err_t _workqueue_submit_work(struct rt_workqueue *queue, struct rt_work *work)
+static rt_err_t _workqueue_submit_work(struct rt_workqueue *queue,
+        struct rt_work *work, rt_tick_t ticks)
 {
     rt_base_t level;
+    rt_err_t err;
 
     level = rt_hw_interrupt_disable();
-    if (work->flags & RT_WORK_STATE_PENDING)
-    {
-        rt_hw_interrupt_enable(level);
-        return -RT_EBUSY;
-    }
-
-    if (queue->work_current == work)
-    {
-        rt_hw_interrupt_enable(level);
-        return -RT_EBUSY;
-    }
-
-    /* NOTE: the work MUST be initialized firstly */
+    /* remove list */
     rt_list_remove(&(work->list));
-
-    rt_list_insert_after(queue->work_list.prev, &(work->list));
-    work->flags |= RT_WORK_STATE_PENDING;
-
-    /* whether the workqueue is doing work */
-    if (queue->work_current == RT_NULL)
+    work->flags &= ~RT_WORK_STATE_PENDING;
+    /*  */
+    if (ticks == 0)
     {
-        rt_hw_interrupt_enable(level);
-        /* resume work thread */
-        rt_thread_resume(queue->work_thread);
-        rt_schedule();
+        if (queue->work_current != work)
+        {
+            rt_list_insert_after(queue->work_list.prev, &(work->list));
+            work->flags |= RT_WORK_STATE_PENDING;
+            work->workqueue = queue;
+            err = RT_EOK;
+        }
+        else
+        {
+            err = -RT_EBUSY;
+        }
+
+        /* whether the workqueue is doing work */
+        if (queue->work_current == RT_NULL &&
+            ((queue->work_thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_SUSPEND))
+        {
+            /* resume work thread */
+            rt_thread_resume(queue->work_thread);
+            rt_hw_interrupt_enable(level);
+            rt_schedule();
+        }
+        else
+        {
+            rt_hw_interrupt_enable(level);
+        }
+        return err;
     }
-    else
+    else if (ticks < RT_TICK_MAX / 2)
     {
+        /* Timer started */
+        if (work->flags & RT_WORK_STATE_SUBMITTING)
+        {
+            rt_timer_stop(&work->timer);
+            rt_timer_control(&work->timer, RT_TIMER_CTRL_SET_TIME, &ticks);
+        }
+        else
+        {
+            rt_timer_init(&(work->timer), "work", _delayed_work_timeout_handler,
+                        work, ticks, RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
+            work->flags |= RT_WORK_STATE_SUBMITTING;
+        }
+        work->workqueue = queue;
+        /* insert delay work list */
+        rt_list_insert_after(queue->delayed_list.prev, &(work->list));
         rt_hw_interrupt_enable(level);
+        rt_timer_start(&(work->timer));
+        return RT_EOK;
     }
-
-    return RT_EOK;
+    rt_hw_interrupt_enable(level);
+    return -RT_ERROR;
 }
 
 static rt_err_t _workqueue_cancel_work(struct rt_workqueue *queue, struct rt_work *work)
 {
     rt_base_t level;
+    rt_err_t err;
 
     level = rt_hw_interrupt_disable();
-    if (queue->work_current == work)
-    {
-        rt_hw_interrupt_enable(level);
-        return -RT_EBUSY;
-    }
     rt_list_remove(&(work->list));
     work->flags &= ~RT_WORK_STATE_PENDING;
-    rt_hw_interrupt_enable(level);
-
-    return RT_EOK;
-}
-
-static rt_err_t _workqueue_cancel_delayed_work(struct rt_work *work)
-{
-    rt_base_t level;
-    int ret = RT_EOK;
-
-    if (!work->workqueue)
-    {
-        ret = -EINVAL;
-        goto __exit;
-    }
-
-    if (work->flags & RT_WORK_STATE_PENDING)
-    {
-        /* Remove from the queue if already submitted */
-        ret = _workqueue_cancel_work(work->workqueue, work);
-        if (ret)
-        {
-            goto __exit;
-        }
-    }
-    else
+    /* Timer started */
+    if (work->flags & RT_WORK_STATE_SUBMITTING)
     {
-        if (work->flags & RT_WORK_STATE_SUBMITTING)
-        {
-            level = rt_hw_interrupt_disable();
-            rt_timer_stop(&(work->timer));
-            rt_timer_detach(&(work->timer));
-            work->flags &= ~RT_WORK_STATE_SUBMITTING;
-            rt_hw_interrupt_enable(level);
-        }
+        rt_timer_stop(&(work->timer));
+        rt_timer_detach(&(work->timer));
+        work->flags &= ~RT_WORK_STATE_SUBMITTING;
     }
-
-    level = rt_hw_interrupt_disable();
-    /* Detach from workqueue */
+    err = queue->work_current != work ? RT_EOK : -RT_EBUSY;
     work->workqueue = RT_NULL;
-    work->flags &= ~(RT_WORK_STATE_PENDING);
     rt_hw_interrupt_enable(level);
-
-__exit:
-    return ret;
+    return err;
 }
 
-static rt_err_t _workqueue_submit_delayed_work(struct rt_workqueue *queue,
-        struct rt_work *work, rt_tick_t ticks)
+static void _delayed_work_timeout_handler(void *parameter)
 {
+    struct rt_work *work;
+    struct rt_workqueue *queue;
     rt_base_t level;
-    rt_err_t ret = RT_EOK;
 
-    /* Work cannot be active in multiple queues */
-    if (work->workqueue && work->workqueue != queue)
-    {
-        ret = -RT_EINVAL;
-        goto __exit;
-    }
+    work = (struct rt_work *)parameter;
+    queue = work->workqueue;
+    RT_ASSERT(queue != RT_NULL);
 
-    /* Cancel if work has been submitted */
-    if (work->workqueue == queue)
+    level = rt_hw_interrupt_disable();
+    rt_timer_detach(&(work->timer));
+    work->flags &= ~RT_WORK_STATE_SUBMITTING;
+    /* remove delay list */
+    rt_list_remove(&(work->list));
+    /* insert work queue */
+    if (queue->work_current != work)
     {
-        ret = _workqueue_cancel_delayed_work(work);
-        if (ret < 0)
-        {
-            goto __exit;
-        }
+        rt_list_insert_after(queue->work_list.prev, &(work->list));
+        work->flags |= RT_WORK_STATE_PENDING;
     }
-
-    level = rt_hw_interrupt_disable();
-    /* Attach workqueue so the timeout callback can submit it */
-    work->workqueue = queue;
-    rt_hw_interrupt_enable(level);
-
-    if (!ticks)
+    /* whether the workqueue is doing work */
+    if (queue->work_current == RT_NULL &&
+        ((queue->work_thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_SUSPEND))
     {
-        /* Submit work if no ticks is 0 */
-        ret = _workqueue_submit_work(work->workqueue, work);
+        /* resume work thread */
+        rt_thread_resume(queue->work_thread);
+        rt_hw_interrupt_enable(level);
+        rt_schedule();
     }
     else
     {
-        level = rt_hw_interrupt_disable();
-        /* Add timeout */
-        work->flags |= RT_WORK_STATE_SUBMITTING;
-        rt_timer_init(&(work->timer), "work", _delayed_work_timeout_handler, work, ticks,
-                      RT_TIMER_FLAG_ONE_SHOT | RT_TIMER_FLAG_SOFT_TIMER);
         rt_hw_interrupt_enable(level);
-        rt_timer_start(&(work->timer));
     }
-
-__exit:
-    return ret;
-}
-
-static void _delayed_work_timeout_handler(void *parameter)
-{
-    struct rt_work *delayed_work;
-    rt_base_t level;
-
-    delayed_work = (struct rt_work *)parameter;
-    level = rt_hw_interrupt_disable();
-    rt_timer_stop(&(delayed_work->timer));
-    rt_timer_detach(&(delayed_work->timer));
-    delayed_work->flags &= ~RT_WORK_STATE_SUBMITTING;
-    delayed_work->type &= ~RT_WORK_TYPE_DELAYED;
-    rt_hw_interrupt_enable(level);
-    _workqueue_submit_work(delayed_work->workqueue, delayed_work);
 }
 
 struct rt_workqueue *rt_workqueue_create(const char *name, rt_uint16_t stack_size, rt_uint8_t priority)
@@ -256,6 +217,7 @@ struct rt_workqueue *rt_workqueue_create(const char *name, rt_uint16_t stack_siz
     {
         /* initialize work list */
         rt_list_init(&(queue->work_list));
+        rt_list_init(&(queue->delayed_list));
         queue->work_current = RT_NULL;
         rt_sem_init(&(queue->sem), "wqueue", 0, RT_IPC_FLAG_FIFO);
 
@@ -277,7 +239,9 @@ rt_err_t rt_workqueue_destroy(struct rt_workqueue *queue)
 {
     RT_ASSERT(queue != RT_NULL);
 
+    rt_workqueue_cancel_all_work(queue);
     rt_thread_delete(queue->work_thread);
+    rt_sem_detach(&(queue->sem));
     RT_KERNEL_FREE(queue);
 
     return RT_EOK;
@@ -288,7 +252,7 @@ rt_err_t rt_workqueue_dowork(struct rt_workqueue *queue, struct rt_work *work)
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(work != RT_NULL);
 
-    return _workqueue_submit_work(queue, work);
+    return _workqueue_submit_work(queue, work, 0);
 }
 
 rt_err_t rt_workqueue_submit_work(struct rt_workqueue *queue, struct rt_work *work, rt_tick_t time)
@@ -296,19 +260,7 @@ rt_err_t rt_workqueue_submit_work(struct rt_workqueue *queue, struct rt_work *wo
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(work != RT_NULL);
 
-    if (time > 0)
-    {
-        work->type |= RT_WORK_TYPE_DELAYED;
-    }
-
-    if (work->type & RT_WORK_TYPE_DELAYED)
-    {
-        return _workqueue_submit_delayed_work(queue, work, time);
-    }
-    else
-    {
-        return _workqueue_submit_work(queue, work);
-    }
+    return _workqueue_submit_work(queue, work, time);
 }
 
 rt_err_t rt_workqueue_critical_work(struct rt_workqueue *queue, struct rt_work *work)
@@ -318,51 +270,38 @@ rt_err_t rt_workqueue_critical_work(struct rt_workqueue *queue, struct rt_work *
     RT_ASSERT(work != RT_NULL);
 
     level = rt_hw_interrupt_disable();
-    if (queue->work_current == work)
-    {
-        rt_hw_interrupt_enable(level);
-        return -RT_EBUSY;
-    }
-
     /* NOTE: the work MUST be initialized firstly */
     rt_list_remove(&(work->list));
-
-    rt_list_insert_after(queue->work_list.prev, &(work->list));
-    if (queue->work_current == RT_NULL)
+    rt_list_insert_after(&queue->work_list, &(work->list));
+    /* whether the workqueue is doing work */
+    if (queue->work_current == RT_NULL &&
+        ((queue->work_thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_SUSPEND))
     {
-        rt_hw_interrupt_enable(level);
         /* resume work thread */
         rt_thread_resume(queue->work_thread);
+        rt_hw_interrupt_enable(level);
         rt_schedule();
     }
-    else rt_hw_interrupt_enable(level);
+    else
+    {
+        rt_hw_interrupt_enable(level);
+    }
 
     return RT_EOK;
 }
 
 rt_err_t rt_workqueue_cancel_work(struct rt_workqueue *queue, struct rt_work *work)
 {
-    RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(work != RT_NULL);
-
-    if (work->type & RT_WORK_TYPE_DELAYED)
-    {
-        return _workqueue_cancel_delayed_work(work);
-    }
-    else
-    {
-        return _workqueue_cancel_work(queue, work);
-    }
+    RT_ASSERT(queue != RT_NULL);
+    return _workqueue_cancel_work(queue, work);
 }
 
 rt_err_t rt_workqueue_cancel_work_sync(struct rt_workqueue *queue, struct rt_work *work)
 {
-    rt_base_t level;
-
     RT_ASSERT(queue != RT_NULL);
     RT_ASSERT(work != RT_NULL);
 
-    level = rt_hw_interrupt_disable();
     if (queue->work_current == work) /* it's current work in the queue */
     {
         /* wait for work completion */
@@ -370,24 +309,30 @@ rt_err_t rt_workqueue_cancel_work_sync(struct rt_workqueue *queue, struct rt_wor
     }
     else
     {
-        rt_list_remove(&(work->list));
+        _workqueue_cancel_work(queue, work);
     }
-    work->flags &= ~RT_WORK_STATE_PENDING;
-    rt_hw_interrupt_enable(level);
 
     return RT_EOK;
 }
 
 rt_err_t rt_workqueue_cancel_all_work(struct rt_workqueue *queue)
 {
-    struct rt_list_node *node, *next;
+    struct rt_work *work;
+
     RT_ASSERT(queue != RT_NULL);
 
+    /* cancel work */
     rt_enter_critical();
-    for (node = queue->work_list.next; node != &(queue->work_list); node = next)
+    while (rt_list_isempty(&queue->work_list) == RT_FALSE)
+    {
+        work = rt_list_first_entry(&queue->work_list, struct rt_work, list);
+        _workqueue_cancel_work(queue, work);
+    }
+    /* cancel delay work */
+    while (rt_list_isempty(&queue->delayed_list) == RT_FALSE)
     {
-        next = node->next;
-        rt_list_remove(node);
+        work = rt_list_first_entry(&queue->delayed_list, struct rt_work, list);
+        _workqueue_cancel_work(queue, work);
     }
     rt_exit_critical();
 
@@ -416,14 +361,14 @@ rt_err_t rt_work_cancel(struct rt_work *work)
 int rt_work_sys_workqueue_init(void)
 {
     if (sys_workq != RT_NULL)
-        return 0;
+        return RT_EOK;
 
     sys_workq = rt_workqueue_create("sys_work", RT_SYSTEM_WORKQUEUE_STACKSIZE,
                                     RT_SYSTEM_WORKQUEUE_PRIORITY);
+    RT_ASSERT(sys_workq != RT_NULL);
 
     return RT_EOK;
 }
-
 INIT_PREV_EXPORT(rt_work_sys_workqueue_init);
 #endif
 #endif