Merge pull request #3 from RT-Thread/master

sync

7 files changed, 335 insertions, 166 deletions

diff --git a/components/libc/pthreads/SConscript b/components/libc/pthreads/SConscript
index 1b7b75bfd1..e154ee0aa9 100644
--- a/components/libc/pthreads/SConscript
+++ b/components/libc/pthreads/SConscript
@@ -1,10 +1,22 @@
 from building import *
+from utils import VersionCmp
 
-cwd = GetCurrentDir()
-src	= Glob('*.c')
-CPPPATH = [cwd]
+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('pthreads', src, 
-    depend = ['RT_USING_PTHREADS', 'RT_USING_LIBC'], CPPPATH = CPPPATH)
+    depend = ['RT_USING_PTHREADS', 'RT_USING_LIBC'], CPPPATH = CPPPATH, CPPDEFINES = CPPDEFINES)
 
 Return('group')
diff --git a/components/libc/pthreads/pthread.c b/components/libc/pthreads/pthread.c
index 62c110499d..19a511b45b 100644
--- a/components/libc/pthreads/pthread.c
+++ b/components/libc/pthreads/pthread.c
@@ -7,12 +7,124 @@
  * 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 "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);
+
+    _pthread_data_t *ptd = _pthread_get_data(pth);
+    if (ptd)
+    {
+        /* 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 && ptd->tid->stack_addr != RT_NULL)
+        {
+            /* release thread allocated stack */
+            rt_free(ptd->tid->stack_addr);
+        }
+        /* clean stack addr pointer */
+        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 */
@@ -26,10 +138,24 @@ int pthread_system_init(void)
 }
 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;
-    ptd = _pthread_get_data(tid);
+
+    /* 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;
@@ -40,14 +166,14 @@ static void _pthread_cleanup(rt_thread_t tid)
     else
     {
         /* release pthread resource */
-        pthread_detach(tid);
+        _pthread_destroy(ptd);
     }
 }
 
 static void pthread_entry_stub(void *parameter)
 {
-    _pthread_data_t *ptd;
     void *value;
+    _pthread_data_t *ptd;
 
     ptd = (_pthread_data_t *)parameter;
 
@@ -57,29 +183,30 @@ static void pthread_entry_stub(void *parameter)
     ptd->return_value = value;
 }
 
-int pthread_create(pthread_t            *tid,
+int pthread_create(pthread_t            *pid,
                    const pthread_attr_t *attr,
                    void *(*start)(void *), void *parameter)
 {
-    int result;
+    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;
 
-    /* tid shall be provided */
-    RT_ASSERT(tid != RT_NULL);
+    /* pid shall be provided */
+    RT_ASSERT(pid != RT_NULL);
 
     /* allocate posix thread data */
-    ptd = (_pthread_data_t *)rt_malloc(sizeof(_pthread_data_t));
-    if (ptd == RT_NULL)
-        return ENOMEM;
-    /* clean posix thread data memory */
-    rt_memset(ptd, 0, sizeof(_pthread_data_t));
-    ptd->canceled = 0;
-    ptd->cancelstate = PTHREAD_CANCEL_DISABLE;
-    ptd->canceltype = PTHREAD_CANCEL_DEFERRED;
-    ptd->magic = PTHREAD_MAGIC;
+    pth_id = _pthread_data_create();
+    if (pth_id == PTHREAD_NUM_MAX) 
+    {
+        ret = ENOMEM;
+        goto __exit;
+    }
+    /* get pthread data */
+    ptd = _pthread_get_data(pth_id);
 
     if (attr != RT_NULL)
     {
@@ -92,43 +219,23 @@ int pthread_create(pthread_t            *tid,
     }
 
     rt_snprintf(name, sizeof(name), "pth%02d", pthread_number ++);
-    if (ptd->attr.stack_base == 0)
-    {
-        stack = (void *)rt_malloc(ptd->attr.stack_size);
-    }
-    else
-    {
-        stack = (void *)(ptd->attr.stack_base);
-    }
-
-    if (stack == RT_NULL)
-    {
-        rt_free(ptd);
-
-        return ENOMEM;
-    }
 
     /* pthread is a static thread object */
     ptd->tid = (rt_thread_t) rt_malloc(sizeof(struct rt_thread));
     if (ptd->tid == RT_NULL)
     {
-        if (ptd->attr.stack_base == 0)
-            rt_free(stack);
-        rt_free(ptd);
-
-        return ENOMEM;
+        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)
         {
-            if (ptd->attr.stack_base != 0)
-                rt_free(stack);
-            rt_free(ptd);
-
-            return ENOMEM;
+            ret = ENOMEM;
+            goto __exit;
         }
     }
     else
@@ -140,101 +247,109 @@ int pthread_create(pthread_t            *tid,
     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.stack_size,
-                       ptd->attr.priority, 5) != RT_EOK)
+                       stack, ptd->attr.stacksize,
+                       ptd->attr.schedparam.sched_priority, 5) != RT_EOK)
     {
-        if (ptd->attr.stack_base == 0)
-            rt_free(stack);
-        if (ptd->joinable_sem != RT_NULL)
-            rt_sem_delete(ptd->joinable_sem);
-        rt_free(ptd);
-
-        return EINVAL;
+        ret = EINVAL;
+        goto __exit;
     }
 
     /* set pthread id */
-    *tid = ptd->tid;
+    *pid = pth_id;
 
     /* set pthread cleanup function and ptd data */
-    (*tid)->cleanup = _pthread_cleanup;
-    (*tid)->user_data = (rt_uint32_t)ptd;
+    ptd->tid->cleanup = _pthread_cleanup;
+    ptd->tid->user_data = (rt_ubase_t)ptd;
 
     /* start thread */
-    result = rt_thread_startup(*tid);
-    if (result == RT_EOK)
+    if (rt_thread_startup(ptd->tid) == RT_EOK)
         return 0;
 
     /* start thread failed */
     rt_thread_detach(ptd->tid);
-    if (ptd->attr.stack_base == 0)
-        rt_free(stack);
-    if (ptd->joinable_sem != RT_NULL)
-        rt_sem_delete(ptd->joinable_sem);
+    ret = EINVAL;
 
-    rt_free(ptd);
-
-    return 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)
 {
-    _pthread_data_t *ptd;
-
-    ptd = _pthread_get_data(thread);
+    int ret = 0;
+    _pthread_data_t *ptd = _pthread_get_data(thread);
 
+    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.
          */
-        return EINVAL;
+        ret = EINVAL;
+        goto __exit;
     }
 
-    if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_CLOSE)
+    if ((ptd->tid->stat & RT_THREAD_STAT_MASK) == RT_THREAD_CLOSE)
     {
-        /* delete joinable semaphore */
-        if (ptd->joinable_sem != RT_NULL)
-            rt_sem_delete(ptd->joinable_sem);
-        /* detach thread object */
-        rt_thread_detach(ptd->tid);
-
-        /* release thread resource */
-        if (ptd->attr.stack_base == RT_NULL)
+        /* this defunct pthread is not handled by idle */
+        if (rt_sem_trytake(ptd->joinable_sem) != RT_EOK)
         {
-            /* release thread allocated stack */
-            rt_free(ptd->tid->stack_addr);
+            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
         {
-            /* clean stack addr pointer */
-            ptd->tid->stack_addr = RT_NULL;
+            /* destroy this pthread */
+            _pthread_destroy(ptd);
         }
 
-        /*
-         * if this thread create the local thread data,
-         * delete it
-         */
-        if (ptd->tls != RT_NULL)
-            rt_free(ptd->tls);
-        rt_free(ptd->tid);
-        rt_free(ptd);
+        goto __exit;
     }
     else
     {
-        rt_enter_critical();
         /* change to detach state */
         ptd->attr.detachstate = PTHREAD_CREATE_DETACHED;
 
         /* detach joinable semaphore */
-        rt_sem_delete(ptd->joinable_sem);
-        ptd->joinable_sem = RT_NULL;
-        rt_exit_critical();
+        if (ptd->joinable_sem)
+        {
+            rt_sem_delete(ptd->joinable_sem);
+            ptd->joinable_sem = RT_NULL;
+        }
     }
 
-    return 0;
+__exit:
+    rt_exit_critical();
+    return ret;
 }
 RTM_EXPORT(pthread_detach);
 
@@ -243,13 +358,13 @@ int pthread_join(pthread_t thread, void **value_ptr)
     _pthread_data_t *ptd;
     rt_err_t result;
 
-    if (thread == rt_thread_self())
+    ptd = _pthread_get_data(thread);
+    if (ptd && ptd->tid == rt_thread_self())
     {
         /* join self */
         return EDEADLK;
     }
 
-    ptd = _pthread_get_data(thread);
     if (ptd->attr.detachstate == PTHREAD_CREATE_DETACHED)
         return EINVAL; /* join on a detached pthread */
 
@@ -260,8 +375,8 @@ int pthread_join(pthread_t thread, void **value_ptr)
         if (value_ptr != RT_NULL)
             *value_ptr = ptd->return_value;
 
-        /* release resource */
-        pthread_detach(thread);
+        /* destroy this pthread */
+        _pthread_destroy(ptd);
     }
     else
     {
@@ -272,13 +387,32 @@ int pthread_join(pthread_t thread, void **value_ptr)
 }
 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];
 
-    ptd = _pthread_get_data(rt_thread_self());
+    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 */
@@ -319,12 +453,6 @@ void pthread_exit(void *value)
         ptd->tls = RT_NULL;
     }
 
-    if (ptd->attr.detachstate == PTHREAD_CREATE_JOINABLE)
-    {
-        /* release the joinable pthread */
-        rt_sem_release(ptd->joinable_sem);
-    }
-
     /* detach thread */
     rt_thread_detach(ptd->tid);
     /* reschedule thread */
@@ -361,7 +489,15 @@ RTM_EXPORT(pthread_atfork);
 int pthread_kill(pthread_t thread, int sig)
 {
 #ifdef RT_USING_SIGNALS
-    return rt_thread_kill(thread, sig);
+    _pthread_data_t *ptd;
+
+    ptd = _pthread_get_data(thread);
+    if (ptd)
+    {
+        return rt_thread_kill(ptd->tid, sig);
+    }
+
+    return EINVAL;
 #else
     return ENOSYS;
 #endif
@@ -380,8 +516,10 @@ void pthread_cleanup_pop(int execute)
     _pthread_data_t *ptd;
     _pthread_cleanup_t *cleanup;
 
-    /* get posix thread data */
-    ptd = _pthread_get_data(rt_thread_self());
+    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)
@@ -407,8 +545,10 @@ void pthread_cleanup_push(void (*routine)(void *), void *arg)
     _pthread_data_t *ptd;
     _pthread_cleanup_t *cleanup;
 
-    /* get posix thread data */
-    ptd = _pthread_get_data(rt_thread_self());
+    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));
@@ -457,8 +597,10 @@ int pthread_setcancelstate(int state, int *oldstate)
 {
     _pthread_data_t *ptd;
 
-    /* get posix thread data */
-    ptd = _pthread_get_data(rt_thread_self());
+    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))
@@ -478,8 +620,10 @@ int pthread_setcanceltype(int type, int *oldtype)
 {
     _pthread_data_t *ptd;
 
-    /* get posix thread data */
-    ptd = _pthread_get_data(rt_thread_self());
+    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))
@@ -498,8 +642,10 @@ void pthread_testcancel(void)
     int cancel = 0;
     _pthread_data_t *ptd;
 
-    /* get posix thread data */
-    ptd = _pthread_get_data(rt_thread_self());
+    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)
@@ -513,14 +659,14 @@ int pthread_cancel(pthread_t thread)
 {
     _pthread_data_t *ptd;
 
-    /* cancel self */
-    if (thread == rt_thread_self())
-        return 0;
-
     /* get posix thread data */
     ptd = _pthread_get_data(thread);
     RT_ASSERT(ptd != RT_NULL);
 
+    /* cancel self */
+    if (ptd->tid == rt_thread_self())
+        return 0;
+
     /* set canceled */
     if (ptd->cancelstate == PTHREAD_CANCEL_ENABLE)
     {
@@ -534,10 +680,11 @@ int pthread_cancel(pthread_t thread)
              * thread (pthread_cleanup), it will move to defunct
              * thread list and wait for handling in idle thread.
              */
-            rt_thread_detach(thread);
+            rt_thread_detach(ptd->tid);
         }
     }
 
     return 0;
 }
 RTM_EXPORT(pthread_cancel);
+
diff --git a/components/libc/pthreads/pthread.h b/components/libc/pthreads/pthread.h
index 6a82375de4..7bb72b726c 100644
--- a/components/libc/pthreads/pthread.h
+++ b/components/libc/pthreads/pthread.h
@@ -12,6 +12,11 @@
 #define __PTHREAD_H__
 
 #include <rtthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include <posix_types.h>
 #include <sched.h>
 
@@ -27,7 +32,7 @@
 #define PTHREAD_EXPLICIT_SCHED      0
 #define PTHREAD_INHERIT_SCHED       1
 
-typedef rt_thread_t pthread_t;
+typedef long pthread_t;
 typedef long pthread_condattr_t;
 typedef long pthread_rwlockattr_t;
 typedef long pthread_mutexattr_t;
@@ -71,15 +76,21 @@ enum
 #define PTHREAD_SCOPE_PROCESS   0
 #define PTHREAD_SCOPE_SYSTEM    1
 
+struct sched_param
+{
+    int sched_priority;
+};
+
 struct pthread_attr
 {
-    void*       stack_base;
-    rt_uint32_t stack_size;     /* stack size of thread */
+    void* stackaddr;        /* stack address of thread */
+    int   stacksize;        /* stack size of thread */
 
-    rt_uint8_t priority;        /* priority of thread */
-    rt_uint8_t detachstate;     /* detach state */
-    rt_uint8_t policy;          /* scheduler policy */
-    rt_uint8_t inheritsched;    /* Inherit parent prio/policy */
+    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;
 
@@ -126,11 +137,6 @@ struct pthread_barrier
 };
 typedef struct pthread_barrier pthread_barrier_t;
 
-struct sched_param
-{
-    int sched_priority;
-};
-
 /* pthread thread interface */
 int pthread_attr_destroy(pthread_attr_t *attr);
 int pthread_attr_init(pthread_attr_t *attr);
@@ -166,10 +172,7 @@ rt_inline int pthread_equal (pthread_t t1, pthread_t t2)
     return t1 == t2;
 }
 
-rt_inline pthread_t pthread_self (void)
-{
-    return rt_thread_self();
-}
+pthread_t pthread_self (void);
 
 void pthread_exit (void *value_ptr);
 int pthread_once(pthread_once_t * once_control, void (*init_routine) (void));
@@ -262,4 +265,8 @@ int pthread_barrier_init(pthread_barrier_t           *barrier,
 
 int pthread_barrier_wait(pthread_barrier_t *barrier);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif
diff --git a/components/libc/pthreads/pthread_attr.c b/components/libc/pthreads/pthread_attr.c
index 8eed35932f..2294599bf3 100644
--- a/components/libc/pthreads/pthread_attr.c
+++ b/components/libc/pthreads/pthread_attr.c
@@ -20,10 +20,13 @@ const pthread_attr_t pthread_default_attr =
 {
     0,                          /* stack base */
     DEFAULT_STACK_SIZE,         /* stack size */
-    DEFAULT_PRIORITY,           /* priority */
-    PTHREAD_CREATE_JOINABLE,    /* detach state */
+
+    PTHREAD_INHERIT_SCHED,      /* Inherit parent prio/policy */
     SCHED_FIFO,                 /* scheduler policy */
-    PTHREAD_INHERIT_SCHED       /* Inherit parent prio/policy */
+    {
+        DEFAULT_PRIORITY,       /* scheduler priority */
+    },
+    PTHREAD_CREATE_JOINABLE,    /* detach state */
 };
 
 int pthread_attr_init(pthread_attr_t *attr)
@@ -73,7 +76,7 @@ int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy)
 {
     RT_ASSERT(attr != RT_NULL);
 
-    attr->policy = policy;
+    attr->schedpolicy = policy;
 
     return 0;
 }
@@ -83,7 +86,7 @@ int pthread_attr_getschedpolicy(pthread_attr_t const *attr, int *policy)
 {
     RT_ASSERT(attr != RT_NULL);
 
-    *policy = (int)attr->policy;
+    *policy = (int)attr->schedpolicy;
 
     return 0;
 }
@@ -95,7 +98,7 @@ int pthread_attr_setschedparam(pthread_attr_t           *attr,
     RT_ASSERT(attr != RT_NULL);
     RT_ASSERT(param != RT_NULL);
 
-    attr->priority = param->sched_priority;
+    attr->schedparam.sched_priority = param->sched_priority;
 
     return 0;
 }
@@ -107,7 +110,7 @@ int pthread_attr_getschedparam(pthread_attr_t const *attr,
     RT_ASSERT(attr != RT_NULL);
     RT_ASSERT(param != RT_NULL);
 
-    param->sched_priority = attr->priority;
+    param->sched_priority = attr->schedparam.sched_priority;
 
     return 0;
 }
@@ -117,7 +120,7 @@ int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stack_size)
 {
     RT_ASSERT(attr != RT_NULL);
 
-    attr->stack_size = stack_size;
+    attr->stacksize = stack_size;
 
     return 0;
 }
@@ -127,7 +130,7 @@ int pthread_attr_getstacksize(pthread_attr_t const *attr, size_t *stack_size)
 {
     RT_ASSERT(attr != RT_NULL);
 
-    *stack_size = attr->stack_size;
+    *stack_size = attr->stacksize;
 
     return 0;
 }
@@ -155,8 +158,8 @@ int pthread_attr_setstack(pthread_attr_t *attr,
 {
     RT_ASSERT(attr != RT_NULL);
 
-    attr->stack_base = stack_base;
-    attr->stack_size = RT_ALIGN_DOWN(stack_size, RT_ALIGN_SIZE);
+    attr->stackaddr = stack_base;
+    attr->stacksize = RT_ALIGN_DOWN(stack_size, RT_ALIGN_SIZE);
 
     return 0;
 }
@@ -168,8 +171,8 @@ int pthread_attr_getstack(pthread_attr_t const *attr,
 {
     RT_ASSERT(attr != RT_NULL);
 
-    *stack_base = attr->stack_base;
-    *stack_size = attr->stack_size;
+    *stack_base = attr->stackaddr;
+    *stack_size = attr->stacksize;
 
     return 0;
 }
diff --git a/components/libc/pthreads/pthread_cond.c b/components/libc/pthreads/pthread_cond.c
index d3c4ac7637..38dc697469 100644
--- a/components/libc/pthreads/pthread_cond.c
+++ b/components/libc/pthreads/pthread_cond.c
@@ -189,7 +189,7 @@ rt_err_t _pthread_cond_timedwait(pthread_cond_t  *cond,
         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 != pthread_self())
+    if (mutex->lock.owner != rt_thread_self())
         return -RT_ERROR;
     /* unlock a mutex failed */
     if (pthread_mutex_unlock(mutex) != 0)
diff --git a/components/libc/pthreads/pthread_internal.h b/components/libc/pthreads/pthread_internal.h
index 3e94e867d7..a6706ca091 100644
--- a/components/libc/pthreads/pthread_internal.h
+++ b/components/libc/pthreads/pthread_internal.h
@@ -30,6 +30,10 @@ struct _pthread_key_data
 };
 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
 {
@@ -56,17 +60,7 @@ struct _pthread_data
 };
 typedef struct _pthread_data _pthread_data_t;
 
-rt_inline _pthread_data_t *_pthread_get_data(pthread_t thread)
-{
-    _pthread_data_t *ptd;
-    RT_ASSERT(thread != RT_NULL);
-
-    ptd = (_pthread_data_t *)thread->user_data;
-    RT_ASSERT(ptd != RT_NULL);
-    RT_ASSERT(ptd->magic == PTHREAD_MAGIC);
-
-    return ptd;
-}
+_pthread_data_t *_pthread_get_data(pthread_t thread);
 
 int clock_time_to_tick(const struct timespec *time);
 
diff --git a/components/libc/pthreads/pthread_tls.c b/components/libc/pthreads/pthread_tls.c
index c6d0bca155..4b97d796d9 100644
--- a/components/libc/pthreads/pthread_tls.c
+++ b/components/libc/pthreads/pthread_tls.c
@@ -22,7 +22,10 @@ void *pthread_getspecific(pthread_key_t key)
 {
     struct _pthread_data* ptd;
 
-    ptd = _pthread_get_data(rt_thread_self());
+    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)
@@ -39,7 +42,10 @@ int pthread_setspecific(pthread_key_t key, const void *value)
 {
     struct _pthread_data* ptd;
 
-    ptd = _pthread_get_data(rt_thread_self());
+    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 */