Merge branch 'master' into developer

18 files changed, 455 insertions, 195 deletions

diff --git a/src/Kconfig b/src/Kconfig
index 803c827e51..6afb719395 100644
--- a/src/Kconfig
+++ b/src/Kconfig
@@ -116,6 +116,18 @@ config RT_TIMER_THREAD_STACK_SIZE
 
 endif
 
+menu "kservice optimization"
+
+config RT_KSERVICE_USING_STDLIB
+    bool "Enable kservice to use standard C library"
+    default n
+
+config RT_KSERVICE_USING_TINY_SIZE
+    bool "Enable kservice to use tiny size"
+    default n
+
+endmenu
+
 menuconfig RT_DEBUG
     bool "Enable debugging features"
     default y
@@ -284,21 +296,19 @@ menu "Memory Management"
 
     endchoice
 
-    if RT_USING_SMALL_MEM
-        config RT_USING_MEMTRACE
-            bool "Enable memory trace"
-            default n
-            help
-                When enable RT_USING_MEMTRACE with shell, developer can call cmd:
-                1. memtrace
-                   to dump memory block information.
-                2. memcheck
-                   to check memory block to avoid memory overwritten.
+    config RT_USING_MEMTRACE
+        bool "Enable memory trace"
+        default n
+        help
+            When enable RT_USING_MEMTRACE with shell, developer can call cmd:
+            1. memtrace
+                to dump memory block information.
+            2. memcheck
+                to check memory block to avoid memory overwritten.
 
-                And developer also can call memcheck() in each of scheduling
-                to check memory block to find which thread has wrongly modified
-                memory.
-    endif
+            And developer also can call memcheck() in each of scheduling
+            to check memory block to find which thread has wrongly modified
+            memory.
 
     config RT_USING_HEAP
         bool
diff --git a/src/clock.c b/src/clock.c
index 66923e5c00..0880d8d241 100644
--- a/src/clock.c
+++ b/src/clock.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -111,7 +111,7 @@ rt_tick_t rt_tick_from_millisecond(rt_int32_t ms)
         tick = RT_TICK_PER_SECOND * (ms / 1000);
         tick += (RT_TICK_PER_SECOND * (ms % 1000) + 999) / 1000;
     }
-    
+
     /* return the calculated tick */
     return tick;
 }
diff --git a/src/components.c b/src/components.c
index 8ea5654d0c..9709d0aae2 100644
--- a/src/components.c
+++ b/src/components.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/src/cpu.c b/src/cpu.c
index 96e585713b..48ddb12c46 100644
--- a/src/cpu.c
+++ b/src/cpu.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/src/device.c b/src/device.c
index a4f004fb69..50b83c7692 100644
--- a/src/device.c
+++ b/src/device.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -12,6 +12,7 @@
  * 2012-12-25     Bernard      return RT_EOK if the device interface not exist.
  * 2013-07-09     Grissiom     add ref_count support
  * 2016-04-02     Bernard      fix the open_flag initialization issue.
+ * 2021-03-19     Meco Man     remove rt_device_init_all()
  */
 
 #include <rtthread.h>
@@ -90,19 +91,6 @@ rt_err_t rt_device_unregister(rt_device_t dev)
 RTM_EXPORT(rt_device_unregister);
 
 /**
- * This function initializes all registered device driver
- *
- * @return the error code, RT_EOK on successfully.
- *
- * @deprecated since 1.2.x, this function is not needed because the initialization
- *             of a device is performed when application opens it.
- */
-rt_err_t rt_device_init_all(void)
-{
-    return RT_EOK;
-}
-
-/**
  * This function finds a device driver by specified name.
  *
  * @param name the device driver's name
diff --git a/src/idle.c b/src/idle.c
index aa14552a49..24dfffbc6d 100644
--- a/src/idle.c
+++ b/src/idle.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -211,7 +211,7 @@ static void rt_thread_idle_entry(void *parameter)
 #endif
 
         rt_thread_idle_excute();
-#ifdef RT_USING_PM        
+#ifdef RT_USING_PM
         rt_system_power_manager();
 #endif
     }
diff --git a/src/ipc.c b/src/ipc.c
index d037708979..111d724c23 100755
--- a/src/ipc.c
+++ b/src/ipc.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -34,7 +34,7 @@
  * 2013-09-14     Grissiom     add an option check in rt_event_recv
  * 2018-10-02     Bernard      add 64bit support for mailbox
  * 2019-09-16     tyx          add send wait support for message queue
- * 2020-07-29     Meco Man     fix thread->event_set/event_info when received an 
+ * 2020-07-29     Meco Man     fix thread->event_set/event_info when received an
  *                             event without pending
  * 2020-10-11     Meco Man     add value overflow-check code
  * 2021-01-03     Meco Man     add rt_mb_urgent()
@@ -124,7 +124,7 @@ rt_inline rt_err_t rt_ipc_list_suspend(rt_list_t        *list,
         break;
 
     default:
-        break;  
+        break;
     }
 
     return RT_EOK;
@@ -959,7 +959,7 @@ rt_err_t rt_mutex_release(rt_mutex_t mutex)
                 rt_hw_interrupt_enable(temp); /* enable interrupt */
                 return -RT_EFULL; /* value overflowed */
             }
-            
+
             /* clear owner */
             mutex->owner             = RT_NULL;
             mutex->original_priority = 0xff;
@@ -1280,11 +1280,11 @@ rt_err_t rt_event_recv(rt_event_t   event,
         /* set received event */
         if (recved)
             *recved = (event->set & set);
-            
-        /* fill thread event info */            
+
+        /* fill thread event info */
         thread->event_set = (event->set & set);
         thread->event_info = option;
-        
+
         /* received event */
         if (option & RT_EVENT_FLAG_CLEAR)
             event->set &= ~set;
@@ -1649,7 +1649,7 @@ rt_err_t rt_mb_send_wait(rt_mailbox_t mb,
     ++ mb->in_offset;
     if (mb->in_offset >= mb->size)
         mb->in_offset = 0;
-    
+
     if(mb->entry < RT_MB_ENTRY_MAX)
     {
         /* increase message entry */
@@ -1660,7 +1660,7 @@ rt_err_t rt_mb_send_wait(rt_mailbox_t mb,
         rt_hw_interrupt_enable(temp); /* enable interrupt */
         return -RT_EFULL; /* value overflowed */
     }
-    
+
     /* resume suspended thread */
     if (!rt_list_isempty(&mb->parent.suspend_thread))
     {
@@ -2203,7 +2203,7 @@ rt_err_t rt_mq_send_wait(rt_mq_t     mq,
     }
 
     /* message queue is full */
-    while ((msg = mq->msg_queue_free) == RT_NULL)
+    while ((msg = (struct rt_mq_message *)mq->msg_queue_free) == RT_NULL)
     {
         /* reset error number in thread */
         thread->error = RT_EOK;
@@ -2409,7 +2409,7 @@ rt_err_t rt_mq_urgent(rt_mq_t mq, const void *buffer, rt_size_t size)
         rt_hw_interrupt_enable(temp); /* enable interrupt */
         return -RT_EFULL; /* value overflowed */
     }
-    
+
     /* resume suspended thread */
     if (!rt_list_isempty(&mq->parent.suspend_thread))
     {
diff --git a/src/irq.c b/src/irq.c
index 311d297bfe..177c1a9ff5 100644
--- a/src/irq.c
+++ b/src/irq.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -21,7 +21,7 @@ static void (*rt_interrupt_leave_hook)(void);
 
 /**
  * @ingroup Hook
- * This function set a hook function when the system enter a interrupt 
+ * This function set a hook function when the system enter a interrupt
  *
  * @note the hook function must be simple and never be blocked or suspend.
  */
@@ -31,7 +31,7 @@ void rt_interrupt_enter_sethook(void (*hook)(void))
 }
 /**
  * @ingroup Hook
- * This function set a hook function when the system exit a interrupt. 
+ * This function set a hook function when the system exit a interrupt.
  *
  * @note the hook function must be simple and never be blocked or suspend.
  */
diff --git a/src/kservice.c b/src/kservice.c
index 423fe3ddb3..e9972dba97 100644
--- a/src/kservice.c
+++ b/src/kservice.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -17,6 +17,7 @@
  * 2013-06-24     Bernard      remove rt_kprintf if RT_USING_CONSOLE is not defined.
  * 2013-09-24     aozima       make sure the device is in STREAM mode when used by rt_kprintf.
  * 2015-07-06     Bernard      Add rt_assert_handler routine.
+ * 2021-02-28     Meco Man     add RT_KSERVICE_USING_STDLIB
  */
 
 #include <rtthread.h>
@@ -125,7 +126,7 @@ RTM_EXPORT(_rt_errno);
  */
 RT_WEAK void *rt_memset(void *s, int c, rt_ubase_t count)
 {
-#ifdef RT_USING_TINY_SIZE
+#ifdef RT_KSERVICE_USING_TINY_SIZE
     char *xs = (char *)s;
 
     while (count--)
@@ -146,10 +147,10 @@ RT_WEAK void *rt_memset(void *s, int c, rt_ubase_t count)
 
     if (!TOO_SMALL(count) && !UNALIGNED(s))
     {
-        /* If we get this far, we know that n is large and m is word-aligned. */
+        /* If we get this far, we know that count is large and s is word-aligned. */
         aligned_addr = (unsigned long *)s;
 
-        /* Store D into each char sized location in BUFFER so that
+        /* Store d into each char sized location in buffer so that
          * we can set large blocks quickly.
          */
         if (LBLOCKSIZE == 4)
@@ -209,7 +210,7 @@ RTM_EXPORT(rt_memset);
  */
 RT_WEAK void *rt_memcpy(void *dst, const void *src, rt_ubase_t count)
 {
-#ifdef RT_USING_TINY_SIZE
+#ifdef RT_KSERVICE_USING_TINY_SIZE
     char *tmp = (char *)dst, *s = (char *)src;
     rt_ubase_t len;
 
@@ -280,6 +281,8 @@ RT_WEAK void *rt_memcpy(void *dst, const void *src, rt_ubase_t count)
 }
 RTM_EXPORT(rt_memcpy);
 
+#ifndef RT_KSERVICE_USING_STDLIB
+
 /**
  * This function will move memory content from source address to destination
  * address.
@@ -456,7 +459,7 @@ RTM_EXPORT(rt_strncmp);
 rt_int32_t rt_strcmp(const char *cs, const char *ct)
 {
     while (*cs && *cs == *ct)
-    {        
+    {
         cs++;
         ct++;
     }
@@ -506,6 +509,8 @@ rt_size_t rt_strlen(const char *s)
 }
 RTM_EXPORT(rt_strlen);
 
+#endif /*RT_KSERVICE_USING_STDLIB*/
+
 #ifdef RT_USING_HEAP
 /**
  * This function will duplicate a string.
@@ -1127,10 +1132,10 @@ rt_device_t rt_console_set_device(const char *name)
 
     /* find new console device */
     new_device = rt_device_find(name);
-    
+
     /* check whether it's a same device */
     if (new_device == old_device) return RT_NULL;
-    
+
     if (new_device != RT_NULL)
     {
         if (_console_device != RT_NULL)
@@ -1386,26 +1391,4 @@ void rt_assert_handler(const char *ex_string, const char *func, rt_size_t line)
 RTM_EXPORT(rt_assert_handler);
 #endif /* RT_DEBUG */
 
-#if !defined (RT_USING_NEWLIB) && defined (RT_USING_MINILIBC) && defined (__GNUC__)
-#include <sys/types.h>
-void *memcpy(void *dest, const void *src, size_t n) __attribute__((weak, alias("rt_memcpy")));
-void *memset(void *s, int c, size_t n) __attribute__((weak, alias("rt_memset")));
-void *memmove(void *dest, const void *src, size_t n) __attribute__((weak, alias("rt_memmove")));
-int   memcmp(const void *s1, const void *s2, size_t n) __attribute__((weak, alias("rt_memcmp")));
-
-size_t strlen(const char *s) __attribute__((weak, alias("rt_strlen")));
-char *strstr(const char *s1, const char *s2) __attribute__((weak, alias("rt_strstr")));
-int strcasecmp(const char *a, const char *b) __attribute__((weak, alias("rt_strcasecmp")));
-char *strncpy(char *dest, const char *src, size_t n) __attribute__((weak, alias("rt_strncpy")));
-int strncmp(const char *cs, const char *ct, size_t count) __attribute__((weak, alias("rt_strncmp")));
-#ifdef RT_USING_HEAP
-char *strdup(const char *s) __attribute__((weak, alias("rt_strdup")));
-#endif
-
-int sprintf(char *buf, const char *format, ...) __attribute__((weak, alias("rt_sprintf")));
-int snprintf(char *buf, rt_size_t size, const char *fmt, ...) __attribute__((weak, alias("rt_snprintf")));
-int vsprintf(char *buf, const char *format, va_list arg_ptr) __attribute__((weak, alias("rt_vsprintf")));
-
-#endif
-
 /**@}*/
diff --git a/src/mem.c b/src/mem.c
index c03c8b3452..ac0d27f2c3 100644
--- a/src/mem.c
+++ b/src/mem.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -489,7 +489,7 @@ void *rt_realloc(void *rmem, rt_size_t newsize)
         {
             ((struct heap_mem *)&heap_ptr[mem2->next])->prev = ptr2;
         }
-        
+
         if (mem2 < lfree)
         {
             /* the splited struct is now the lowest */
diff --git a/src/memheap.c b/src/memheap.c
index afa06fb9bf..63327575cc 100644
--- a/src/memheap.c
+++ b/src/memheap.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -35,6 +35,45 @@
 
 #define RT_MEMHEAP_SIZE         RT_ALIGN(sizeof(struct rt_memheap_item), RT_ALIGN_SIZE)
 #define MEMITEM_SIZE(item)      ((rt_ubase_t)item->next - (rt_ubase_t)item - RT_MEMHEAP_SIZE)
+#define MEMITEM(ptr)            (struct rt_memheap_item*)((rt_uint8_t*)ptr - RT_MEMHEAP_SIZE)
+
+#ifdef RT_USING_MEMTRACE
+rt_inline void rt_memheap_setname(struct rt_memheap_item *item, const char *name)
+{
+    int index;
+    rt_uint8_t* ptr;
+
+    ptr = (rt_uint8_t*)&(item->next_free);
+    for (index = 0; index < sizeof(void*); index ++)
+    {
+        if (name[index] == '\0') break;
+        ptr[index] = name[index];
+    }
+    if (name[index] == '\0') ptr[index] = '\0';
+    else 
+    {
+        ptr = (rt_uint8_t*)&(item->prev_free);
+        for (index = 0; index < sizeof(void*) && (index + sizeof(void*))< RT_NAME_MAX; index ++)
+        {
+            if (name[sizeof(void*) + index] == '\0') break;
+            ptr[index] = name[sizeof(void*) + index];
+        }
+
+        if (name[sizeof(void*) + index] == '\0') ptr[index] = '\0';
+    }
+}
+
+void rt_mem_set_tag(void* ptr, const char* name)
+{
+    struct rt_memheap_item* item;
+
+    if (ptr && name)
+    {
+        item = MEMITEM(ptr);
+        rt_memheap_setname(item, name);
+    }
+}
+#endif
 
 /*
  * The initialized memory pool will be:
@@ -66,7 +105,7 @@ rt_err_t rt_memheap_init(struct rt_memheap *memheap,
 
     /* initialize the free list header */
     item            = &(memheap->free_header);
-    item->magic     = RT_MEMHEAP_MAGIC;
+    item->magic     = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_FREED);
     item->pool_ptr  = memheap;
     item->next      = RT_NULL;
     item->prev      = RT_NULL;
@@ -78,13 +117,17 @@ rt_err_t rt_memheap_init(struct rt_memheap *memheap,
 
     /* initialize the first big memory block */
     item            = (struct rt_memheap_item *)start_addr;
-    item->magic     = RT_MEMHEAP_MAGIC;
+    item->magic     = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_FREED);
     item->pool_ptr  = memheap;
     item->next      = RT_NULL;
     item->prev      = RT_NULL;
     item->next_free = item;
     item->prev_free = item;
 
+#ifdef RT_USING_MEMTRACE
+    rt_memset(item->owner_thread_name, ' ', sizeof(item->owner_thread_name));
+#endif
+
     item->next = (struct rt_memheap_item *)
                  ((rt_uint8_t *)item + memheap->available_size + RT_MEMHEAP_SIZE);
     item->prev = item->next;
@@ -103,7 +146,7 @@ rt_err_t rt_memheap_init(struct rt_memheap *memheap,
      */
     item = item->next;
     /* it's a used memory block */
-    item->magic     = RT_MEMHEAP_MAGIC | RT_MEMHEAP_USED;
+    item->magic     = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_USED);
     item->pool_ptr  = memheap;
     item->next      = (struct rt_memheap_item *)start_addr;
     item->prev      = (struct rt_memheap_item *)start_addr;
@@ -126,7 +169,7 @@ rt_err_t rt_memheap_detach(struct rt_memheap *heap)
     RT_ASSERT(heap);
     RT_ASSERT(rt_object_get_type(&heap->parent) == RT_Object_Class_MemHeap);
     RT_ASSERT(rt_object_is_systemobject(&heap->parent));
-    
+
     rt_sem_detach(&heap->lock);
     rt_object_detach(&(heap->parent));
 
@@ -201,11 +244,15 @@ void *rt_memheap_alloc(struct rt_memheap *heap, rt_size_t size)
                               new_ptr));
 
                 /* mark the new block as a memory block and freed. */
-                new_ptr->magic = RT_MEMHEAP_MAGIC;
+                new_ptr->magic = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_FREED);
 
                 /* put the pool pointer into the new block. */
                 new_ptr->pool_ptr = heap;
 
+#ifdef RT_USING_MEMTRACE
+                rt_memset(new_ptr->owner_thread_name, ' ', sizeof(new_ptr->owner_thread_name));
+#endif
+
                 /* break down the block list */
                 new_ptr->prev          = header_ptr;
                 new_ptr->next          = header_ptr->next;
@@ -255,7 +302,14 @@ void *rt_memheap_alloc(struct rt_memheap *heap, rt_size_t size)
             }
 
             /* Mark the allocated block as not available. */
-            header_ptr->magic |= RT_MEMHEAP_USED;
+            header_ptr->magic = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_USED);
+
+#ifdef RT_USING_MEMTRACE
+            if (rt_thread_self())
+                rt_memcpy(header_ptr->owner_thread_name, rt_thread_self()->name, sizeof(header_ptr->owner_thread_name));
+            else
+                rt_memcpy(header_ptr->owner_thread_name, "NONE", sizeof(header_ptr->owner_thread_name));
+#endif
 
             /* release lock */
             rt_sem_release(&(heap->lock));
@@ -376,11 +430,15 @@ void *rt_memheap_realloc(struct rt_memheap *heap, void *ptr, rt_size_t newsize)
                               next_ptr->prev));
 
                 /* mark the new block as a memory block and freed. */
-                next_ptr->magic = RT_MEMHEAP_MAGIC;
+                next_ptr->magic = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_FREED);
 
                 /* put the pool pointer into the new block. */
                 next_ptr->pool_ptr = heap;
 
+#ifdef RT_USING_MEMTRACE
+                rt_memset(next_ptr->owner_thread_name, ' ', sizeof(next_ptr->owner_thread_name));
+#endif
+
                 next_ptr->prev          = header_ptr;
                 next_ptr->next          = header_ptr->next;
                 header_ptr->next->prev = next_ptr;
@@ -441,10 +499,14 @@ void *rt_memheap_realloc(struct rt_memheap *heap, void *ptr, rt_size_t newsize)
                   new_ptr));
 
     /* mark the new block as a memory block and freed. */
-    new_ptr->magic = RT_MEMHEAP_MAGIC;
+    new_ptr->magic = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_FREED);
     /* put the pool pointer into the new block. */
     new_ptr->pool_ptr = heap;
 
+#ifdef RT_USING_MEMTRACE
+    rt_memset(new_ptr->owner_thread_name, ' ', sizeof(new_ptr->owner_thread_name));
+#endif
+
     /* break down the block list */
     new_ptr->prev          = header_ptr;
     new_ptr->next          = header_ptr->next;
@@ -512,8 +574,12 @@ void rt_memheap_free(void *ptr)
                                     ptr, header_ptr));
 
     /* check magic */
-    RT_ASSERT((header_ptr->magic & RT_MEMHEAP_MASK) == RT_MEMHEAP_MAGIC);
-    RT_ASSERT(header_ptr->magic & RT_MEMHEAP_USED);
+    if (header_ptr->magic != (RT_MEMHEAP_MAGIC | RT_MEMHEAP_USED))
+    {
+        RT_DEBUG_LOG(RT_DEBUG_MEMHEAP, ("bad magic:0x%08x @ memheap\n",
+                                        header_ptr->magic));
+    }
+    RT_ASSERT(header_ptr->magic == (RT_MEMHEAP_MAGIC | RT_MEMHEAP_USED));
     /* check whether this block of memory has been over-written. */
     RT_ASSERT((header_ptr->next->magic & RT_MEMHEAP_MASK) == RT_MEMHEAP_MAGIC);
 
@@ -533,9 +599,9 @@ void rt_memheap_free(void *ptr)
     }
 
     /* Mark the memory as available. */
-    header_ptr->magic &= ~RT_MEMHEAP_USED;
+    header_ptr->magic = (RT_MEMHEAP_MAGIC | RT_MEMHEAP_FREED);
     /* Adjust the available number of bytes. */
-    heap->available_size = heap->available_size + MEMITEM_SIZE(header_ptr);
+    heap->available_size += MEMITEM_SIZE(header_ptr);
 
     /* Determine if the block can be merged with the previous neighbor. */
     if (!RT_MEMHEAP_IS_USED(header_ptr->prev))
@@ -544,7 +610,7 @@ void rt_memheap_free(void *ptr)
                                         header_ptr->prev));
 
         /* adjust the available number of bytes. */
-        heap->available_size = heap->available_size + RT_MEMHEAP_SIZE;
+        heap->available_size += RT_MEMHEAP_SIZE;
 
         /* yes, merge block with previous neighbor. */
         (header_ptr->prev)->next = header_ptr->next;
@@ -560,7 +626,7 @@ void rt_memheap_free(void *ptr)
     if (!RT_MEMHEAP_IS_USED(header_ptr->next))
     {
         /* adjust the available number of bytes. */
-        heap->available_size = heap->available_size + RT_MEMHEAP_SIZE;
+        heap->available_size += RT_MEMHEAP_SIZE;
 
         /* merge block with next neighbor. */
         new_ptr = header_ptr->next;
@@ -590,11 +656,100 @@ void rt_memheap_free(void *ptr)
                       header_ptr->next_free, header_ptr->prev_free));
     }
 
+#ifdef RT_USING_MEMTRACE
+    rt_memset(header_ptr->owner_thread_name, ' ', sizeof(header_ptr->owner_thread_name));
+#endif
+
     /* release lock */
     rt_sem_release(&(heap->lock));
 }
 RTM_EXPORT(rt_memheap_free);
 
+#ifdef RT_USING_FINSH
+static void _memheap_dump_tag(struct rt_memheap_item* item)
+{
+    rt_uint8_t name[2 * sizeof(void*)];
+    rt_uint8_t* ptr;
+
+    ptr = (rt_uint8_t*)&(item->next_free);
+    rt_memcpy(name, ptr, sizeof(void*));
+    ptr = (rt_uint8_t*)&(item->prev_free);
+    rt_memcpy(&name[sizeof(void*)], ptr, sizeof(void*));
+
+    rt_kprintf("%.*s", 2 * sizeof(void*), name);
+}
+
+int rt_memheap_dump(struct rt_memheap *heap)
+{
+    struct rt_memheap_item *item, *end;
+
+    if (heap == RT_NULL) return 0;
+    RT_ASSERT(rt_object_get_type(&heap->parent) == RT_Object_Class_MemHeap);
+
+    rt_kprintf("\n[%.*s] [0x%08x - 0x%08x]->\n", RT_NAME_MAX, heap->parent.name, 
+        (rt_ubase_t)heap->start_addr, (rt_ubase_t)heap->start_addr + heap->pool_size);
+    rt_kprintf("------------------------------\n");
+
+    /* lock memheap */
+    rt_sem_take(&(heap->lock), RT_WAITING_FOREVER);
+    item = heap->block_list;
+
+    end = (struct rt_memheap_item *) ((rt_uint8_t *)heap->start_addr + heap->pool_size - RT_MEMHEAP_SIZE);
+
+    /* for each memory block */
+    while ((rt_ubase_t)item < ((rt_ubase_t)end))
+    {
+        if (RT_MEMHEAP_IS_USED(item) && ((item->magic & RT_MEMHEAP_MASK) != RT_MEMHEAP_MAGIC))
+            rt_kprintf("0x%08x", item + 1);
+
+        if (item->magic == (RT_MEMHEAP_MAGIC | RT_MEMHEAP_USED))
+        {
+            rt_kprintf("0x%08x: %-8d ",     item + 1, MEMITEM_SIZE(item));
+            _memheap_dump_tag(item);
+            rt_kprintf("\n");
+        }
+        else
+        {
+            rt_kprintf("0x%08x: %-8d <F>\n", item + 1, MEMITEM_SIZE(item));
+        }
+
+        item = item->next;
+    }
+    rt_sem_release(&(heap->lock));
+
+    return 0;
+}
+
+int memheaptrace(void)
+{
+    int count = rt_object_get_length(RT_Object_Class_MemHeap);
+    struct rt_memheap **heaps;
+
+    if (count > 0)
+    {
+        int index;
+        extern int list_memheap(void);
+
+        heaps = (struct rt_memheap**)rt_malloc(sizeof(struct rt_memheap*) * count);
+        if (heaps == RT_NULL) return 0;
+
+        list_memheap();
+
+        rt_kprintf("memheap header size: %d\n", RT_MEMHEAP_SIZE);
+        count = rt_object_get_pointers(RT_Object_Class_MemHeap, (rt_object_t*)heaps, count);
+        for (index = 0; index < count; index++)
+        {
+            rt_memheap_dump(heaps[index]);
+        }
+
+        rt_free(heaps);
+    }
+
+    return 0;
+}
+MSH_CMD_EXPORT(memheaptrace, dump memory trace information);
+#endif
+
 #ifdef RT_USING_MEMHEAP_AS_HEAP
 static struct rt_memheap _heap;
 
@@ -643,6 +798,24 @@ void *rt_malloc(rt_size_t size)
         }
     }
 
+
+#ifdef RT_USING_MEMTRACE
+    if (ptr == RT_NULL)
+    {
+        RT_DEBUG_LOG(RT_DEBUG_MEMHEAP, ("malloc[%d] => NULL", size));
+    }
+    else
+    {
+        struct rt_memheap_item *item = MEMITEM(ptr);
+        if (rt_thread_self())
+            rt_memheap_setname(item, rt_thread_self()->name);
+        else
+            rt_memheap_setname(item, "<null>");
+
+        RT_DEBUG_LOG(RT_DEBUG_MEMHEAP, ("malloc => 0x%08x : %d", ptr, size));
+    }
+#endif
+
     return ptr;
 }
 RTM_EXPORT(rt_malloc);
@@ -691,6 +864,24 @@ void *rt_realloc(void *rmem, rt_size_t newsize)
         }
     }
 
+#ifdef RT_USING_MEMTRACE
+    if (new_ptr == RT_NULL)
+    {
+        RT_DEBUG_LOG(RT_DEBUG_MEMHEAP, ("realloc[%d] => NULL", newsize));
+    }
+    else
+    {
+        struct rt_memheap_item *item = MEMITEM(new_ptr);
+        if (rt_thread_self())
+            rt_memheap_setname(item, rt_thread_self()->name);
+        else
+            rt_memheap_setname(item, "<null>");
+
+        RT_DEBUG_LOG(RT_DEBUG_MEMHEAP, ("realloc => 0x%08x : %d",
+                                        new_ptr, newsize));
+    }
+#endif
+
     return new_ptr;
 }
 RTM_EXPORT(rt_realloc);
@@ -708,6 +899,19 @@ void *rt_calloc(rt_size_t count, rt_size_t size)
         rt_memset(ptr, 0, total_size);
     }
 
+#ifdef RT_USING_MEMTRACE
+    if (ptr == RT_NULL)
+    {
+        RT_DEBUG_LOG(RT_DEBUG_MEMHEAP, ("calloc[%d x %d] => NULL",
+                                        count, size));
+    }
+    else
+    {
+        RT_DEBUG_LOG(RT_DEBUG_MEMHEAP, ("calloc => 0x%08x : %d",
+                                        ptr, count * size));
+    }
+#endif
+
     return ptr;
 }
 RTM_EXPORT(rt_calloc);
@@ -728,4 +932,78 @@ void rt_memory_info(rt_uint32_t *total,
 
 #endif
 
-#endif
+#ifdef RT_USING_MEMTRACE
+
+void dump_used_memheap(struct rt_memheap *mh)
+{
+    struct rt_memheap_item *header_ptr;
+    rt_uint32_t block_size;
+
+
+    rt_kprintf("\nmemory heap address:\n");
+    rt_kprintf("heap_ptr: 0x%08x\n", mh->start_addr);
+    rt_kprintf("free    : 0x%08x\n", mh->available_size);
+    rt_kprintf("max_used: 0x%08x\n", mh->max_used_size);
+    rt_kprintf("size    : 0x%08x\n", mh->pool_size);
+
+    rt_kprintf("\n--memory used information --\n");
+
+    header_ptr = mh->block_list;
+    while (header_ptr->next != mh->block_list)
+    {
+        if ((header_ptr->magic & RT_MEMHEAP_MASK) != RT_MEMHEAP_MAGIC)
+        {
+            rt_kprintf("[0x%08x - incorrect magic: 0x%08x\n", header_ptr, header_ptr->magic);
+            break;
+        }
+
+        /* get current memory block size */
+        block_size = MEMITEM_SIZE(header_ptr);
+        if (block_size < 0)
+            break;
+
+        if (RT_MEMHEAP_IS_USED(header_ptr))
+        {
+            /* dump information */
+            rt_kprintf("[0x%08x - %d - %c%c%c%c] used\n", header_ptr, block_size,
+                header_ptr->owner_thread_name[0], header_ptr->owner_thread_name[1],
+                header_ptr->owner_thread_name[2], header_ptr->owner_thread_name[3]);
+        }
+        else
+        {
+            /* dump information */
+            rt_kprintf("[0x%08x - %d - %c%c%c%c] free\n", header_ptr, block_size,
+                header_ptr->owner_thread_name[0], header_ptr->owner_thread_name[1],
+                header_ptr->owner_thread_name[2], header_ptr->owner_thread_name[3]);
+        }
+
+        /* move to next used memory block */
+        header_ptr = header_ptr->next;
+    }
+}
+
+void memtrace_heap()
+{
+    struct rt_object_information *info;
+    struct rt_list_node *list;
+    struct rt_memheap *mh;
+    struct rt_list_node *node;
+
+    info = rt_object_get_information(RT_Object_Class_MemHeap);
+    list = &info->object_list;
+
+    for (node = list->next; node != list; node = node->next)
+    {
+        mh = (struct rt_memheap *)rt_list_entry(node, struct rt_object, list);
+        dump_used_memheap(mh);
+    }
+}
+
+#ifdef RT_USING_FINSH
+#include <finsh.h>
+MSH_CMD_EXPORT(memtrace_heap, dump memory trace for heap);
+#endif /* end of RT_USING_FINSH */
+
+#endif /* end of RT_USING_MEMTRACE */
+
+#endif /* end of RT_USING_MEMHEAP */
diff --git a/src/mempool.c b/src/mempool.c
index db614032aa..1de48940d7 100644
--- a/src/mempool.c
+++ b/src/mempool.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/src/object.c b/src/object.c
index 56263618b3..013e2d1e33 100644
--- a/src/object.c
+++ b/src/object.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -200,7 +200,7 @@ void rt_object_put_sethook(void (*hook)(struct rt_object *object))
 /**
  * This function will return the specified type of object information.
  *
- * @param type the type of object, which can be 
+ * @param type the type of object, which can be
  *             RT_Object_Class_Thread/Semaphore/Mutex... etc
  *
  * @return the object type information or RT_NULL
@@ -220,7 +220,7 @@ RTM_EXPORT(rt_object_get_information);
 /**
  * This function will return the length of object list in object container.
  *
- * @param type the type of object, which can be 
+ * @param type the type of object, which can be
  *             RT_Object_Class_Thread/Semaphore/Mutex... etc
  * @return the length of object list
  */
@@ -247,10 +247,10 @@ int rt_object_get_length(enum rt_object_class_type type)
 RTM_EXPORT(rt_object_get_length);
 
 /**
- * This function will copy the object pointer of the specified type, 
+ * This function will copy the object pointer of the specified type,
  * with the maximum size specified by maxlen.
  *
- * @param type the type of object, which can be 
+ * @param type the type of object, which can be
  *             RT_Object_Class_Thread/Semaphore/Mutex... etc
  * @param pointers the pointers will be saved to
  * @param maxlen the maximum number of pointers can be saved
diff --git a/src/scheduler.c b/src/scheduler.c
index 06f305ea0b..c03c20d030 100644
--- a/src/scheduler.c
+++ b/src/scheduler.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -270,10 +270,10 @@ void rt_system_scheduler_start(void)
 #ifdef RT_USING_SMP
 /**
  * This function will handle IPI interrupt and do a scheduling in system;
- * 
+ *
  * @param vector, the number of IPI interrupt for system scheduling
  * @param param, use RT_NULL
- * 
+ *
  * NOTE: this function should be invoke or register as ISR in BSP.
  */
 void rt_scheduler_ipi_handler(int vector, void *param)
@@ -283,7 +283,7 @@ void rt_scheduler_ipi_handler(int vector, void *param)
 
 /**
  * This function will perform one scheduling. It will select one thread
- * with the highest priority level in global ready queue or local ready queue, 
+ * with the highest priority level in global ready queue or local ready queue,
  * then switch to it.
  */
 void rt_schedule(void)
diff --git a/src/signal.c b/src/signal.c
index bb9339ab6c..c2c3e975cb 100644
--- a/src/signal.c
+++ b/src/signal.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/src/slab.c b/src/slab.c
index 0872ecf092..12ca1a938c 100644
--- a/src/slab.c
+++ b/src/slab.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  */
diff --git a/src/thread.c b/src/thread.c
index 0db9dd8e4d..34e96077d1 100644
--- a/src/thread.c
+++ b/src/thread.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -26,6 +26,7 @@
  *                             bug when thread has not startup.
  * 2018-11-22     Jesven       yield is same to rt_schedule
  *                             add support for tasks bound to cpu
+ * 2021-02-24     Meco Man     rearrange rt_thread_control() - schedule the thread when close it
  */
 
 #include <rthw.h>
@@ -357,8 +358,6 @@ RTM_EXPORT(rt_thread_startup);
  */
 rt_err_t rt_thread_detach(rt_thread_t thread)
 {
-    rt_base_t lock;
-
     /* thread check */
     RT_ASSERT(thread != RT_NULL);
     RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
@@ -381,19 +380,8 @@ rt_err_t rt_thread_detach(rt_thread_t thread)
     /* change stat */
     thread->stat = RT_THREAD_CLOSE;
 
-    if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
-    {
-        rt_object_detach((rt_object_t)thread);
-    }
-    else
-    {
-        /* disable interrupt */
-        lock = rt_hw_interrupt_disable();
-        /* insert to defunct thread list */
-        rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
-        /* enable interrupt */
-        rt_hw_interrupt_enable(lock);
-    }
+    /* detach thread object */
+    rt_object_detach((rt_object_t)thread);
 
     return RT_EOK;
 }
@@ -585,6 +573,7 @@ rt_err_t rt_thread_delay_until(rt_tick_t *tick, rt_tick_t inc_tick)
 {
     register rt_base_t level;
     struct rt_thread *thread;
+    rt_tick_t cur_tick;
 
     RT_ASSERT(tick != RT_NULL);
 
@@ -596,15 +585,19 @@ rt_err_t rt_thread_delay_until(rt_tick_t *tick, rt_tick_t inc_tick)
     /* disable interrupt */
     level = rt_hw_interrupt_disable();
 
-    if (rt_tick_get() - *tick < inc_tick)
+    cur_tick = rt_tick_get();
+    if (cur_tick - *tick < inc_tick)
     {
-        *tick = *tick + inc_tick - rt_tick_get();
+        rt_tick_t left_tick;
+
+        *tick += inc_tick;
+        left_tick = *tick - cur_tick;
 
         /* suspend thread */
         rt_thread_suspend(thread);
 
         /* reset the timeout of thread timer and start it */
-        rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, tick);
+        rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &left_tick);
         rt_timer_start(&(thread->thread_timer));
 
         /* enable interrupt */
@@ -620,12 +613,10 @@ rt_err_t rt_thread_delay_until(rt_tick_t *tick, rt_tick_t inc_tick)
     }
     else
     {
+        *tick = cur_tick;
         rt_hw_interrupt_enable(level);
     }
 
-    /* get the wakeup tick */
-    *tick = rt_tick_get();
-
     return RT_EOK;
 }
 RTM_EXPORT(rt_thread_delay_until);
@@ -670,83 +661,93 @@ rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg)
 
     switch (cmd)
     {
-    case RT_THREAD_CTRL_CHANGE_PRIORITY:
-        /* disable interrupt */
-        temp = rt_hw_interrupt_disable();
-
-        /* for ready thread, change queue */
-        if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY)
+        case RT_THREAD_CTRL_CHANGE_PRIORITY:
         {
-            /* remove thread from schedule queue first */
-            rt_schedule_remove_thread(thread);
+            /* disable interrupt */
+            temp = rt_hw_interrupt_disable();
 
-            /* change thread priority */
-            thread->current_priority = *(rt_uint8_t *)arg;
-
-            /* recalculate priority attribute */
-#if RT_THREAD_PRIORITY_MAX > 32
-            thread->number      = thread->current_priority >> 3;            /* 5bit */
-            thread->number_mask = 1 << thread->number;
-            thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
-#else
-            thread->number_mask = 1 << thread->current_priority;
-#endif
+            /* for ready thread, change queue */
+            if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY)
+            {
+                /* remove thread from schedule queue first */
+                rt_schedule_remove_thread(thread);
 
-            /* insert thread to schedule queue again */
-            rt_schedule_insert_thread(thread);
-        }
-        else
-        {
-            thread->current_priority = *(rt_uint8_t *)arg;
+                /* change thread priority */
+                thread->current_priority = *(rt_uint8_t *)arg;
 
-            /* recalculate priority attribute */
-#if RT_THREAD_PRIORITY_MAX > 32
-            thread->number      = thread->current_priority >> 3;            /* 5bit */
-            thread->number_mask = 1 << thread->number;
-            thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
-#else
-            thread->number_mask = 1 << thread->current_priority;
-#endif
-        }
+                /* recalculate priority attribute */
+    #if RT_THREAD_PRIORITY_MAX > 32
+                thread->number      = thread->current_priority >> 3;            /* 5bit */
+                thread->number_mask = 1 << thread->number;
+                thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
+    #else
+                thread->number_mask = 1 << thread->current_priority;
+    #endif
 
-        /* enable interrupt */
-        rt_hw_interrupt_enable(temp);
-        break;
+                /* insert thread to schedule queue again */
+                rt_schedule_insert_thread(thread);
+            }
+            else
+            {
+                thread->current_priority = *(rt_uint8_t *)arg;
 
-    case RT_THREAD_CTRL_STARTUP:
-        return rt_thread_startup(thread);
+                /* recalculate priority attribute */
+    #if RT_THREAD_PRIORITY_MAX > 32
+                thread->number      = thread->current_priority >> 3;            /* 5bit */
+                thread->number_mask = 1 << thread->number;
+                thread->high_mask   = 1 << (thread->current_priority & 0x07);   /* 3bit */
+    #else
+                thread->number_mask = 1 << thread->current_priority;
+    #endif
+            }
 
-    case RT_THREAD_CTRL_CLOSE:
+            /* enable interrupt */
+            rt_hw_interrupt_enable(temp);
+            break;
+        }
 
-        if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
+        case RT_THREAD_CTRL_STARTUP:
         {
-            return rt_thread_detach(thread);
+            return rt_thread_startup(thread);
         }
-#ifdef RT_USING_HEAP
-        else
+
+        case RT_THREAD_CTRL_CLOSE:
         {
-            return rt_thread_delete(thread);
-        }
-#endif
+            rt_err_t rt_err;
 
-#ifdef RT_USING_SMP
-    case RT_THREAD_CTRL_BIND_CPU:
-    {
-        rt_uint8_t cpu;
+            if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
+            {
+                rt_err = rt_thread_detach(thread);
+            }
+    #ifdef RT_USING_HEAP
+            else
+            {
+                rt_err = rt_thread_delete(thread);
+            }
+    #endif
+            rt_schedule();
+            return rt_err;
+        }
 
-        if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
+    #ifdef RT_USING_SMP
+        case RT_THREAD_CTRL_BIND_CPU:
         {
-            /* we only support bind cpu before started phase. */
-            return RT_ERROR;
+            rt_uint8_t cpu;
+
+            if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
+            {
+                /* we only support bind cpu before started phase. */
+                return RT_ERROR;
+            }
+
+            cpu = (rt_uint8_t)(size_t)arg;
+            thread->bind_cpu = cpu > RT_CPUS_NR? RT_CPUS_NR : cpu;
+            break;
         }
+    #endif /*RT_USING_SMP*/
 
-        cpu = (rt_uint8_t)(size_t)arg;
-        thread->bind_cpu = cpu > RT_CPUS_NR? RT_CPUS_NR : cpu;
-        break;
-    }
-#endif /*RT_USING_SMP*/
-    default:
-        break;
+        default:
+            break;
     }
 
     return RT_EOK;
diff --git a/src/timer.c b/src/timer.c
index d882711151..836df51e06 100644
--- a/src/timer.c
+++ b/src/timer.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -201,7 +201,7 @@ void rt_timer_init(rt_timer_t  timer,
     RT_ASSERT(timer != RT_NULL);
 
     /* timer object initialization */
-    rt_object_init((rt_object_t)timer, RT_Object_Class_Timer, name);
+    rt_object_init(&(timer->parent), RT_Object_Class_Timer, name);
 
     _rt_timer_init(timer, timeout, parameter, time, flag);
 }
@@ -233,7 +233,7 @@ rt_err_t rt_timer_detach(rt_timer_t timer)
     /* enable interrupt */
     rt_hw_interrupt_enable(level);
 
-    rt_object_detach((rt_object_t)timer);
+    rt_object_detach(&(timer->parent));
 
     return RT_EOK;
 }
@@ -298,7 +298,7 @@ rt_err_t rt_timer_delete(rt_timer_t timer)
     /* enable interrupt */
     rt_hw_interrupt_enable(level);
 
-    rt_object_delete((rt_object_t)timer);
+    rt_object_delete(&(timer->parent));
 
     return RT_EOK;
 }