note

1 files changed, 26 insertions, 4 deletions

diff --git a/src/thread.c b/src/thread.c
index 74a573b78f..49e2022bf7 100644
--- a/src/thread.c
+++ b/src/thread.c
@@ -338,6 +338,9 @@ rt_err_t rt_thread_detach(rt_thread_t thread)
     RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
     RT_ASSERT(rt_object_is_systemobject((rt_object_t)thread));
 
+    if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_CLOSE)
+        return RT_EOK;
+
     if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
     {
         /* remove from schedule */
@@ -437,6 +440,9 @@ rt_err_t rt_thread_delete(rt_thread_t thread)
     RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
     RT_ASSERT(rt_object_is_systemobject((rt_object_t)thread) == RT_FALSE);
 
+    if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_CLOSE)
+        return RT_EOK;
+
     if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
     {
         /* remove from schedule */
@@ -472,7 +478,15 @@ RTM_EXPORT(rt_thread_delete);
  */
 rt_err_t rt_thread_yield(void)
 {
+    struct rt_thread *thread;
+    rt_base_t lock;
+
+    thread = rt_thread_self();
+    lock = rt_hw_interrupt_disable();
+    thread->remaining_tick = thread->init_tick;
+    thread->stat |= RT_THREAD_STAT_YIELD;
     rt_schedule();
+    rt_hw_interrupt_enable(lock);
 
     return RT_EOK;
 }
@@ -555,7 +569,7 @@ rt_err_t rt_thread_delay_until(rt_tick_t *tick, rt_tick_t inc_tick)
 
     if (rt_tick_get() - *tick < inc_tick)
     {
-        *tick = rt_tick_get() - *tick + inc_tick;
+        *tick = *tick + inc_tick - rt_tick_get();
 
         /* suspend thread */
         rt_thread_suspend(thread);
@@ -590,7 +604,7 @@ RTM_EXPORT(rt_thread_delay_until);
 /**
  * This function will let current thread delay for some milliseconds.
  *
- * @param tick the delay time
+ * @param ms the delay ms time
  *
  * @return RT_EOK
  */
@@ -673,9 +687,17 @@ rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg)
     case RT_THREAD_CTRL_STARTUP:
         return rt_thread_startup(thread);
 
-#ifdef RT_USING_HEAP
     case RT_THREAD_CTRL_CLOSE:
-        return rt_thread_delete(thread);
+
+        if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
+        {
+            return rt_thread_detach(thread);
+        }
+#ifdef RT_USING_HEAP
+        else
+        {
+            return rt_thread_delete(thread);
+        }
 #endif
 
 #ifdef RT_USING_SMP