[libc][posix] create 'posix' folder and move related files into it

18 files changed, 3362 insertions, 0 deletions

diff --git a/components/libc/posix/pthreads/SConscript b/components/libc/posix/pthreads/SConscript
new file mode 100644
index 0000000000..767b406d4c
--- /dev/null
+++ b/components/libc/posix/pthreads/SConscript
@@ -0,0 +1,22 @@
+from building import *
+from utils import VersionCmp
+
+cwd        = GetCurrentDir()
+src        = Glob('*.c')
+CPPPATH    = [cwd]
+CPPDEFINES = []
+
+# only enable POSIX.1b-1993 Real-time extensions
+libc_ver   = GetDepend('LIBC_VERSION')
+try:
+    ver = libc_ver.split(' ')
+    ver = ver[1]
+    if VersionCmp(ver, "2.5.0") == 1:
+        CPPDEFINES = ['_POSIX_C_SOURCE=199309L']
+except :
+    pass
+
+group = DefineGroup('libc', src, 
+    depend = ['RT_USING_PTHREADS', 'RT_USING_LIBC'], CPPPATH = CPPPATH, CPPDEFINES = CPPDEFINES)
+
+Return('group')
diff --git a/components/libc/posix/pthreads/mqueue.c b/components/libc/posix/pthreads/mqueue.c
new file mode 100644
index 0000000000..6840164a68
--- /dev/null
+++ b/components/libc/posix/pthreads/mqueue.c
@@ -0,0 +1,331 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+
+#include <string.h>
+#include <sys/signal.h>
+#include "mqueue.h"
+#include "pthread_internal.h"
+
+static mqd_t posix_mq_list = RT_NULL;
+static struct rt_semaphore posix_mq_lock;
+void posix_mq_system_init()
+{
+    rt_sem_init(&posix_mq_lock, "pmq", 1, RT_IPC_FLAG_FIFO);
+}
+
+rt_inline void posix_mq_insert(mqd_t pmq)
+{
+    pmq->next = posix_mq_list;
+    posix_mq_list = pmq;
+}
+
+static void posix_mq_delete(mqd_t pmq)
+{
+    mqd_t iter;
+    if (posix_mq_list == pmq)
+    {
+        posix_mq_list = pmq->next;
+
+        rt_mq_delete(pmq->mq);
+        rt_free(pmq);
+
+        return;
+    }
+    for (iter = posix_mq_list; iter->next != RT_NULL; iter = iter->next)
+    {
+        if (iter->next == pmq)
+        {
+            /* delete this mq */
+            if (pmq->next != RT_NULL)
+                iter->next = pmq->next;
+            else
+                iter->next = RT_NULL;
+
+            /* delete RT-Thread mqueue */
+            rt_mq_delete(pmq->mq);
+            rt_free(pmq);
+
+            return ;
+        }
+    }
+}
+
+static mqd_t posix_mq_find(const char* name)
+{
+    mqd_t iter;
+    rt_object_t object;
+
+    for (iter = posix_mq_list; iter != RT_NULL; iter = iter->next)
+    {
+        object = (rt_object_t)(iter->mq);
+
+        if (strncmp(object->name, name, RT_NAME_MAX) == 0)
+        {
+            return iter;
+        }
+    }
+
+    return RT_NULL;
+}
+
+int mq_setattr(mqd_t                 mqdes,
+               const struct mq_attr *mqstat,
+               struct mq_attr       *omqstat)
+{
+    rt_set_errno(-RT_ERROR);
+
+    return -1;
+}
+RTM_EXPORT(mq_setattr);
+
+int mq_getattr(mqd_t mqdes, struct mq_attr *mqstat)
+{
+    if ((mqdes == RT_NULL) || mqstat == RT_NULL)
+    {
+        rt_set_errno(EBADF);
+
+        return -1;
+    }
+
+    mqstat->mq_maxmsg = mqdes->mq->max_msgs;
+    mqstat->mq_msgsize = mqdes->mq->msg_size;
+    mqstat->mq_curmsgs = 0;
+    mqstat->mq_flags = 0;
+
+    return 0;
+}
+RTM_EXPORT(mq_getattr);
+
+mqd_t mq_open(const char *name, int oflag, ...)
+{
+    mqd_t mqdes;
+    va_list arg;
+    mode_t mode;
+    struct mq_attr *attr = RT_NULL;
+
+    /* lock posix mqueue list */
+    rt_sem_take(&posix_mq_lock, RT_WAITING_FOREVER);
+
+    mqdes = RT_NULL;
+    if (oflag & O_CREAT)
+    {
+        va_start(arg, oflag);
+        mode = (mode_t)va_arg(arg, unsigned int);
+        mode = mode;
+        attr = (struct mq_attr *)va_arg(arg, struct mq_attr *);
+        va_end(arg);
+
+        if (oflag & O_EXCL)
+        {
+            if (posix_mq_find(name) != RT_NULL)
+            {
+                rt_set_errno(EEXIST);
+                goto __return;
+            }
+        }
+        mqdes = (mqd_t) rt_malloc (sizeof(struct mqdes));
+        if (mqdes == RT_NULL)
+        {
+            rt_set_errno(ENFILE);
+            goto __return;
+        }
+
+        /* create RT-Thread message queue */
+        mqdes->mq = rt_mq_create(name, attr->mq_msgsize, attr->mq_maxmsg, RT_IPC_FLAG_FIFO);
+        if (mqdes->mq == RT_NULL) /* create failed */
+        {
+            rt_set_errno(ENFILE);
+            goto __return;
+        }
+        /* initialize reference count */
+        mqdes->refcount = 1;
+        mqdes->unlinked = 0;
+
+        /* insert mq to posix mq list */
+        posix_mq_insert(mqdes);
+    }
+    else
+    {
+        /* find mqueue */
+        mqdes = posix_mq_find(name);
+        if (mqdes != RT_NULL)
+        {
+            mqdes->refcount ++; /* increase reference count */
+        }
+        else
+        {
+            rt_set_errno(ENOENT);
+            goto __return;
+        }
+    }
+    rt_sem_release(&posix_mq_lock);
+
+    return mqdes;
+
+__return:
+    /* release lock */
+    rt_sem_release(&posix_mq_lock);
+
+    /* release allocated memory */
+    if (mqdes != RT_NULL)
+    {
+        if (mqdes->mq != RT_NULL)
+        {
+            /* delete RT-Thread message queue */
+            rt_mq_delete(mqdes->mq);
+        }
+        rt_free(mqdes);
+    }
+    return RT_NULL;
+}
+RTM_EXPORT(mq_open);
+
+ssize_t mq_receive(mqd_t mqdes, char *msg_ptr, size_t msg_len, unsigned *msg_prio)
+{
+    rt_err_t result;
+
+    if ((mqdes == RT_NULL) || (msg_ptr == RT_NULL))
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    result = rt_mq_recv(mqdes->mq, msg_ptr, msg_len, RT_WAITING_FOREVER);
+    if (result == RT_EOK)
+        return msg_len;
+
+    rt_set_errno(EBADF);
+    return -1;
+}
+RTM_EXPORT(mq_receive);
+
+int mq_send(mqd_t mqdes, const char *msg_ptr, size_t msg_len, unsigned msg_prio)
+{
+    rt_err_t result;
+
+    if ((mqdes == RT_NULL) || (msg_ptr == RT_NULL))
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    result = rt_mq_send(mqdes->mq, (void*)msg_ptr, msg_len);
+    if (result == RT_EOK)
+        return 0;
+
+    rt_set_errno(EBADF);
+
+    return -1;
+}
+RTM_EXPORT(mq_send);
+
+ssize_t mq_timedreceive(mqd_t                  mqdes,
+                        char                  *msg_ptr,
+                        size_t                 msg_len,
+                        unsigned              *msg_prio,
+                        const struct timespec *abs_timeout)
+{
+    int tick;
+    rt_err_t result;
+
+    /* parameters check */
+    if ((mqdes == RT_NULL) || (msg_ptr == RT_NULL))
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    tick = rt_timespec_to_tick(abs_timeout);
+
+    result = rt_mq_recv(mqdes->mq, msg_ptr, msg_len, tick);
+    if (result == RT_EOK)
+        return msg_len;
+
+    if (result == -RT_ETIMEOUT)
+        rt_set_errno(ETIMEDOUT);
+    else
+        rt_set_errno(EBADMSG);
+
+    return -1;
+}
+RTM_EXPORT(mq_timedreceive);
+
+int mq_timedsend(mqd_t                  mqdes,
+                 const char            *msg_ptr,
+                 size_t                 msg_len,
+                 unsigned               msg_prio,
+                 const struct timespec *abs_timeout)
+{
+    /* RT-Thread does not support timed send */
+    return mq_send(mqdes, msg_ptr, msg_len, msg_prio);
+}
+RTM_EXPORT(mq_timedsend);
+
+int mq_notify(mqd_t mqdes, const struct sigevent *notification)
+{
+    rt_set_errno(-RT_ERROR);
+
+    return -1;
+}
+RTM_EXPORT(mq_notify);
+
+int mq_close(mqd_t mqdes)
+{
+    if (mqdes == RT_NULL)
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    /* lock posix mqueue list */
+    rt_sem_take(&posix_mq_lock, RT_WAITING_FOREVER);
+    mqdes->refcount --;
+    if (mqdes->refcount == 0)
+    {
+        /* delete from posix mqueue list */
+        if (mqdes->unlinked)
+            posix_mq_delete(mqdes);
+    }
+    rt_sem_release(&posix_mq_lock);
+
+    return 0;
+}
+RTM_EXPORT(mq_close);
+
+int mq_unlink(const char *name)
+{
+    mqd_t pmq;
+
+    /* lock posix mqueue list */
+    rt_sem_take(&posix_mq_lock, RT_WAITING_FOREVER);
+    pmq = posix_mq_find(name);
+    if (pmq != RT_NULL)
+    {
+        pmq->unlinked = 1;
+        if (pmq->refcount == 0)
+        {
+            /* remove this mqueue */
+            posix_mq_delete(pmq);
+        }
+        rt_sem_release(&posix_mq_lock);
+
+        return 0;
+    }
+    rt_sem_release(&posix_mq_lock);
+
+    /* no this entry */
+    rt_set_errno(ENOENT);
+
+    return -1;
+}
+RTM_EXPORT(mq_unlink);
diff --git a/components/libc/posix/pthreads/mqueue.h b/components/libc/posix/pthreads/mqueue.h
new file mode 100644
index 0000000000..5152bfad29
--- /dev/null
+++ b/components/libc/posix/pthreads/mqueue.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+
+#ifndef __MQUEUE_H__
+#define __MQUEUE_H__
+
+#include <rtthread.h>
+#include <pthread.h>
+
+struct mqdes
+{
+    /* reference count and unlinked */
+    rt_uint16_t refcount;
+    rt_uint16_t unlinked;
+
+    /* RT-Thread message queue */
+    rt_mq_t mq;
+    /* next posix mqueue */
+    struct mqdes* next;
+};
+typedef struct mqdes* mqd_t;
+
+struct mq_attr
+{
+    long mq_flags;      /* Message queue flags. */
+    long mq_maxmsg;     /* Maximum number of messages. */
+    long mq_msgsize;    /* Maximum message size. */
+    long mq_curmsgs;    /* Number of messages currently queued. */
+};
+
+int     mq_close(mqd_t mqdes);
+int     mq_getattr(mqd_t mqdes, struct mq_attr *mqstat);
+int     mq_notify(mqd_t mqdes, const struct sigevent *notification);
+mqd_t   mq_open(const char *name, int oflag, ...);
+ssize_t mq_receive(mqd_t mqdes, char *msg_ptr, size_t msg_len, unsigned *msg_prio);
+int     mq_send(mqd_t mqdes, const char *msg_ptr, size_t msg_len, unsigned msg_prio);
+int     mq_setattr(mqd_t                 mqdes,
+                   const struct mq_attr *mqstat,
+                   struct mq_attr       *omqstat);
+ssize_t mq_timedreceive(mqd_t                  mqdes,
+                        char                  *msg_ptr,
+                        size_t                 msg_len,
+                        unsigned              *msg_prio,
+                        const struct timespec *abs_timeout);
+int     mq_timedsend(mqd_t                  mqdes,
+                     const char            *msg_ptr,
+                     size_t                 msg_len,
+                     unsigned               msg_prio,
+                     const struct timespec *abs_timeout);
+
+int     mq_unlink(const char *name);
+
+#endif
diff --git a/components/libc/posix/pthreads/posix_types.h b/components/libc/posix/pthreads/posix_types.h
new file mode 100644
index 0000000000..5838e8b370
--- /dev/null
+++ b/components/libc/posix/pthreads/posix_types.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2013-12-23     Bernard      Add the checking for ESHUTDOWN
+ */
+
+#ifndef __POSIX_TYPES_H__
+#define __POSIX_TYPES_H__
+
+#include <rtthread.h>
+
+#include <stddef.h>
+#include <stdarg.h>
+#include <string.h>
+
+#include <sys/types.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include <sys/errno.h>
+#include <fcntl.h>
+
+#endif
+
diff --git a/components/libc/posix/pthreads/pthread.c b/components/libc/posix/pthreads/pthread.c
new file mode 100644
index 0000000000..b0bf39dff6
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread.c
@@ -0,0 +1,748 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2018-01-26     Bernard      Fix pthread_detach issue for a none-joinable
+ *                             thread.
+ * 2019-02-07     Bernard      Add _pthread_destroy to release pthread resource.
+ */
+
+#include <rthw.h>
+#include <pthread.h>
+#include <sched.h>
+#include <sys/time.h>
+#include "pthread_internal.h"
+
+RT_DEFINE_SPINLOCK(pth_lock);
+_pthread_data_t *pth_table[PTHREAD_NUM_MAX] = {NULL};
+
+_pthread_data_t *_pthread_get_data(pthread_t thread)
+{
+    RT_DECLARE_SPINLOCK(pth_lock);
+    _pthread_data_t *ptd;
+
+    if (thread >= PTHREAD_NUM_MAX) return NULL;
+
+    rt_hw_spin_lock(&pth_lock);
+    ptd = pth_table[thread];
+    rt_hw_spin_unlock(&pth_lock);
+
+    if (ptd && ptd->magic == PTHREAD_MAGIC) return ptd;
+
+    return NULL;
+}
+
+pthread_t _pthread_data_get_pth(_pthread_data_t *ptd)
+{
+    int index;
+    RT_DECLARE_SPINLOCK(pth_lock);
+
+    rt_hw_spin_lock(&pth_lock);
+    for (index = 0; index < PTHREAD_NUM_MAX; index ++)
+    {
+        if (pth_table[index] == ptd) break;
+    }
+    rt_hw_spin_unlock(&pth_lock);
+
+    return index;
+}
+
+pthread_t _pthread_data_create(void)
+{
+    int index;
+    _pthread_data_t *ptd = NULL;
+    RT_DECLARE_SPINLOCK(pth_lock);
+
+    ptd = (_pthread_data_t*)rt_malloc(sizeof(_pthread_data_t));
+    if (!ptd) return PTHREAD_NUM_MAX;
+
+    memset(ptd, 0x0, sizeof(_pthread_data_t));
+    ptd->canceled = 0;
+    ptd->cancelstate = PTHREAD_CANCEL_DISABLE;
+    ptd->canceltype = PTHREAD_CANCEL_DEFERRED;
+    ptd->magic = PTHREAD_MAGIC;
+
+    rt_hw_spin_lock(&pth_lock);
+    for (index = 0; index < PTHREAD_NUM_MAX; index ++)
+    {
+        if (pth_table[index] == NULL)
+        {
+            pth_table[index] = ptd;
+            break;
+        }
+    }
+    rt_hw_spin_unlock(&pth_lock);
+
+    /* full of pthreads, clean magic and release ptd */
+    if (index == PTHREAD_NUM_MAX)
+    {
+        ptd->magic = 0x0;
+        rt_free(ptd);
+    }
+
+    return index;
+}
+
+void _pthread_data_destroy(pthread_t pth)
+{
+    RT_DECLARE_SPINLOCK(pth_lock);
+
+    extern _pthread_key_data_t _thread_keys[PTHREAD_KEY_MAX];
+    _pthread_data_t *ptd = _pthread_get_data(pth);
+    if (ptd)
+    {
+        /* destruct thread local key */
+        if (ptd->tls != RT_NULL)
+        {
+            void *data;
+            rt_uint32_t index;
+            for (index = 0; index < PTHREAD_KEY_MAX; index ++)
+            {
+                if (_thread_keys[index].is_used)
+                {
+                    data = ptd->tls[index];
+                    if (data && _thread_keys[index].destructor)
+                        _thread_keys[index].destructor(data);
+                }
+            }
+
+            /* release tls area */
+            rt_free(ptd->tls);
+            ptd->tls = RT_NULL;
+        }
+
+        /* remove from pthread table */
+        rt_hw_spin_lock(&pth_lock);
+        pth_table[pth] = NULL;
+        rt_hw_spin_unlock(&pth_lock);
+
+        /* delete joinable semaphore */
+        if (ptd->joinable_sem != RT_NULL)
+            rt_sem_delete(ptd->joinable_sem);
+
+        /* release thread resource */
+        if (ptd->attr.stackaddr == RT_NULL)
+        {
+            /* release thread allocated stack */
+            if (ptd->tid)
+            {
+                rt_free(ptd->tid->stack_addr);
+            }
+        }
+        /* clean stack addr pointer */
+        if (ptd->tid)
+            ptd->tid->stack_addr = RT_NULL;
+
+        /*
+        * if this thread create the local thread data,
+        * delete it
+        */
+        if (ptd->tls != RT_NULL) rt_free(ptd->tls);
+        rt_free(ptd->tid);
+
+        /* clean magic */
+        ptd->magic = 0x0;
+
+        /* free ptd */
+        rt_free(ptd);
+    }
+}
+
+int pthread_system_init(void)
+{
+    /* initialize key area */
+    pthread_key_system_init();
+    /* initialize posix mqueue */
+    posix_mq_system_init();
+    /* initialize posix semaphore */
+    posix_sem_system_init();
+
+    return 0;
+}
+INIT_COMPONENT_EXPORT(pthread_system_init);
+
+static void _pthread_destroy(_pthread_data_t *ptd)
+{
+    pthread_t pth = _pthread_data_get_pth(ptd);
+    if (pth != PTHREAD_NUM_MAX)
+    {
+        _pthread_data_destroy(pth);
+    }
+
+    return;
+}
+
+static void _pthread_cleanup(rt_thread_t tid)
+{
+    _pthread_data_t *ptd;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)tid->user_data;
+    RT_ASSERT(ptd != RT_NULL);
+
+    /* clear cleanup function */
+    tid->cleanup = RT_NULL;
+    if (ptd->attr.detachstate == PTHREAD_CREATE_JOINABLE)
+    {
+        rt_sem_release(ptd->joinable_sem);
+    }
+    else
+    {
+        /* release pthread resource */
+        _pthread_destroy(ptd);
+    }
+}
+
+static void pthread_entry_stub(void *parameter)
+{
+    void *value;
+    _pthread_data_t *ptd;
+
+    ptd = (_pthread_data_t *)parameter;
+
+    /* execute pthread entry */
+    value = ptd->thread_entry(ptd->thread_parameter);
+    /* set value */
+    ptd->return_value = value;
+}
+
+int pthread_create(pthread_t            *pid,
+                   const pthread_attr_t *attr,
+                   void *(*start)(void *), void *parameter)
+{
+    int ret = 0;
+    void *stack;
+    char name[RT_NAME_MAX];
+    static rt_uint16_t pthread_number = 0;
+
+    pthread_t pth_id;
+    _pthread_data_t *ptd;
+
+    /* pid shall be provided */
+    RT_ASSERT(pid != RT_NULL);
+
+    /* allocate posix thread data */
+    pth_id = _pthread_data_create();
+    if (pth_id == PTHREAD_NUM_MAX)
+    {
+        ret = ENOMEM;
+        goto __exit;
+    }
+    /* get pthread data */
+    ptd = _pthread_get_data(pth_id);
+
+    RT_ASSERT(ptd != RT_NULL);
+
+    if (attr != RT_NULL)
+    {
+        ptd->attr = *attr;
+    }
+    else
+    {
+        /* use default attribute */
+        pthread_attr_init(&ptd->attr);
+    }
+
+    if (ptd->attr.stacksize == 0)
+    {
+        ret = EINVAL;
+        goto __exit;
+    }
+
+    rt_snprintf(name, sizeof(name), "pth%02d", pthread_number ++);
+
+    /* pthread is a static thread object */
+    ptd->tid = (rt_thread_t) rt_malloc(sizeof(struct rt_thread));
+    if (ptd->tid == RT_NULL)
+    {
+        ret = ENOMEM;
+        goto __exit;
+    }
+    memset(ptd->tid, 0, sizeof(struct rt_thread));
+
+    if (ptd->attr.detachstate == PTHREAD_CREATE_JOINABLE)
+    {
+        ptd->joinable_sem = rt_sem_create(name, 0, RT_IPC_FLAG_FIFO);
+        if (ptd->joinable_sem == RT_NULL)
+        {
+            ret = ENOMEM;
+            goto __exit;
+        }
+    }
+    else
+    {
+        ptd->joinable_sem = RT_NULL;
+    }
+
+    /* set parameter */
+    ptd->thread_entry = start;
+    ptd->thread_parameter = parameter;
+
+    /* stack */
+    if (ptd->attr.stackaddr == 0)
+    {
+        stack = (void *)rt_malloc(ptd->attr.stacksize);
+    }
+    else
+    {
+        stack = (void *)(ptd->attr.stackaddr);
+    }
+
+    if (stack == RT_NULL)
+    {
+        ret = ENOMEM;
+        goto __exit;
+    }
+
+    /* initial this pthread to system */
+    if (rt_thread_init(ptd->tid, name, pthread_entry_stub, ptd,
+                       stack, ptd->attr.stacksize,
+                       ptd->attr.schedparam.sched_priority, 20) != RT_EOK)
+    {
+        ret = EINVAL;
+        goto __exit;
+    }
+
+    /* set pthread id */
+    *pid = pth_id;
+
+    /* set pthread cleanup function and ptd data */
+    ptd->tid->cleanup = _pthread_cleanup;
+    ptd->tid->user_data = (rt_ubase_t)ptd;
+
+    /* start thread */
+    if (rt_thread_startup(ptd->tid) == RT_EOK)
+        return 0;
+
+    /* start thread failed */
+    rt_thread_detach(ptd->tid);
+    ret = EINVAL;
+
+__exit:
+    if (pth_id != PTHREAD_NUM_MAX)
+        _pthread_data_destroy(pth_id);
+    return ret;
+}
+RTM_EXPORT(pthread_create);
+
+int pthread_detach(pthread_t thread)
+{
+    int ret = 0;
+    _pthread_data_t *ptd = _pthread_get_data(thread);
+    if (ptd == RT_NULL)
+    {
+        /* invalid pthread id */
+        ret = EINVAL;
+        goto __exit;
+    }
+
+    rt_enter_critical();
+    if (ptd->attr.detachstate == PTHREAD_CREATE_DETACHED)
+    {
+        /* The implementation has detected that the value specified by thread does not refer
+         * to a joinable thread.
+         */
+        ret = EINVAL;
+        goto __exit;
+    }
+
+    if ((ptd->tid->stat & RT_THREAD_STAT_MASK) == RT_THREAD_CLOSE)
+    {
+        /* this defunct pthread is not handled by idle */
+        if (rt_sem_trytake(ptd->joinable_sem) != RT_EOK)
+        {
+            rt_sem_release(ptd->joinable_sem);
+
+            /* change to detach state */
+            ptd->attr.detachstate = PTHREAD_CREATE_DETACHED;
+
+            /* detach joinable semaphore */
+            if (ptd->joinable_sem)
+            {
+                rt_sem_delete(ptd->joinable_sem);
+                ptd->joinable_sem = RT_NULL;
+            }
+        }
+        else
+        {
+            /* destroy this pthread */
+            _pthread_destroy(ptd);
+        }
+
+        goto __exit;
+    }
+    else
+    {
+        /* change to detach state */
+        ptd->attr.detachstate = PTHREAD_CREATE_DETACHED;
+
+        /* detach joinable semaphore */
+        if (ptd->joinable_sem)
+        {
+            rt_sem_delete(ptd->joinable_sem);
+            ptd->joinable_sem = RT_NULL;
+        }
+    }
+
+__exit:
+    rt_exit_critical();
+    return ret;
+}
+RTM_EXPORT(pthread_detach);
+
+int pthread_join(pthread_t thread, void **value_ptr)
+{
+    _pthread_data_t *ptd;
+    rt_err_t result;
+
+    ptd = _pthread_get_data(thread);
+
+    if (ptd == RT_NULL)
+    {
+        return EINVAL; /* invalid pthread id */
+    }
+
+    if (ptd && ptd->tid == rt_thread_self())
+    {
+        /* join self */
+        return EDEADLK;
+    }
+
+    if (ptd->attr.detachstate == PTHREAD_CREATE_DETACHED)
+    {
+        return EINVAL; /* join on a detached pthread */
+    }
+
+    result = rt_sem_take(ptd->joinable_sem, RT_WAITING_FOREVER);
+    if (result == RT_EOK)
+    {
+        /* get return value */
+        if (value_ptr != RT_NULL)
+            *value_ptr = ptd->return_value;
+
+        /* destroy this pthread */
+        _pthread_destroy(ptd);
+    }
+    else
+    {
+        return ESRCH;
+    }
+
+    return 0;
+}
+RTM_EXPORT(pthread_join);
+
+pthread_t pthread_self (void)
+{
+    rt_thread_t tid;
+    _pthread_data_t *ptd;
+
+    tid = rt_thread_self();
+    if (tid == NULL) return PTHREAD_NUM_MAX;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != RT_NULL);
+
+    return _pthread_data_get_pth(ptd);
+}
+RTM_EXPORT(pthread_self);
+
+void pthread_exit(void *value)
+{
+    _pthread_data_t *ptd;
+    _pthread_cleanup_t *cleanup;
+    extern _pthread_key_data_t _thread_keys[PTHREAD_KEY_MAX];
+
+    if (rt_thread_self() == NULL) return;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+
+    rt_enter_critical();
+    /* disable cancel */
+    ptd->cancelstate = PTHREAD_CANCEL_DISABLE;
+    /* set return value */
+    ptd->return_value = value;
+    rt_exit_critical();
+
+    /* invoke pushed cleanup */
+    while (ptd->cleanup != RT_NULL)
+    {
+        cleanup = ptd->cleanup;
+        ptd->cleanup = cleanup->next;
+
+        cleanup->cleanup_func(cleanup->parameter);
+        /* release this cleanup function */
+        rt_free(cleanup);
+    }
+
+    /* destruct thread local key */
+    if (ptd->tls != RT_NULL)
+    {
+        void *data;
+        rt_uint32_t index;
+
+        for (index = 0; index < PTHREAD_KEY_MAX; index ++)
+        {
+            if (_thread_keys[index].is_used)
+            {
+                data = ptd->tls[index];
+                if (data && _thread_keys[index].destructor)
+                    _thread_keys[index].destructor(data);
+            }
+        }
+
+        /* release tls area */
+        rt_free(ptd->tls);
+        ptd->tls = RT_NULL;
+    }
+
+    /* detach thread */
+    rt_thread_detach(ptd->tid);
+    /* reschedule thread */
+    rt_schedule();
+}
+RTM_EXPORT(pthread_exit);
+
+int pthread_once(pthread_once_t *once_control, void (*init_routine)(void))
+{
+    RT_ASSERT(once_control != RT_NULL);
+    RT_ASSERT(init_routine != RT_NULL);
+
+    rt_enter_critical();
+    if (!(*once_control))
+    {
+        /* call routine once */
+        *once_control = 1;
+        rt_exit_critical();
+
+        init_routine();
+    }
+    rt_exit_critical();
+
+    return 0;
+}
+RTM_EXPORT(pthread_once);
+
+int pthread_atfork(void (*prepare)(void), void (*parent)(void), void (*child)(void))
+{
+    return EOPNOTSUPP;
+}
+RTM_EXPORT(pthread_atfork);
+
+int pthread_kill(pthread_t thread, int sig)
+{
+#ifdef RT_USING_SIGNALS
+    _pthread_data_t *ptd;
+    int ret;
+
+    ptd = _pthread_get_data(thread);
+    if (ptd)
+    {
+        ret = rt_thread_kill(ptd->tid, sig);
+        if (ret == -RT_EINVAL)
+        {
+            return EINVAL;
+        }
+
+        return ret;
+    }
+
+    return ESRCH;
+#else
+    return ENOSYS;
+#endif
+}
+RTM_EXPORT(pthread_kill);
+
+#ifdef RT_USING_SIGNALS
+int pthread_sigmask(int how, const sigset_t *set, sigset_t *oset)
+{
+    return sigprocmask(how, set, oset);
+}
+#endif
+
+void pthread_cleanup_pop(int execute)
+{
+    _pthread_data_t *ptd;
+    _pthread_cleanup_t *cleanup;
+
+    if (rt_thread_self() == NULL) return;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != RT_NULL);
+
+    if (execute)
+    {
+        rt_enter_critical();
+        cleanup = ptd->cleanup;
+        if (cleanup)
+            ptd->cleanup = cleanup->next;
+        rt_exit_critical();
+
+        if (cleanup)
+        {
+            cleanup->cleanup_func(cleanup->parameter);
+
+            rt_free(cleanup);
+        }
+    }
+}
+RTM_EXPORT(pthread_cleanup_pop);
+
+void pthread_cleanup_push(void (*routine)(void *), void *arg)
+{
+    _pthread_data_t *ptd;
+    _pthread_cleanup_t *cleanup;
+
+    if (rt_thread_self() == NULL) return;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != RT_NULL);
+
+    cleanup = (_pthread_cleanup_t *)rt_malloc(sizeof(_pthread_cleanup_t));
+    if (cleanup != RT_NULL)
+    {
+        cleanup->cleanup_func = routine;
+        cleanup->parameter = arg;
+
+        rt_enter_critical();
+        cleanup->next = ptd->cleanup;
+        ptd->cleanup = cleanup;
+        rt_exit_critical();
+    }
+}
+RTM_EXPORT(pthread_cleanup_push);
+
+/*
+ * According to IEEE Std 1003.1, 2004 Edition , following pthreads
+ * interface support cancellation point:
+ * mq_receive()
+ * mq_send()
+ * mq_timedreceive()
+ * mq_timedsend()
+ * msgrcv()
+ * msgsnd()
+ * msync()
+ * pthread_cond_timedwait()
+ * pthread_cond_wait()
+ * pthread_join()
+ * pthread_testcancel()
+ * sem_timedwait()
+ * sem_wait()
+ *
+ * A cancellation point may also occur when a thread is
+ * executing the following functions:
+ * pthread_rwlock_rdlock()
+ * pthread_rwlock_timedrdlock()
+ * pthread_rwlock_timedwrlock()
+ * pthread_rwlock_wrlock()
+ *
+ * The pthread_cancel(), pthread_setcancelstate(), and pthread_setcanceltype()
+ * functions are defined to be async-cancel safe.
+ */
+
+int pthread_setcancelstate(int state, int *oldstate)
+{
+    _pthread_data_t *ptd;
+
+    if (rt_thread_self() == NULL) return EINVAL;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != RT_NULL);
+
+    if ((state == PTHREAD_CANCEL_ENABLE) || (state == PTHREAD_CANCEL_DISABLE))
+    {
+        if (oldstate)
+            *oldstate = ptd->cancelstate;
+        ptd->cancelstate = state;
+
+        return 0;
+    }
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_setcancelstate);
+
+int pthread_setcanceltype(int type, int *oldtype)
+{
+    _pthread_data_t *ptd;
+
+    if (rt_thread_self() == NULL) return EINVAL;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != RT_NULL);
+
+    if ((type != PTHREAD_CANCEL_DEFERRED) && (type != PTHREAD_CANCEL_ASYNCHRONOUS))
+        return EINVAL;
+
+    if (oldtype)
+        *oldtype = ptd->canceltype;
+    ptd->canceltype = type;
+
+    return 0;
+}
+RTM_EXPORT(pthread_setcanceltype);
+
+void pthread_testcancel(void)
+{
+    int cancel = 0;
+    _pthread_data_t *ptd;
+
+    if (rt_thread_self() == NULL) return;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != RT_NULL);
+
+    if (ptd->cancelstate == PTHREAD_CANCEL_ENABLE)
+        cancel = ptd->canceled;
+    if (cancel)
+        pthread_exit((void *)PTHREAD_CANCELED);
+}
+RTM_EXPORT(pthread_testcancel);
+
+int pthread_cancel(pthread_t thread)
+{
+    _pthread_data_t *ptd;
+
+    /* get posix thread data */
+    ptd = _pthread_get_data(thread);
+    if (ptd == RT_NULL)
+    {
+        return EINVAL;
+    }
+
+    /* cancel self */
+    if (ptd->tid == rt_thread_self())
+        return 0;
+
+    /* set canceled */
+    if (ptd->cancelstate == PTHREAD_CANCEL_ENABLE)
+    {
+        ptd->canceled = 1;
+        if (ptd->canceltype == PTHREAD_CANCEL_ASYNCHRONOUS)
+        {
+            /*
+             * to detach thread.
+             * this thread will be removed from scheduler list
+             * and because there is a cleanup function in the
+             * thread (pthread_cleanup), it will move to defunct
+             * thread list and wait for handling in idle thread.
+             */
+            rt_thread_detach(ptd->tid);
+        }
+    }
+
+    return 0;
+}
+RTM_EXPORT(pthread_cancel);
+
diff --git a/components/libc/posix/pthreads/pthread.h b/components/libc/posix/pthreads/pthread.h
new file mode 100644
index 0000000000..177b2539c5
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread.h
@@ -0,0 +1,277 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#ifndef __PTHREAD_H__
+#define __PTHREAD_H__
+
+#include <rtthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <posix_types.h>
+#include <sched.h>
+
+#define PTHREAD_KEY_MAX             8
+
+#define PTHREAD_COND_INITIALIZER    {-1, 0}
+#define PTHREAD_RWLOCK_INITIALIZER  {-1, 0}
+#define PTHREAD_MUTEX_INITIALIZER   {-1, 0}
+
+#define PTHREAD_CREATE_JOINABLE     0x00
+#define PTHREAD_CREATE_DETACHED     0x01
+
+#define PTHREAD_EXPLICIT_SCHED      0
+#define PTHREAD_INHERIT_SCHED       1
+
+typedef long pthread_t;
+typedef long pthread_condattr_t;
+typedef long pthread_rwlockattr_t;
+typedef long pthread_mutexattr_t;
+typedef long pthread_barrierattr_t;
+
+typedef int pthread_key_t;
+typedef int pthread_once_t;
+
+enum
+{
+    PTHREAD_CANCEL_ASYNCHRONOUS = 0,
+    PTHREAD_CANCEL_ENABLE,
+    PTHREAD_CANCEL_DEFERRED,
+    PTHREAD_CANCEL_DISABLE,
+    PTHREAD_CANCELED
+};
+
+enum
+{
+    PTHREAD_MUTEX_NORMAL = 0,
+    PTHREAD_MUTEX_RECURSIVE = 1,
+    PTHREAD_MUTEX_ERRORCHECK = 2,
+    PTHREAD_MUTEX_ERRORCHECK_NP = PTHREAD_MUTEX_ERRORCHECK,
+    PTHREAD_MUTEX_RECURSIVE_NP  = PTHREAD_MUTEX_RECURSIVE,
+    PTHREAD_MUTEX_DEFAULT = PTHREAD_MUTEX_NORMAL
+};
+
+/* init value for pthread_once_t */
+#define PTHREAD_ONCE_INIT       0
+
+enum
+{
+    PTHREAD_PRIO_INHERIT =0,
+    PTHREAD_PRIO_NONE,
+    PTHREAD_PRIO_PROTECT,
+};
+
+#define PTHREAD_PROCESS_PRIVATE  0
+#define PTHREAD_PROCESS_SHARED   1
+
+#define PTHREAD_SCOPE_PROCESS   0
+#define PTHREAD_SCOPE_SYSTEM    1
+
+struct sched_param
+{
+    int sched_priority;
+};
+
+struct pthread_attr
+{
+    void* stackaddr;        /* stack address of thread */
+    int   stacksize;        /* stack size of thread */
+
+    int   inheritsched;     /* Inherit parent prio/policy */
+    int   schedpolicy;      /* scheduler policy */
+    struct sched_param schedparam; /* sched parameter */
+
+    int   detachstate;      /* detach state */
+};
+typedef struct pthread_attr pthread_attr_t;
+
+struct pthread_mutex
+{
+    pthread_mutexattr_t attr;
+    struct rt_mutex lock;
+};
+typedef struct pthread_mutex pthread_mutex_t;
+
+struct pthread_cond
+{
+    pthread_condattr_t attr;
+    struct rt_semaphore sem;
+};
+typedef struct pthread_cond pthread_cond_t;
+
+struct pthread_rwlock
+{
+    pthread_rwlockattr_t attr;
+
+    pthread_mutex_t      rw_mutex;          /* basic lock on this struct */
+    pthread_cond_t       rw_condreaders;    /* for reader threads waiting */
+    pthread_cond_t       rw_condwriters;    /* for writer threads waiting */
+
+    int rw_nwaitreaders;    /* the number of reader threads waiting */
+    int rw_nwaitwriters;    /* the number of writer threads waiting */
+    int rw_refcount;    /* 0: unlocked, -1: locked by writer, > 0 locked by n readers */
+};
+typedef struct pthread_rwlock pthread_rwlock_t;
+
+/* spinlock implementation, (ADVANCED REALTIME THREADS)*/
+struct pthread_spinlock
+{
+    int lock;
+};
+typedef struct pthread_spinlock pthread_spinlock_t;
+
+struct pthread_barrier
+{
+    int count;
+    pthread_cond_t cond;
+    pthread_mutex_t mutex;
+};
+typedef struct pthread_barrier pthread_barrier_t;
+
+/* pthread thread interface */
+int pthread_attr_destroy(pthread_attr_t *attr);
+int pthread_attr_init(pthread_attr_t *attr);
+int pthread_attr_setdetachstate(pthread_attr_t *attr, int state);
+int pthread_attr_getdetachstate(pthread_attr_t const *attr, int *state);
+int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy);
+int pthread_attr_getschedpolicy(pthread_attr_t const *attr, int *policy);
+int pthread_attr_setschedparam(pthread_attr_t *attr,struct sched_param const *param);
+int pthread_attr_getschedparam(pthread_attr_t const *attr,struct sched_param *param);
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stack_size);
+int pthread_attr_getstacksize(pthread_attr_t const *attr, size_t *stack_size);
+int pthread_attr_setstackaddr(pthread_attr_t *attr, void *stack_addr);
+int pthread_attr_getstackaddr(pthread_attr_t const *attr, void **stack_addr);
+int pthread_attr_setstack(pthread_attr_t *attr,
+                          void           *stack_base,
+                          size_t          stack_size);
+int pthread_attr_getstack(pthread_attr_t const *attr,
+                          void                **stack_base,
+                          size_t               *stack_size);
+int pthread_attr_setguardsize(pthread_attr_t *attr, size_t guard_size);
+int pthread_attr_getguardsize(pthread_attr_t const *attr, size_t *guard_size);
+int pthread_attr_setscope(pthread_attr_t *attr, int scope);
+int pthread_attr_getscope(pthread_attr_t const *attr);
+int pthread_system_init(void);
+int pthread_create (pthread_t *tid, const pthread_attr_t *attr,
+    void *(*start) (void *), void *arg);
+
+int pthread_detach (pthread_t thread);
+int pthread_join (pthread_t thread, void **value_ptr);
+
+rt_inline int pthread_equal (pthread_t t1, pthread_t t2)
+{
+    return t1 == t2;
+}
+
+pthread_t pthread_self (void);
+
+void pthread_exit (void *value_ptr);
+int pthread_once(pthread_once_t * once_control, void (*init_routine) (void));
+
+/* pthread cleanup */
+void pthread_cleanup_pop(int execute);
+void pthread_cleanup_push(void (*routine)(void*), void *arg);
+
+/* pthread cancel */
+int pthread_cancel(pthread_t thread);
+void pthread_testcancel(void);
+int pthread_setcancelstate(int state, int *oldstate);
+int pthread_setcanceltype(int type, int *oldtype);
+
+int pthread_atfork(void (*prepare)(void), void (*parent)(void), void (*child)(void));
+int pthread_kill(pthread_t thread, int sig);
+
+/* pthread mutex interface */
+int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr);
+int pthread_mutex_destroy(pthread_mutex_t *mutex);
+int pthread_mutex_lock(pthread_mutex_t *mutex);
+int pthread_mutex_unlock(pthread_mutex_t *mutex);
+int pthread_mutex_trylock(pthread_mutex_t *mutex);
+
+int pthread_mutexattr_init(pthread_mutexattr_t *attr);
+int pthread_mutexattr_destroy(pthread_mutexattr_t *attr);
+int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *type);
+int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type);
+int pthread_mutexattr_setpshared(pthread_mutexattr_t *attr, int  pshared);
+int pthread_mutexattr_getpshared(pthread_mutexattr_t *attr, int *pshared);
+
+/* pthread condition interface */
+int pthread_condattr_destroy(pthread_condattr_t *attr);
+int pthread_condattr_init(pthread_condattr_t *attr);
+
+/* ADVANCED REALTIME feature in IEEE Std 1003.1, 2004 Edition */
+int pthread_condattr_getclock(const pthread_condattr_t *attr,
+                              clockid_t                *clock_id);
+int pthread_condattr_setclock(pthread_condattr_t *attr,
+                              clockid_t           clock_id);
+
+int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr);
+int pthread_cond_destroy(pthread_cond_t *cond);
+int pthread_cond_broadcast(pthread_cond_t *cond);
+int pthread_cond_signal(pthread_cond_t *cond);
+
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
+int pthread_cond_timedwait(pthread_cond_t        *cond,
+                           pthread_mutex_t       *mutex,
+                           const struct timespec *abstime);
+
+/* pthread rwlock interface */
+int pthread_rwlockattr_init (pthread_rwlockattr_t *attr);
+int pthread_rwlockattr_destroy (pthread_rwlockattr_t *attr);
+int pthread_rwlockattr_getpshared (const pthread_rwlockattr_t *attr, int *pshared);
+int pthread_rwlockattr_setpshared (pthread_rwlockattr_t *attr, int pshared);
+
+int pthread_rwlock_init (pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr);
+int pthread_rwlock_destroy (pthread_rwlock_t *rwlock);
+
+int pthread_rwlock_rdlock (pthread_rwlock_t *rwlock);
+int pthread_rwlock_tryrdlock (pthread_rwlock_t *rwlock);
+
+int pthread_rwlock_timedrdlock (pthread_rwlock_t *rwlock, const struct timespec *abstime);
+int pthread_rwlock_timedwrlock (pthread_rwlock_t *rwlock, const struct timespec *abstime);
+
+int pthread_rwlock_unlock (pthread_rwlock_t *rwlock);
+
+int pthread_rwlock_wrlock (pthread_rwlock_t *rwlock);
+int pthread_rwlock_trywrlock (pthread_rwlock_t *rwlock);
+
+/* pthread spinlock interface */
+int pthread_spin_init (pthread_spinlock_t *lock, int pshared);
+int pthread_spin_destroy (pthread_spinlock_t *lock);
+
+int pthread_spin_lock (pthread_spinlock_t * lock);
+int pthread_spin_trylock (pthread_spinlock_t * lock);
+int pthread_spin_unlock (pthread_spinlock_t * lock);
+
+/* pthread barrier interface */
+int pthread_barrierattr_destroy(pthread_barrierattr_t *attr);
+int pthread_barrierattr_init(pthread_barrierattr_t *attr);
+int pthread_barrierattr_getpshared(const pthread_barrierattr_t *attr, int *pshared);
+int pthread_barrierattr_setpshared(pthread_barrierattr_t *attr, int pshared);
+
+int pthread_barrier_destroy(pthread_barrier_t *barrier);
+int pthread_barrier_init(pthread_barrier_t           *barrier,
+                         const pthread_barrierattr_t *attr,
+                         unsigned                     count);
+
+int pthread_barrier_wait(pthread_barrier_t *barrier);
+
+int pthread_setspecific(pthread_key_t key, const void *value);
+void *pthread_getspecific(pthread_key_t key);
+int pthread_key_create(pthread_key_t *key, void (*destructor)(void *));
+int pthread_key_delete(pthread_key_t key);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/components/libc/posix/pthreads/pthread_attr.c b/components/libc/posix/pthreads/pthread_attr.c
new file mode 100644
index 0000000000..4aedf5a90d
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_attr.c
@@ -0,0 +1,207 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <rtthread.h>
+#include "pthread.h"
+#include "sched.h"
+#include <string.h>
+
+#define DEFAULT_STACK_SIZE  2048
+#define DEFAULT_PRIORITY    (RT_THREAD_PRIORITY_MAX/2 + RT_THREAD_PRIORITY_MAX/4)
+
+const pthread_attr_t pthread_default_attr =
+{
+    0,                          /* stack base */
+    DEFAULT_STACK_SIZE,         /* stack size */
+
+    PTHREAD_INHERIT_SCHED,      /* Inherit parent prio/policy */
+    SCHED_FIFO,                 /* scheduler policy */
+    {
+        DEFAULT_PRIORITY,       /* scheduler priority */
+    },
+    PTHREAD_CREATE_JOINABLE,    /* detach state */
+};
+
+int pthread_attr_init(pthread_attr_t *attr)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    *attr = pthread_default_attr;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_init);
+
+int pthread_attr_destroy(pthread_attr_t *attr)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    memset(attr, 0, sizeof(pthread_attr_t));
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_destroy);
+
+int pthread_attr_setdetachstate(pthread_attr_t *attr, int state)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    if (state != PTHREAD_CREATE_JOINABLE && state != PTHREAD_CREATE_DETACHED)
+        return EINVAL;
+
+    attr->detachstate = state;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_setdetachstate);
+
+int pthread_attr_getdetachstate(pthread_attr_t const *attr, int *state)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    *state = (int)attr->detachstate;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_getdetachstate);
+
+int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    attr->schedpolicy = policy;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_setschedpolicy);
+
+int pthread_attr_getschedpolicy(pthread_attr_t const *attr, int *policy)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    *policy = (int)attr->schedpolicy;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_getschedpolicy);
+
+int pthread_attr_setschedparam(pthread_attr_t           *attr,
+                               struct sched_param const *param)
+{
+    RT_ASSERT(attr != RT_NULL);
+    RT_ASSERT(param != RT_NULL);
+
+    attr->schedparam.sched_priority = param->sched_priority;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_setschedparam);
+
+int pthread_attr_getschedparam(pthread_attr_t const *attr,
+                               struct sched_param   *param)
+{
+    RT_ASSERT(attr != RT_NULL);
+    RT_ASSERT(param != RT_NULL);
+
+    param->sched_priority = attr->schedparam.sched_priority;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_getschedparam);
+
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stack_size)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    attr->stacksize = stack_size;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_setstacksize);
+
+int pthread_attr_getstacksize(pthread_attr_t const *attr, size_t *stack_size)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    *stack_size = attr->stacksize;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_getstacksize);
+
+int pthread_attr_setstackaddr(pthread_attr_t *attr, void *stack_addr)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    return EOPNOTSUPP;
+}
+RTM_EXPORT(pthread_attr_setstackaddr);
+
+int pthread_attr_getstackaddr(pthread_attr_t const *attr, void **stack_addr)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    return EOPNOTSUPP;
+}
+RTM_EXPORT(pthread_attr_getstackaddr);
+
+int pthread_attr_setstack(pthread_attr_t *attr,
+                          void           *stack_base,
+                          size_t          stack_size)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    attr->stackaddr = stack_base;
+    attr->stacksize = RT_ALIGN_DOWN(stack_size, RT_ALIGN_SIZE);
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_setstack);
+
+int pthread_attr_getstack(pthread_attr_t const *attr,
+                          void                **stack_base,
+                          size_t               *stack_size)
+{
+    RT_ASSERT(attr != RT_NULL);
+
+    *stack_base = attr->stackaddr;
+    *stack_size = attr->stacksize;
+
+    return 0;
+}
+RTM_EXPORT(pthread_attr_getstack);
+
+int pthread_attr_setguardsize(pthread_attr_t *attr, size_t guard_size)
+{
+    return EOPNOTSUPP;
+}
+
+int pthread_attr_getguardsize(pthread_attr_t const *attr, size_t *guard_size)
+{
+    return EOPNOTSUPP;
+}
+RTM_EXPORT(pthread_attr_getguardsize);
+
+int pthread_attr_setscope(pthread_attr_t *attr, int scope)
+{
+    if (scope == PTHREAD_SCOPE_SYSTEM)
+        return 0;
+    if (scope == PTHREAD_SCOPE_PROCESS)
+        return EOPNOTSUPP;
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_attr_setscope);
+
+int pthread_attr_getscope(pthread_attr_t const *attr)
+{
+    return PTHREAD_SCOPE_SYSTEM;
+}
+RTM_EXPORT(pthread_attr_getscope);
diff --git a/components/libc/posix/pthreads/pthread_barrier.c b/components/libc/posix/pthreads/pthread_barrier.c
new file mode 100644
index 0000000000..1a5b7fa3f9
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_barrier.c
@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <pthread.h>
+
+int pthread_barrierattr_destroy(pthread_barrierattr_t *attr)
+{
+    if (!attr)
+        return EINVAL;
+
+    return 0;
+}
+RTM_EXPORT(pthread_barrierattr_destroy);
+
+int pthread_barrierattr_init(pthread_barrierattr_t *attr)
+{
+    if (!attr)
+        return EINVAL;
+    *attr = PTHREAD_PROCESS_PRIVATE;
+
+    return 0;
+}
+RTM_EXPORT(pthread_barrierattr_init);
+
+int pthread_barrierattr_getpshared(const pthread_barrierattr_t *attr,
+                                   int                         *pshared)
+{
+    if (!attr)
+        return EINVAL;
+    *pshared = (int)*attr;
+
+    return 0;
+}
+RTM_EXPORT(pthread_barrierattr_getpshared);
+
+int pthread_barrierattr_setpshared(pthread_barrierattr_t *attr, int pshared)
+{
+    if (!attr)
+        return EINVAL;
+    if (pshared == PTHREAD_PROCESS_PRIVATE)
+        attr = PTHREAD_PROCESS_PRIVATE;
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_barrierattr_setpshared);
+
+int pthread_barrier_destroy(pthread_barrier_t *barrier)
+{
+    rt_err_t result;
+
+    if (!barrier)
+        return EINVAL;
+
+    result = pthread_cond_destroy(&(barrier->cond));
+
+    return result;
+}
+RTM_EXPORT(pthread_barrier_destroy);
+
+int pthread_barrier_init(pthread_barrier_t           *barrier,
+                         const pthread_barrierattr_t *attr,
+                         unsigned                     count)
+{
+    if (!barrier)
+        return EINVAL;
+    if (attr && (*attr != PTHREAD_PROCESS_PRIVATE))
+        return EINVAL;
+
+    barrier->count = count;
+    pthread_cond_init(&(barrier->cond), NULL);
+    pthread_mutex_init(&(barrier->mutex), NULL);
+
+    return 0;
+}
+RTM_EXPORT(pthread_barrier_init);
+
+int pthread_barrier_wait(pthread_barrier_t *barrier)
+{
+    rt_err_t result;
+    if (!barrier)
+        return EINVAL;
+
+    result = pthread_mutex_lock(&(barrier->mutex));
+    if (result != 0)
+        return EINVAL;
+
+    if (barrier->count == 0)
+        result = EINVAL;
+    else
+    {
+        barrier->count -= 1;
+        if (barrier->count == 0) /* broadcast condition */
+            pthread_cond_broadcast(&(barrier->cond));
+        else
+            pthread_cond_wait(&(barrier->cond), &(barrier->mutex));
+    }
+
+    pthread_mutex_unlock(&(barrier->mutex));
+
+    return result;
+}
+RTM_EXPORT(pthread_barrier_wait);
+
diff --git a/components/libc/posix/pthreads/pthread_cond.c b/components/libc/posix/pthreads/pthread_cond.c
new file mode 100644
index 0000000000..9bf49704ed
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_cond.c
@@ -0,0 +1,235 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <pthread.h>
+#include "pthread_internal.h"
+
+int pthread_condattr_destroy(pthread_condattr_t *attr)
+{
+    if (!attr)
+        return EINVAL;
+
+    return 0;
+}
+RTM_EXPORT(pthread_condattr_destroy);
+
+int pthread_condattr_init(pthread_condattr_t *attr)
+{
+    if (!attr)
+        return EINVAL;
+    *attr = PTHREAD_PROCESS_PRIVATE;
+
+    return 0;
+}
+RTM_EXPORT(pthread_condattr_init);
+
+int pthread_condattr_getclock(const pthread_condattr_t *attr,
+                              clockid_t                *clock_id)
+{
+    return 0;
+}
+RTM_EXPORT(pthread_condattr_getclock);
+
+int pthread_condattr_setclock(pthread_condattr_t *attr,
+                              clockid_t           clock_id)
+{
+    return 0;
+}
+RTM_EXPORT(pthread_condattr_setclock);
+
+int pthread_condattr_getpshared(const pthread_condattr_t *attr, int *pshared)
+{
+    if (!attr || !pshared)
+        return EINVAL;
+
+    *pshared = PTHREAD_PROCESS_PRIVATE;
+
+    return 0;
+}
+RTM_EXPORT(pthread_condattr_getpshared);
+
+int pthread_condattr_setpshared(pthread_condattr_t*attr, int pshared)
+{
+    if ((pshared != PTHREAD_PROCESS_PRIVATE) &&
+        (pshared != PTHREAD_PROCESS_SHARED))
+    {
+        return EINVAL;
+    }
+
+    if (pshared != PTHREAD_PROCESS_PRIVATE)
+        return ENOSYS;
+
+    return 0;
+}
+RTM_EXPORT(pthread_condattr_setpshared);
+
+int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr)
+{
+    rt_err_t result;
+    char cond_name[RT_NAME_MAX];
+    static rt_uint16_t cond_num = 0;
+
+    /* parameter check */
+    if (cond == RT_NULL)
+        return EINVAL;
+    if ((attr != RT_NULL) && (*attr != PTHREAD_PROCESS_PRIVATE))
+        return EINVAL;
+
+    rt_snprintf(cond_name, sizeof(cond_name), "cond%02d", cond_num++);
+
+    if (attr == RT_NULL) /* use default value */
+        cond->attr = PTHREAD_PROCESS_PRIVATE;
+    else
+        cond->attr = *attr;
+
+    result = rt_sem_init(&cond->sem, cond_name, 0, RT_IPC_FLAG_FIFO);
+    if (result != RT_EOK)
+        return EINVAL;
+
+    /* detach the object from system object container */
+    rt_object_detach(&(cond->sem.parent.parent));
+    cond->sem.parent.parent.type = RT_Object_Class_Semaphore;
+
+    return 0;
+}
+RTM_EXPORT(pthread_cond_init);
+
+int pthread_cond_destroy(pthread_cond_t *cond)
+{
+    rt_err_t result;
+    if (cond == RT_NULL)
+        return EINVAL;
+    if (cond->attr == -1)
+        return 0; /* which is not initialized */
+
+    result = rt_sem_trytake(&(cond->sem));
+    if (result != RT_EOK)
+        return EBUSY;
+
+    /* clean condition */
+    rt_memset(cond, 0, sizeof(pthread_cond_t));
+    cond->attr = -1;
+
+    return 0;
+}
+RTM_EXPORT(pthread_cond_destroy);
+
+int pthread_cond_broadcast(pthread_cond_t *cond)
+{
+    rt_err_t result;
+
+    if (cond == RT_NULL)
+        return EINVAL;
+    if (cond->attr == -1)
+        pthread_cond_init(cond, RT_NULL);
+
+    rt_enter_critical();
+    while (1)
+    {
+        /* try to take condition semaphore */
+        result = rt_sem_trytake(&(cond->sem));
+        if (result == -RT_ETIMEOUT)
+        {
+            /* it's timeout, release this semaphore */
+            rt_sem_release(&(cond->sem));
+        }
+        else if (result == RT_EOK)
+        {
+            /* has taken this semaphore, release it */
+            rt_sem_release(&(cond->sem));
+            break;
+        }
+        else
+        {
+            rt_exit_critical();
+
+            return EINVAL;
+        }
+    }
+    rt_exit_critical();
+
+    return 0;
+}
+RTM_EXPORT(pthread_cond_broadcast);
+
+int pthread_cond_signal(pthread_cond_t *cond)
+{
+    rt_err_t result;
+
+    if (cond == RT_NULL)
+        return EINVAL;
+    if (cond->attr == -1)
+        pthread_cond_init(cond, RT_NULL);
+
+    result = rt_sem_release(&(cond->sem));
+    if (result == RT_EOK)
+        return 0;
+
+    return 0;
+}
+RTM_EXPORT(pthread_cond_signal);
+
+rt_err_t _pthread_cond_timedwait(pthread_cond_t  *cond,
+                                 pthread_mutex_t *mutex,
+                                 rt_int32_t       timeout)
+{
+    rt_err_t result;
+
+    if (!cond || !mutex)
+        return -RT_ERROR;
+    /* check whether initialized */
+    if (cond->attr == -1)
+        pthread_cond_init(cond, RT_NULL);
+
+    /* The mutex was not owned by the current thread at the time of the call. */
+    if (mutex->lock.owner != rt_thread_self())
+        return -RT_ERROR;
+    /* unlock a mutex failed */
+    if (pthread_mutex_unlock(mutex) != 0)
+        return -RT_ERROR;
+
+    result = rt_sem_take(&(cond->sem), timeout);
+    /* lock mutex again */
+    pthread_mutex_lock(mutex);
+
+    return result;
+}
+RTM_EXPORT(_pthread_cond_timedwait);
+
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
+{
+    rt_err_t result;
+
+    result = _pthread_cond_timedwait(cond, mutex, RT_WAITING_FOREVER);
+    if (result == RT_EOK)
+        return 0;
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_cond_wait);
+
+int pthread_cond_timedwait(pthread_cond_t        *cond,
+                           pthread_mutex_t       *mutex,
+                           const struct timespec *abstime)
+{
+    int timeout;
+    rt_err_t result;
+
+    timeout = rt_timespec_to_tick(abstime);
+    result = _pthread_cond_timedwait(cond, mutex, timeout);
+    if (result == RT_EOK)
+        return 0;
+    if (result == -RT_ETIMEOUT)
+        return ETIMEDOUT;
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_cond_timedwait);
+
diff --git a/components/libc/posix/pthreads/pthread_internal.h b/components/libc/posix/pthreads/pthread_internal.h
new file mode 100644
index 0000000000..1fce29f636
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_internal.h
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#ifndef __PTHREAD_INTERNAL_H__
+#define __PTHREAD_INTERNAL_H__
+
+#include <rtthread.h>
+#include <pthread.h>
+#include <sys/time.h>
+
+struct _pthread_cleanup
+{
+    void (*cleanup_func)(void *parameter);
+    void *parameter;
+
+    struct _pthread_cleanup *next;
+};
+typedef struct _pthread_cleanup _pthread_cleanup_t;
+
+struct _pthread_key_data
+{
+    int is_used;
+    void (*destructor)(void *parameter);
+};
+typedef struct _pthread_key_data _pthread_key_data_t;
+
+#ifndef PTHREAD_NUM_MAX
+#define PTHREAD_NUM_MAX 32
+#endif
+
+#define PTHREAD_MAGIC   0x70746873
+struct _pthread_data
+{
+    rt_uint32_t magic;
+    pthread_attr_t attr;
+    rt_thread_t tid;
+
+    void* (*thread_entry)(void *parameter);
+    void *thread_parameter;
+
+    /* return value */
+    void *return_value;
+
+    /* semaphore for joinable thread */
+    rt_sem_t joinable_sem;
+
+    /* cancel state and type */
+    rt_uint8_t cancelstate;
+    volatile rt_uint8_t canceltype;
+    volatile rt_uint8_t canceled;
+
+    _pthread_cleanup_t *cleanup;
+    void** tls; /* thread-local storage area */
+};
+typedef struct _pthread_data _pthread_data_t;
+
+_pthread_data_t *_pthread_get_data(pthread_t thread);
+
+void posix_mq_system_init(void);
+void posix_sem_system_init(void);
+void pthread_key_system_init(void);
+
+#endif
diff --git a/components/libc/posix/pthreads/pthread_mutex.c b/components/libc/posix/pthreads/pthread_mutex.c
new file mode 100644
index 0000000000..a681380b11
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_mutex.c
@@ -0,0 +1,248 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <rtthread.h>
+#include "pthread.h"
+
+#define  MUTEXATTR_SHARED_MASK 0x0010
+#define  MUTEXATTR_TYPE_MASK   0x000f
+
+const pthread_mutexattr_t pthread_default_mutexattr = PTHREAD_PROCESS_PRIVATE;
+
+int pthread_mutexattr_init(pthread_mutexattr_t *attr)
+{
+    if (attr)
+    {
+        *attr = pthread_default_mutexattr;
+
+        return 0;
+    }
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_mutexattr_init);
+
+int pthread_mutexattr_destroy(pthread_mutexattr_t *attr)
+{
+    if (attr)
+    {
+        *attr = -1;
+
+        return 0;
+    }
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_mutexattr_destroy);
+
+int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *type)
+{
+    if (attr && type)
+    {
+        int  atype = (*attr & MUTEXATTR_TYPE_MASK);
+
+        if (atype >= PTHREAD_MUTEX_NORMAL && atype <= PTHREAD_MUTEX_ERRORCHECK)
+        {
+            *type = atype;
+
+            return 0;
+        }
+    }
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_mutexattr_gettype);
+
+int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type)
+{
+    if (attr && type >= PTHREAD_MUTEX_NORMAL && type <= PTHREAD_MUTEX_ERRORCHECK)
+    {
+        *attr = (*attr & ~MUTEXATTR_TYPE_MASK) | type;
+
+        return 0;
+    }
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_mutexattr_settype);
+
+int pthread_mutexattr_setpshared(pthread_mutexattr_t *attr, int pshared)
+{
+    if (!attr)
+        return EINVAL;
+
+    switch (pshared)
+    {
+    case PTHREAD_PROCESS_PRIVATE:
+        *attr &= ~MUTEXATTR_SHARED_MASK;
+        return 0;
+
+    case PTHREAD_PROCESS_SHARED:
+        *attr |= MUTEXATTR_SHARED_MASK;
+        return 0;
+    }
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_mutexattr_setpshared);
+
+int pthread_mutexattr_getpshared(pthread_mutexattr_t *attr, int *pshared)
+{
+    if (!attr || !pshared)
+        return EINVAL;
+
+    *pshared = (*attr & MUTEXATTR_SHARED_MASK) ? PTHREAD_PROCESS_SHARED
+                                               : PTHREAD_PROCESS_PRIVATE;
+    return 0;
+}
+RTM_EXPORT(pthread_mutexattr_getpshared);
+
+int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
+{
+    rt_err_t result;
+    char name[RT_NAME_MAX];
+    static rt_uint16_t pthread_mutex_number = 0;
+
+    if (!mutex)
+        return EINVAL;
+
+    /* build mutex name */
+    rt_snprintf(name, sizeof(name), "pmtx%02d", pthread_mutex_number ++);
+    if (attr == RT_NULL)
+        mutex->attr = pthread_default_mutexattr;
+    else
+        mutex->attr = *attr;
+
+    /* init mutex lock */
+    result = rt_mutex_init(&(mutex->lock), name, RT_IPC_FLAG_FIFO);
+    if (result != RT_EOK)
+        return EINVAL;
+
+    /* detach the object from system object container */
+    rt_object_detach(&(mutex->lock.parent.parent));
+    mutex->lock.parent.parent.type = RT_Object_Class_Mutex;
+
+    return 0;
+}
+RTM_EXPORT(pthread_mutex_init);
+
+int pthread_mutex_destroy(pthread_mutex_t *mutex)
+{
+    if (!mutex || mutex->attr == -1)
+        return EINVAL;
+
+    /* it's busy */
+    if (mutex->lock.owner != RT_NULL)
+        return EBUSY;
+
+    rt_memset(mutex, 0, sizeof(pthread_mutex_t));
+    mutex->attr = -1;
+
+    return 0;
+}
+RTM_EXPORT(pthread_mutex_destroy);
+
+int pthread_mutex_lock(pthread_mutex_t *mutex)
+{
+    int mtype;
+    rt_err_t result;
+
+    if (!mutex)
+        return EINVAL;
+
+    if (mutex->attr == -1)
+    {
+        /* init mutex */
+        pthread_mutex_init(mutex, RT_NULL);
+    }
+
+    mtype = mutex->attr & MUTEXATTR_TYPE_MASK;
+    rt_enter_critical();
+    if (mutex->lock.owner == rt_thread_self() &&
+        mtype != PTHREAD_MUTEX_RECURSIVE)
+    {
+        rt_exit_critical();
+
+        return EDEADLK;
+    }
+    rt_exit_critical();
+
+    result = rt_mutex_take(&(mutex->lock), RT_WAITING_FOREVER);
+    if (result == RT_EOK)
+        return 0;
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_mutex_lock);
+
+int pthread_mutex_unlock(pthread_mutex_t *mutex)
+{
+    rt_err_t result;
+
+    if (!mutex)
+        return EINVAL;
+    if (mutex->attr == -1)
+    {
+        /* init mutex */
+        pthread_mutex_init(mutex, RT_NULL);
+    }
+
+    if (mutex->lock.owner != rt_thread_self())
+    {
+        int mtype;
+        mtype = mutex->attr & MUTEXATTR_TYPE_MASK;
+
+        /* error check, return EPERM */
+        if (mtype == PTHREAD_MUTEX_ERRORCHECK)
+            return EPERM;
+
+        /* no thread waiting on this mutex */
+        if (mutex->lock.owner == RT_NULL)
+            return 0;
+    }
+
+    result = rt_mutex_release(&(mutex->lock));
+    if (result == RT_EOK)
+        return 0;
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_mutex_unlock);
+
+int pthread_mutex_trylock(pthread_mutex_t *mutex)
+{
+    rt_err_t result;
+    int mtype;
+
+    if (!mutex)
+        return EINVAL;
+    if (mutex->attr == -1)
+    {
+        /* init mutex */
+        pthread_mutex_init(mutex, RT_NULL);
+    }
+
+    mtype = mutex->attr & MUTEXATTR_TYPE_MASK;
+    rt_enter_critical();
+    if (mutex->lock.owner == rt_thread_self() &&
+        mtype != PTHREAD_MUTEX_RECURSIVE)
+    {
+        rt_exit_critical();
+
+        return EDEADLK;
+    }
+    rt_exit_critical();
+
+    result = rt_mutex_take(&(mutex->lock), 0);
+    if (result == RT_EOK) return 0;
+
+    return EBUSY;
+}
+RTM_EXPORT(pthread_mutex_trylock);
diff --git a/components/libc/posix/pthreads/pthread_rwlock.c b/components/libc/posix/pthreads/pthread_rwlock.c
new file mode 100644
index 0000000000..1c2fe19f5f
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_rwlock.c
@@ -0,0 +1,340 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <pthread.h>
+
+int pthread_rwlockattr_init(pthread_rwlockattr_t *attr)
+{
+    if (!attr)
+        return EINVAL;
+    *attr = PTHREAD_PROCESS_PRIVATE;
+
+    return 0;
+}
+RTM_EXPORT(pthread_rwlockattr_init);
+
+int pthread_rwlockattr_destroy(pthread_rwlockattr_t *attr)
+{
+    if (!attr)
+        return EINVAL;
+
+    return 0;
+}
+RTM_EXPORT(pthread_rwlockattr_destroy);
+
+int pthread_rwlockattr_getpshared(const pthread_rwlockattr_t *attr,
+                                  int                        *pshared)
+{
+    if (!attr || !pshared)
+        return EINVAL;
+
+    *pshared = PTHREAD_PROCESS_PRIVATE;
+
+    return 0;
+}
+RTM_EXPORT(pthread_rwlockattr_getpshared);
+
+int pthread_rwlockattr_setpshared(pthread_rwlockattr_t *attr, int pshared)
+{
+    if (!attr || pshared != PTHREAD_PROCESS_PRIVATE)
+        return EINVAL;
+
+    return 0;
+}
+RTM_EXPORT(pthread_rwlockattr_setpshared);
+
+int pthread_rwlock_init(pthread_rwlock_t           *rwlock,
+                        const pthread_rwlockattr_t *attr)
+{
+    if (!rwlock)
+        return EINVAL;
+
+    rwlock->attr = PTHREAD_PROCESS_PRIVATE;
+    pthread_mutex_init(&(rwlock->rw_mutex), NULL);
+    pthread_cond_init(&(rwlock->rw_condreaders), NULL);
+    pthread_cond_init(&(rwlock->rw_condwriters), NULL);
+
+    rwlock->rw_nwaitwriters = 0;
+    rwlock->rw_nwaitreaders = 0;
+    rwlock->rw_refcount = 0;
+
+    return 0;
+}
+RTM_EXPORT(pthread_rwlock_init);
+
+int pthread_rwlock_destroy (pthread_rwlock_t *rwlock)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        return 0; /* rwlock is not initialized */
+
+    if ( (result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    if (rwlock->rw_refcount != 0 ||
+        rwlock->rw_nwaitreaders != 0 ||
+        rwlock->rw_nwaitwriters != 0)
+    {
+        result = EBUSY;
+
+        return result;
+    }
+    else
+    {
+        /* check whether busy */
+        result = rt_sem_trytake(&(rwlock->rw_condreaders.sem));
+        if (result == RT_EOK)
+        {
+            result = rt_sem_trytake(&(rwlock->rw_condwriters.sem));
+            if (result == RT_EOK)
+            {
+                rt_sem_release(&(rwlock->rw_condreaders.sem));
+                rt_sem_release(&(rwlock->rw_condwriters.sem));
+
+                pthread_cond_destroy(&rwlock->rw_condreaders);
+                pthread_cond_destroy(&rwlock->rw_condwriters);
+            }
+            else
+            {
+                rt_sem_release(&(rwlock->rw_condreaders.sem));
+                result = EBUSY;
+            }
+        }
+        else
+            result = EBUSY;
+    }
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+    if (result == 0)
+        pthread_mutex_destroy(&rwlock->rw_mutex);
+
+    return result;
+}
+RTM_EXPORT(pthread_rwlock_destroy);
+
+int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        pthread_rwlock_init(rwlock, NULL);
+
+    if ((result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    /* give preference to waiting writers */
+    while (rwlock->rw_refcount < 0 || rwlock->rw_nwaitwriters > 0)
+    {
+        rwlock->rw_nwaitreaders++;
+        /* rw_mutex will be released when waiting for rw_condreaders */
+        result = pthread_cond_wait(&rwlock->rw_condreaders, &rwlock->rw_mutex);
+        /* rw_mutex should have been taken again when returned from waiting */
+        rwlock->rw_nwaitreaders--;
+        if (result != 0) /* wait error */
+            break;
+    }
+
+    /* another reader has a read lock */
+    if (result == 0)
+        rwlock->rw_refcount++;
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+
+    return (result);
+}
+RTM_EXPORT(pthread_rwlock_rdlock);
+
+int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        pthread_rwlock_init(rwlock, NULL);
+
+    if ((result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    if (rwlock->rw_refcount < 0 || rwlock->rw_nwaitwriters > 0)
+        result = EBUSY;                 /* held by a writer or waiting writers */
+    else
+        rwlock->rw_refcount++;          /* increment count of reader locks */
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+
+    return(result);
+}
+RTM_EXPORT(pthread_rwlock_tryrdlock);
+
+int pthread_rwlock_timedrdlock(pthread_rwlock_t      *rwlock,
+                               const struct timespec *abstime)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        pthread_rwlock_init(rwlock, NULL);
+
+    if ( (result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    /* give preference to waiting writers */
+    while (rwlock->rw_refcount < 0 || rwlock->rw_nwaitwriters > 0)
+    {
+        rwlock->rw_nwaitreaders++;
+        /* rw_mutex will be released when waiting for rw_condreaders */
+        result = pthread_cond_timedwait(&rwlock->rw_condreaders, &rwlock->rw_mutex, abstime);
+        /* rw_mutex should have been taken again when returned from waiting */
+        rwlock->rw_nwaitreaders--;
+        if (result != 0)
+            break;
+    }
+
+    /* another reader has a read lock */
+    if (result == 0)
+        rwlock->rw_refcount++;
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+
+    return (result);
+}
+RTM_EXPORT(pthread_rwlock_timedrdlock);
+
+int pthread_rwlock_timedwrlock(pthread_rwlock_t      *rwlock,
+                               const struct timespec *abstime)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        pthread_rwlock_init(rwlock, NULL);
+
+    if ((result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    while (rwlock->rw_refcount != 0)
+    {
+        rwlock->rw_nwaitwriters++;
+        /* rw_mutex will be released when waiting for rw_condwriters */
+        result = pthread_cond_timedwait(&rwlock->rw_condwriters, &rwlock->rw_mutex, abstime);
+        /* rw_mutex should have been taken again when returned from waiting */
+        rwlock->rw_nwaitwriters--;
+
+        if (result != 0)
+            break;
+    }
+
+    if (result == 0)
+        rwlock->rw_refcount = -1;
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+
+    return(result);
+}
+RTM_EXPORT(pthread_rwlock_timedwrlock);
+
+int pthread_rwlock_trywrlock(pthread_rwlock_t *rwlock)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        pthread_rwlock_init(rwlock, NULL);
+
+    if ((result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    if (rwlock->rw_refcount != 0)
+        result = EBUSY;                 /* held by either writer or reader(s) */
+    else
+        rwlock->rw_refcount = -1;       /* available, indicate a writer has it */
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+
+    return(result);
+}
+RTM_EXPORT(pthread_rwlock_trywrlock);
+
+int pthread_rwlock_unlock(pthread_rwlock_t *rwlock)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        pthread_rwlock_init(rwlock, NULL);
+
+    if ( (result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    if (rwlock->rw_refcount > 0)
+        rwlock->rw_refcount--;              /* releasing a reader */
+    else if (rwlock->rw_refcount == -1)
+        rwlock->rw_refcount = 0;            /* releasing a writer */
+
+    /* give preference to waiting writers over waiting readers */
+    if (rwlock->rw_nwaitwriters > 0)
+    {
+        if (rwlock->rw_refcount == 0)
+            result = pthread_cond_signal(&rwlock->rw_condwriters);
+    }
+    else if (rwlock->rw_nwaitreaders > 0)
+    {
+        result = pthread_cond_broadcast(&rwlock->rw_condreaders);
+    }
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+
+    return(result);
+}
+RTM_EXPORT(pthread_rwlock_unlock);
+
+int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock)
+{
+    int result;
+
+    if (!rwlock)
+        return EINVAL;
+    if (rwlock->attr == -1)
+        pthread_rwlock_init(rwlock, NULL);
+
+    if ((result = pthread_mutex_lock(&rwlock->rw_mutex)) != 0)
+        return(result);
+
+    while (rwlock->rw_refcount != 0)
+    {
+        rwlock->rw_nwaitwriters++;
+        /* rw_mutex will be released when waiting for rw_condwriters */
+        result = pthread_cond_wait(&rwlock->rw_condwriters, &rwlock->rw_mutex);
+        /* rw_mutex should have been taken again when returned from waiting */
+        rwlock->rw_nwaitwriters--;
+
+        if (result != 0)
+            break;
+    }
+
+    if (result == 0)
+        rwlock->rw_refcount = -1;
+
+    pthread_mutex_unlock(&rwlock->rw_mutex);
+
+    return(result);
+}
+RTM_EXPORT(pthread_rwlock_wrlock);
+
diff --git a/components/libc/posix/pthreads/pthread_spin.c b/components/libc/posix/pthreads/pthread_spin.c
new file mode 100644
index 0000000000..3f3dc1593c
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_spin.c
@@ -0,0 +1,69 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <pthread.h>
+
+int pthread_spin_init (pthread_spinlock_t *lock, int pshared)
+{
+    if (!lock)
+        return EINVAL;
+
+    lock->lock = 0;
+
+    return 0;
+}
+
+int pthread_spin_destroy (pthread_spinlock_t *lock)
+{
+    if (!lock)
+        return EINVAL;
+
+    return 0;
+}
+
+int pthread_spin_lock (pthread_spinlock_t *lock)
+{
+    if (!lock)
+        return EINVAL;
+
+    while (!(lock->lock))
+    {
+        lock->lock = 1;
+    }
+
+    return 0;
+}
+
+int pthread_spin_trylock (pthread_spinlock_t *lock)
+{
+    if (!lock)
+        return EINVAL;
+
+    if (!(lock->lock))
+    {
+        lock->lock = 1;
+
+        return 0;
+    }
+
+    return EBUSY;
+}
+
+int pthread_spin_unlock (pthread_spinlock_t *lock)
+{
+    if (!lock)
+        return EINVAL;
+    if (!(lock->lock))
+        return EPERM;
+
+    lock->lock = 0;
+
+    return 0;
+}
diff --git a/components/libc/posix/pthreads/pthread_tls.c b/components/libc/posix/pthreads/pthread_tls.c
new file mode 100644
index 0000000000..d48df7f2dd
--- /dev/null
+++ b/components/libc/posix/pthreads/pthread_tls.c
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <pthread.h>
+#include "pthread_internal.h"
+
+_pthread_key_data_t _thread_keys[PTHREAD_KEY_MAX];
+
+void pthread_key_system_init()
+{
+    rt_memset(&_thread_keys[0], 0, sizeof(_thread_keys));
+}
+
+void *pthread_getspecific(pthread_key_t key)
+{
+    struct _pthread_data* ptd;
+
+    if (rt_thread_self() == NULL) return NULL;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != NULL);
+
+    if (ptd->tls == NULL)
+        return NULL;
+
+    if ((key < PTHREAD_KEY_MAX) && (_thread_keys[key].is_used))
+        return ptd->tls[key];
+
+    return NULL;
+}
+RTM_EXPORT(pthread_getspecific);
+
+int pthread_setspecific(pthread_key_t key, const void *value)
+{
+    struct _pthread_data* ptd;
+
+    if (rt_thread_self() == NULL) return EINVAL;
+
+    /* get pthread data from user data of thread */
+    ptd = (_pthread_data_t *)rt_thread_self()->user_data;
+    RT_ASSERT(ptd != NULL);
+
+    /* check tls area */
+    if (ptd->tls == NULL)
+    {
+        ptd->tls = (void**)rt_malloc(sizeof(void*) * PTHREAD_KEY_MAX);
+    }
+
+    if ((key < PTHREAD_KEY_MAX) && _thread_keys[key].is_used)
+    {
+        ptd->tls[key] = (void *)value;
+
+        return 0;
+    }
+
+    return EINVAL;
+}
+RTM_EXPORT(pthread_setspecific);
+
+int pthread_key_create(pthread_key_t *key, void (*destructor)(void*))
+{
+    rt_uint32_t index;
+
+    rt_enter_critical();
+    for (index = 0; index < PTHREAD_KEY_MAX; index ++)
+    {
+        if (_thread_keys[index].is_used == 0)
+        {
+            _thread_keys[index].is_used = 1;
+            _thread_keys[index].destructor = destructor;
+
+            *key = index;
+
+            rt_exit_critical();
+
+            return 0;
+        }
+    }
+
+    rt_exit_critical();
+
+    return EAGAIN;
+}
+RTM_EXPORT(pthread_key_create);
+
+int pthread_key_delete(pthread_key_t key)
+{
+    if (key >= PTHREAD_KEY_MAX)
+        return EINVAL;
+
+    rt_enter_critical();
+    _thread_keys[key].is_used = 0;
+    _thread_keys[key].destructor = 0;
+    rt_exit_critical();
+
+    return 0;
+}
+RTM_EXPORT(pthread_key_delete);
+
diff --git a/components/libc/posix/pthreads/sched.c b/components/libc/posix/pthreads/sched.c
new file mode 100644
index 0000000000..5f2a53c01f
--- /dev/null
+++ b/components/libc/posix/pthreads/sched.c
@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+
+#include <sched.h>
+
+int sched_yield(void)
+{
+    rt_thread_yield();
+
+    return 0;
+}
+RTM_EXPORT(sched_yield);
+
+int sched_get_priority_min(int policy)
+{
+    if (policy != SCHED_FIFO && policy != SCHED_RR)
+        return EINVAL;
+
+    return 0;
+}
+RTM_EXPORT(sched_get_priority_min);
+
+int sched_get_priority_max(int policy)
+{
+    if (policy != SCHED_FIFO && policy != SCHED_RR)
+        return EINVAL;
+
+    return RT_THREAD_PRIORITY_MAX - 1;
+}
+RTM_EXPORT(sched_get_priority_max);
+
+int sched_setscheduler(pid_t pid, int policy)
+{
+    return EOPNOTSUPP;
+}
+RTM_EXPORT(sched_setscheduler);
diff --git a/components/libc/posix/pthreads/sched.h b/components/libc/posix/pthreads/sched.h
new file mode 100644
index 0000000000..07e2c0c6a8
--- /dev/null
+++ b/components/libc/posix/pthreads/sched.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+
+#ifndef __SCHED_H__
+#define __SCHED_H__
+
+#include <rtthread.h>
+#include <pthread.h>
+
+/* Thread scheduling policies */
+enum
+{
+    SCHED_OTHER = 0,
+    SCHED_FIFO,
+    SCHED_RR,
+    SCHED_MIN = SCHED_OTHER,
+    SCHED_MAX = SCHED_RR
+};
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+int sched_yield(void);
+int sched_get_priority_min(int policy);
+int sched_get_priority_max(int policy);
+int sched_setscheduler(pid_t pid, int policy);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/components/libc/posix/pthreads/semaphore.c b/components/libc/posix/pthreads/semaphore.c
new file mode 100644
index 0000000000..5e59ae850f
--- /dev/null
+++ b/components/libc/posix/pthreads/semaphore.c
@@ -0,0 +1,387 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#include <rtthread.h>
+#include <string.h>
+#include "semaphore.h"
+#include "pthread_internal.h"
+
+static sem_t *posix_sem_list = RT_NULL;
+static struct rt_semaphore posix_sem_lock;
+void posix_sem_system_init()
+{
+    rt_sem_init(&posix_sem_lock, "psem", 1, RT_IPC_FLAG_FIFO);
+}
+
+rt_inline void posix_sem_insert(sem_t *psem)
+{
+    psem->next = posix_sem_list;
+    posix_sem_list = psem;
+}
+
+static void posix_sem_delete(sem_t *psem)
+{
+    sem_t *iter;
+    if (posix_sem_list == psem)
+    {
+        posix_sem_list = psem->next;
+
+        rt_sem_delete(psem->sem);
+        rt_free(psem);
+
+        return;
+    }
+    for (iter = posix_sem_list; iter->next != RT_NULL; iter = iter->next)
+    {
+        if (iter->next == psem)
+        {
+            /* delete this mq */
+            if (psem->next != RT_NULL)
+                iter->next = psem->next;
+            else
+                iter->next = RT_NULL;
+
+            /* delete RT-Thread mqueue */
+            rt_sem_delete(psem->sem);
+            rt_free(psem);
+
+            return ;
+        }
+    }
+}
+
+static sem_t *posix_sem_find(const char* name)
+{
+    sem_t *iter;
+    rt_object_t object;
+
+    for (iter = posix_sem_list; iter != RT_NULL; iter = iter->next)
+    {
+        object = (rt_object_t)iter->sem;
+
+        if (strncmp(object->name, name, RT_NAME_MAX) == 0)
+        {
+            return iter;
+        }
+    }
+
+    return RT_NULL;
+}
+
+int sem_close(sem_t *sem)
+{
+    if (sem == RT_NULL)
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    /* lock posix semaphore list */
+    rt_sem_take(&posix_sem_lock, RT_WAITING_FOREVER);
+    sem->refcount --;
+    if (sem->refcount == 0)
+    {
+        /* delete from posix semaphore list */
+        if (sem->unlinked)
+            posix_sem_delete(sem);
+        sem = RT_NULL;
+    }
+    rt_sem_release(&posix_sem_lock);
+
+    return 0;
+}
+RTM_EXPORT(sem_close);
+
+int sem_destroy(sem_t *sem)
+{
+    rt_err_t result;
+
+    if ((!sem) || !(sem->unamed))
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    /* lock posix semaphore list */
+    rt_sem_take(&posix_sem_lock, RT_WAITING_FOREVER);
+    result = rt_sem_trytake(sem->sem);
+    if (result != RT_EOK)
+    {
+        rt_sem_release(&posix_sem_lock);
+        rt_set_errno(EBUSY);
+
+        return -1;
+    }
+
+    /* destroy an unamed posix semaphore */
+    posix_sem_delete(sem);
+    rt_sem_release(&posix_sem_lock);
+
+    return 0;
+}
+RTM_EXPORT(sem_destroy);
+
+int sem_unlink(const char *name)
+{
+    sem_t *psem;
+
+    /* lock posix semaphore list */
+    rt_sem_take(&posix_sem_lock, RT_WAITING_FOREVER);
+    psem = posix_sem_find(name);
+    if (psem != RT_NULL)
+    {
+        psem->unlinked = 1;
+        if (psem->refcount == 0)
+        {
+            /* remove this semaphore */
+            posix_sem_delete(psem);
+        }
+        rt_sem_release(&posix_sem_lock);
+
+        return 0;
+    }
+    rt_sem_release(&posix_sem_lock);
+
+    /* no this entry */
+    rt_set_errno(ENOENT);
+
+    return -1;
+}
+RTM_EXPORT(sem_unlink);
+
+int sem_getvalue(sem_t *sem, int *sval)
+{
+    if (!sem || !sval)
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+    *sval = sem->sem->value;
+
+    return 0;
+}
+RTM_EXPORT(sem_getvalue);
+
+int sem_init(sem_t *sem, int pshared, unsigned int value)
+{
+    char name[RT_NAME_MAX];
+    static rt_uint16_t psem_number = 0;
+
+    if (sem == RT_NULL)
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    rt_snprintf(name, sizeof(name), "psem%02d", psem_number++);
+    sem->sem = rt_sem_create(name, value, RT_IPC_FLAG_FIFO);
+    if (sem->sem == RT_NULL)
+    {
+        rt_set_errno(ENOMEM);
+
+        return -1;
+    }
+
+    /* initialize posix semaphore */
+    sem->refcount = 1;
+    sem->unlinked = 0;
+    sem->unamed = 1;
+    /* lock posix semaphore list */
+    rt_sem_take(&posix_sem_lock, RT_WAITING_FOREVER);
+    posix_sem_insert(sem);
+    rt_sem_release(&posix_sem_lock);
+
+    return 0;
+}
+RTM_EXPORT(sem_init);
+
+sem_t *sem_open(const char *name, int oflag, ...)
+{
+    sem_t* sem;
+    va_list arg;
+    mode_t mode;
+    unsigned int value;
+
+    sem = RT_NULL;
+
+    /* lock posix semaphore list */
+    rt_sem_take(&posix_sem_lock, RT_WAITING_FOREVER);
+    if (oflag & O_CREAT)
+    {
+        va_start(arg, oflag);
+        mode = (mode_t) va_arg( arg, unsigned int); mode = mode;
+        value = va_arg( arg, unsigned int);
+        va_end(arg);
+
+        if (oflag & O_EXCL)
+        {
+            if (posix_sem_find(name) != RT_NULL)
+            {
+                rt_set_errno(EEXIST);
+                goto __return;
+            }
+        }
+        sem = (sem_t*) rt_malloc (sizeof(struct posix_sem));
+        if (sem == RT_NULL)
+        {
+            rt_set_errno(ENFILE);
+            goto __return;
+        }
+
+        /* create RT-Thread semaphore */
+        sem->sem = rt_sem_create(name, value, RT_IPC_FLAG_FIFO);
+        if (sem->sem == RT_NULL) /* create failed */
+        {
+            rt_set_errno(ENFILE);
+            goto __return;
+        }
+        /* initialize reference count */
+        sem->refcount = 1;
+        sem->unlinked = 0;
+        sem->unamed = 0;
+
+        /* insert semaphore to posix semaphore list */
+        posix_sem_insert(sem);
+    }
+    else
+    {
+        /* find semaphore */
+        sem = posix_sem_find(name);
+        if (sem != RT_NULL)
+        {
+            sem->refcount ++; /* increase reference count */
+        }
+        else
+        {
+            rt_set_errno(ENOENT);
+            goto __return;
+        }
+    }
+    rt_sem_release(&posix_sem_lock);
+
+    return sem;
+
+__return:
+    /* release lock */
+    rt_sem_release(&posix_sem_lock);
+
+    /* release allocated memory */
+    if (sem != RT_NULL)
+    {
+        /* delete RT-Thread semaphore */
+        if (sem->sem != RT_NULL)
+            rt_sem_delete(sem->sem);
+        rt_free(sem);
+    }
+
+    return RT_NULL;
+}
+RTM_EXPORT(sem_open);
+
+int sem_post(sem_t *sem)
+{
+    rt_err_t result;
+
+    if (!sem)
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    result = rt_sem_release(sem->sem);
+    if (result == RT_EOK)
+        return 0;
+
+    rt_set_errno(EINVAL);
+
+    return -1;
+}
+RTM_EXPORT(sem_post);
+
+int sem_timedwait(sem_t *sem, const struct timespec *abs_timeout)
+{
+    rt_err_t result;
+    rt_int32_t tick;
+
+    if (!sem || !abs_timeout)
+        return EINVAL;
+
+    /* calculate os tick */
+    tick = rt_timespec_to_tick(abs_timeout);
+
+    result = rt_sem_take(sem->sem, tick);
+    if (result == -RT_ETIMEOUT)
+    {
+        rt_set_errno(ETIMEDOUT);
+
+        return -1;
+    }
+    if (result == RT_EOK)
+        return 0;
+
+    rt_set_errno(EINTR);
+
+    return -1;
+}
+RTM_EXPORT(sem_timedwait);
+
+int sem_trywait(sem_t *sem)
+{
+    rt_err_t result;
+
+    if (!sem)
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    result = rt_sem_take(sem->sem, 0);
+    if (result == -RT_ETIMEOUT)
+    {
+        rt_set_errno(EAGAIN);
+
+        return -1;
+    }
+    if (result == RT_EOK)
+        return 0;
+
+    rt_set_errno(EINTR);
+
+    return -1;
+}
+RTM_EXPORT(sem_trywait);
+
+int sem_wait(sem_t *sem)
+{
+    rt_err_t result;
+
+    if (!sem)
+    {
+        rt_set_errno(EINVAL);
+
+        return -1;
+    }
+
+    result = rt_sem_take(sem->sem, RT_WAITING_FOREVER);
+    if (result == RT_EOK)
+        return 0;
+
+    rt_set_errno(EINTR);
+
+    return -1;
+}
+RTM_EXPORT(sem_wait);
+
diff --git a/components/libc/posix/pthreads/semaphore.h b/components/libc/posix/pthreads/semaphore.h
new file mode 100644
index 0000000000..872226e385
--- /dev/null
+++ b/components/libc/posix/pthreads/semaphore.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2010-10-26     Bernard      the first version
+ */
+
+#ifndef __POSIX_SEMAPHORE_H__
+#define __POSIX_SEMAPHORE_H__
+
+#include <rtthread.h>
+#include <pthread.h>
+
+struct posix_sem
+{
+    /* reference count and unlinked */
+    rt_uint16_t refcount;
+    rt_uint8_t unlinked;
+    rt_uint8_t unamed;
+
+    /* RT-Thread semaphore */
+    rt_sem_t sem;
+
+    /* next posix semaphore */
+    struct posix_sem* next;
+};
+typedef struct posix_sem sem_t;
+
+int sem_close(sem_t *sem);
+int sem_destroy(sem_t *sem);
+int sem_getvalue(sem_t *sem, int *sval);
+int sem_init(sem_t *sem, int pshared, unsigned int value);
+sem_t *sem_open(const char *name, int oflag, ...);
+int sem_post(sem_t *sem);
+int sem_timedwait(sem_t *sem, const struct timespec *abs_timeout);
+int sem_trywait(sem_t *sem);
+int sem_unlink(const char *name);
+int sem_wait(sem_t *sem);
+
+#endif