Add memtrace command for memheap.c

14 files changed, 636 insertions, 330 deletions

diff --git a/src/Kconfig b/src/Kconfig
index 63a7a67887..803c827e51 100644
--- a/src/Kconfig
+++ b/src/Kconfig
@@ -270,6 +270,18 @@ menu "Memory Management"
         config RT_USING_MEMHEAP_AS_HEAP
             bool "Use all of memheap objects as heap"
         endif
+
+        config RT_USING_USERHEAP
+            bool "Use user heap"
+            help
+                If this option is selected, please implement these functions:
+                    rt_malloc(), rt_malloc_sethook()
+                    rt_free(),   rt_free_sethook()
+                    rt_calloc(), rt_realloc()
+                    rt_system_heap_init()
+
+                And if FinSH is used at the same time, please implement list_mem()
+
     endchoice
 
     if RT_USING_SMALL_MEM
@@ -294,7 +306,7 @@ menu "Memory Management"
         default y if RT_USING_SMALL_MEM
         default y if RT_USING_SLAB
         default y if RT_USING_MEMHEAP_AS_HEAP
-
+        default y if RT_USING_USERHEAP
 endmenu
 
 menu "Kernel Device Object"
diff --git a/src/SConscript b/src/SConscript
index 82c3b8aaf1..68523978d6 100644
--- a/src/SConscript
+++ b/src/SConscript
@@ -6,9 +6,6 @@ src = Glob('*.c')
 
 CPPPATH = [RTT_ROOT + '/include']
 
-if GetDepend('RT_USING_MODULE') == False:
-    SrcRemove(src, ['module.c'])
-
 if GetDepend('RT_USING_HEAP') == False or GetDepend('RT_USING_SMALL_MEM') == False:
     SrcRemove(src, ['mem.c'])
 
@@ -23,12 +20,20 @@ if GetDepend('RT_USING_MEMHEAP') == False:
     if GetDepend('RT_USING_MEMHEAP_AS_HEAP'):
         SrcRemove(src, ['mem.c'])
 
+if GetDepend('RT_USING_USERHEAP'):
+    SrcRemove(src, ['mem.c', 'slab.c'])
+
+if GetDepend('RT_USING_SIGNALS') == False:
+    SrcRemove(src, ['signal.c'])
+
 if GetDepend('RT_USING_DEVICE') == False:
     SrcRemove(src, ['device.c'])
 
 if GetDepend('RT_USING_SMP') == False:
     SrcRemove(src, ['cpu.c'])
 
-group = DefineGroup('Kernel', src, depend = [''], CPPPATH = CPPPATH)
+CPPDEFINES = ['__RTTHREAD__']
+
+group = DefineGroup('Kernel', src, depend = [''], CPPPATH = CPPPATH, CPPDEFINES = CPPDEFINES)
 
 Return('group')
diff --git a/src/clock.c b/src/clock.c
index 97a09ddeaf..66923e5c00 100644
--- a/src/clock.c
+++ b/src/clock.c
@@ -13,6 +13,7 @@
  * 2010-07-13     Bernard      fix rt_tick_from_millisecond issue found by kuronca
  * 2011-06-26     Bernard      add rt_tick_set function.
  * 2018-11-22     Jesven       add per cpu tick
+ * 2020-12-29     Meco Man     add function rt_tick_get_millisecond()
  */
 
 #include <rthw.h>
@@ -25,17 +26,6 @@ static rt_tick_t rt_tick = 0;
 #endif
 
 /**
- * This function will initialize system tick and set it to zero.
- * @ingroup SystemInit
- *
- * @deprecated since 1.1.0, this function does not need to be invoked
- * in the system initialization.
- */
-void rt_system_tick_init(void)
-{
-}
-
-/**
  * @addtogroup Clock
  */
 
@@ -91,8 +81,7 @@ void rt_tick_increase(void)
 
         thread->stat |= RT_THREAD_STAT_YIELD;
 
-        /* yield */
-        rt_thread_yield();
+        rt_schedule();
     }
 
     /* check timer */
@@ -128,5 +117,21 @@ rt_tick_t rt_tick_from_millisecond(rt_int32_t ms)
 }
 RTM_EXPORT(rt_tick_from_millisecond);
 
+/**
+ * This function will provide the passed millisecond from boot.
+ *
+ * @return passed millisecond from boot
+ */
+RT_WEAK rt_tick_t rt_tick_get_millisecond(void)
+{
+#if 1000 % RT_TICK_PER_SECOND == 0u
+    return rt_tick_get() * (1000u / RT_TICK_PER_SECOND);
+#else
+    #warning "rt-thread cannot provide a correct 1ms-based tick any longer,\
+    please redefine this function in another file by using a high-precision hard-timer."
+    return 0;
+#endif
+}
+
 /**@}*/
 
diff --git a/src/components.c b/src/components.c
index e7824b65ef..8ea5654d0c 100644
--- a/src/components.c
+++ b/src/components.c
@@ -173,19 +173,22 @@ struct rt_thread main_thread;
 void main_thread_entry(void *parameter)
 {
     extern int main(void);
-    extern int $Super$$main(void);
 
 #ifdef RT_USING_COMPONENTS_INIT
     /* RT-Thread components initialization */
     rt_components_init();
 #endif
+
 #ifdef RT_USING_SMP
     rt_hw_secondary_cpu_up();
 #endif
     /* invoke system main function */
 #if defined(__CC_ARM) || defined(__CLANG_ARM)
-    $Super$$main(); /* for ARMCC. */
-#elif defined(__ICCARM__) || defined(__GNUC__)
+    {
+        extern int $Super$$main(void);
+        $Super$$main(); /* for ARMCC. */
+    }
+#elif defined(__ICCARM__) || defined(__GNUC__) || defined(__TASKING__)
     main();
 #endif
 }
diff --git a/src/device.c b/src/device.c
index 32c06b380c..a4f004fb69 100644
--- a/src/device.c
+++ b/src/device.c
@@ -111,38 +111,7 @@ rt_err_t rt_device_init_all(void)
  */
 rt_device_t rt_device_find(const char *name)
 {
-    struct rt_object *object;
-    struct rt_list_node *node;
-    struct rt_object_information *information;
-
-    /* enter critical */
-    if (rt_thread_self() != RT_NULL)
-        rt_enter_critical();
-
-    /* try to find device object */
-    information = rt_object_get_information(RT_Object_Class_Device);
-    RT_ASSERT(information != RT_NULL);
-    for (node  = information->object_list.next;
-         node != &(information->object_list);
-         node  = node->next)
-    {
-        object = rt_list_entry(node, struct rt_object, list);
-        if (rt_strncmp(object->name, name, RT_NAME_MAX) == 0)
-        {
-            /* leave critical */
-            if (rt_thread_self() != RT_NULL)
-                rt_exit_critical();
-
-            return (rt_device_t)object;
-        }
-    }
-
-    /* leave critical */
-    if (rt_thread_self() != RT_NULL)
-        rt_exit_critical();
-
-    /* not found */
-    return RT_NULL;
+    return (rt_device_t)rt_object_find(name, RT_Object_Class_Device);
 }
 RTM_EXPORT(rt_device_find);
 
diff --git a/src/idle.c b/src/idle.c
index 99db64f571..aa14552a49 100644
--- a/src/idle.c
+++ b/src/idle.c
@@ -150,82 +150,37 @@ void rt_thread_idle_excute(void)
 {
     /* Loop until there is no dead thread. So one call to rt_thread_idle_excute
      * will do all the cleanups. */
-    while (_has_defunct_thread())
+    /* disable interrupt */
+
+    RT_DEBUG_NOT_IN_INTERRUPT;
+
+#ifdef RT_USING_HEAP
+    while (1)
     {
         rt_base_t lock;
         rt_thread_t thread;
-#ifdef RT_USING_MODULE
-        struct rt_dlmodule *module = RT_NULL;
-#endif
-        RT_DEBUG_NOT_IN_INTERRUPT;
 
-        /* disable interrupt */
         lock = rt_hw_interrupt_disable();
 
-        /* re-check whether list is empty */
-        if (_has_defunct_thread())
-        {
-            /* get defunct thread */
-            thread = rt_list_entry(rt_thread_defunct.next,
-                                   struct rt_thread,
-                                   tlist);
-#ifdef RT_USING_MODULE
-            module = (struct rt_dlmodule*)thread->module_id;
-            if (module)
-            {
-                dlmodule_destroy(module);
-            }
-#endif
-            /* remove defunct thread */
-            rt_list_remove(&(thread->tlist));
-
-            /* lock scheduler to prevent scheduling in cleanup function. */
-            rt_enter_critical();
-
-            /* invoke thread cleanup */
-            if (thread->cleanup != RT_NULL)
-                thread->cleanup(thread);
-
-#ifdef RT_USING_SIGNALS
-            rt_thread_free_sig(thread);
-#endif
-
-            /* if it's a system object, not delete it */
-            if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
-            {
-                /* detach this object */
-                rt_object_detach((rt_object_t)thread);
-                /* unlock scheduler */
-                rt_exit_critical();
-
-                /* enable interrupt */
-                rt_hw_interrupt_enable(lock);
-
-                return;
-            }
-
-            /* unlock scheduler */
-            rt_exit_critical();
-        }
-        else
+        /* check whether list is empty */
+        if (!_has_defunct_thread())
         {
-            /* enable interrupt */
             rt_hw_interrupt_enable(lock);
-
-            /* may the defunct thread list is removed by others, just return */
-            return;
+            break;
         }
-
-        /* enable interrupt */
-        rt_hw_interrupt_enable(lock);
-
-#ifdef RT_USING_HEAP
+        /* get defunct thread */
+        thread = rt_list_entry(rt_thread_defunct.next,
+                struct rt_thread,
+                tlist);
+        /* remove defunct thread */
+        rt_list_remove(&(thread->tlist));
         /* release thread's stack */
         RT_KERNEL_FREE(thread->stack_addr);
         /* delete thread object */
         rt_object_delete((rt_object_t)thread);
-#endif
+        rt_hw_interrupt_enable(lock);
     }
+#endif
 }
 
 extern void rt_system_power_manager(void);
diff --git a/src/ipc.c b/src/ipc.c
index 8e8c4db842..37b05b9ae3 100644..100755
--- a/src/ipc.c
+++ b/src/ipc.c
@@ -34,6 +34,11 @@
  * 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 
+ *                             event without pending
+ * 2020-10-11     Meco Man     add value overflow-check code
+ * 2021-01-03     Meco Man     add rt_mb_urgent()
+ * 2021-01-20     hupu         fix priority inversion bug of mutex
  */
 
 #include <rtthread.h>
@@ -117,6 +122,9 @@ rt_inline rt_err_t rt_ipc_list_suspend(rt_list_t        *list,
                 rt_list_insert_before(list, &(thread->tlist));
         }
         break;
+
+    default:
+        break;  
     }
 
     return RT_EOK;
@@ -184,6 +192,31 @@ rt_inline rt_err_t rt_ipc_list_resume_all(rt_list_t *list)
     return RT_EOK;
 }
 
+/**
+ * This function will get the highest priority from the specified
+ * list of threads
+ *
+ * @param list of the threads
+ *
+ * @return the highest priority
+ */
+rt_uint8_t rt_ipc_get_highest_priority(rt_list_t *list)
+{
+    struct rt_list_node *n;
+    struct rt_thread *sthread;
+    rt_uint8_t priority = RT_THREAD_PRIORITY_MAX - 1;
+
+    for (n = list->next; n != list; n = n->next)
+    {
+        sthread = rt_list_entry(n, struct rt_thread, tlist);
+
+        priority = priority < sthread->current_priority ?
+                    priority :
+                    sthread->current_priority;
+    }
+    return priority;
+}
+
 #ifdef RT_USING_SEMAPHORE
 /**
  * This function will initialize a semaphore and put it under control of
@@ -458,7 +491,17 @@ rt_err_t rt_sem_release(rt_sem_t sem)
         need_schedule = RT_TRUE;
     }
     else
-        sem->value ++; /* increase value */
+    {
+        if(sem->value < RT_SEM_VALUE_MAX)
+        {
+            sem->value ++; /* increase value */
+        }
+        else
+        {
+            rt_hw_interrupt_enable(temp); /* enable interrupt */
+            return -RT_EFULL; /* value overflowed */
+        }
+    }
 
     /* enable interrupt */
     rt_hw_interrupt_enable(temp);
@@ -680,12 +723,22 @@ rt_err_t rt_mutex_take(rt_mutex_t mutex, rt_int32_t time)
 
     if (mutex->owner == thread)
     {
-        /* it's the same thread */
-        mutex->hold ++;
+        if(mutex->hold < RT_MUTEX_HOLD_MAX)
+        {
+            /* it's the same thread */
+            mutex->hold ++;
+        }
+        else
+        {
+            rt_hw_interrupt_enable(temp); /* enable interrupt */
+            return -RT_EFULL; /* value overflowed */
+        }
     }
     else
     {
+#ifdef RT_USING_SIGNALS
 __again:
+#endif /* end of RT_USING_SIGNALS */
         /* The value of mutex is 1 in initial status. Therefore, if the
          * value is great than 0, it indicates the mutex is avaible.
          */
@@ -697,7 +750,15 @@ __again:
             /* set mutex owner and original priority */
             mutex->owner             = thread;
             mutex->original_priority = thread->current_priority;
-            mutex->hold ++;
+            if(mutex->hold < RT_MUTEX_HOLD_MAX)
+            {
+                mutex->hold ++;
+            }
+            else
+            {
+                rt_hw_interrupt_enable(temp); /* enable interrupt */
+                return -RT_EFULL; /* value overflowed */
+            }
         }
         else
         {
@@ -754,8 +815,10 @@ __again:
 
                 if (thread->error != RT_EOK)
                 {
+#ifdef RT_USING_SIGNALS
                     /* interrupt by signal, try it again */
                     if (thread->error == -RT_EINTR) goto __again;
+#endif /* end of RT_USING_SIGNALS */
 
                     /* return error */
                     return thread->error;
@@ -792,6 +855,7 @@ rt_err_t rt_mutex_release(rt_mutex_t mutex)
     register rt_base_t temp;
     struct rt_thread *thread;
     rt_bool_t need_schedule;
+    rt_uint8_t max_priority_in_queue = RT_THREAD_PRIORITY_MAX - 1;
 
     /* parameter check */
     RT_ASSERT(mutex != RT_NULL);
@@ -852,7 +916,31 @@ rt_err_t rt_mutex_release(rt_mutex_t mutex)
             /* set new owner and priority */
             mutex->owner             = thread;
             mutex->original_priority = thread->current_priority;
-            mutex->hold ++;
+
+            /* Priority adjustment occurs only when the following conditions
+             * are met simultaneously:
+             * 1.The type of mutex is RT_IPC_FLAG_FIFO;
+             * 2.The priority of the thread to be resumed is not equal to the
+             *   highest priority in the queue;
+             */
+            max_priority_in_queue = rt_ipc_get_highest_priority(&mutex->parent.suspend_thread);
+            if (mutex->parent.parent.flag == RT_IPC_FLAG_FIFO &&
+                thread->current_priority != max_priority_in_queue)
+            {
+                rt_thread_control(thread,
+                        RT_THREAD_CTRL_CHANGE_PRIORITY,
+                        &(max_priority_in_queue));
+            }
+
+            if(mutex->hold < RT_MUTEX_HOLD_MAX)
+            {
+                mutex->hold ++;
+            }
+            else
+            {
+                rt_hw_interrupt_enable(temp); /* enable interrupt */
+                return -RT_EFULL; /* value overflowed */
+            }
 
             /* resume thread */
             rt_ipc_list_resume(&(mutex->parent.suspend_thread));
@@ -861,9 +949,17 @@ rt_err_t rt_mutex_release(rt_mutex_t mutex)
         }
         else
         {
-            /* increase value */
-            mutex->value ++;
-
+            if(mutex->value < RT_MUTEX_VALUE_MAX)
+            {
+                /* increase value */
+                mutex->value ++;
+            }
+            else
+            {
+                rt_hw_interrupt_enable(temp); /* enable interrupt */
+                return -RT_EFULL; /* value overflowed */
+            }
+            
             /* clear owner */
             mutex->owner             = RT_NULL;
             mutex->original_priority = 0xff;
@@ -1080,6 +1176,13 @@ rt_err_t rt_event_send(rt_event_t event, rt_uint32_t set)
                     status = RT_EOK;
                 }
             }
+            else
+            {
+                /* enable interrupt */
+                rt_hw_interrupt_enable(level);
+
+                return -RT_EINVAL;
+            }
 
             /* move node to the next */
             n = n->next;
@@ -1177,7 +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 */            
+        thread->event_set = (event->set & set);
+        thread->event_info = option;
+        
         /* received event */
         if (option & RT_EVENT_FLAG_CLEAR)
             event->set &= ~set;
@@ -1186,10 +1293,10 @@ rt_err_t rt_event_recv(rt_event_t   event,
     {
         /* no waiting */
         thread->error = -RT_ETIMEOUT;
-        
+
         /* enable interrupt */
         rt_hw_interrupt_enable(level);
-        
+
         return -RT_ETIMEOUT;
     }
     else
@@ -1470,7 +1577,6 @@ rt_err_t rt_mb_send_wait(rt_mailbox_t mb,
     if (mb->entry == mb->size && timeout == 0)
     {
         rt_hw_interrupt_enable(temp);
-
         return -RT_EFULL;
     }
 
@@ -1543,9 +1649,18 @@ rt_err_t rt_mb_send_wait(rt_mailbox_t mb,
     ++ mb->in_offset;
     if (mb->in_offset >= mb->size)
         mb->in_offset = 0;
-    /* increase message entry */
-    mb->entry ++;
-
+    
+    if(mb->entry < RT_MB_ENTRY_MAX)
+    {
+        /* increase message entry */
+        mb->entry ++;
+    }
+    else
+    {
+        rt_hw_interrupt_enable(temp); /* enable interrupt */
+        return -RT_EFULL; /* value overflowed */
+    }
+    
     /* resume suspended thread */
     if (!rt_list_isempty(&mb->parent.suspend_thread))
     {
@@ -1583,6 +1698,71 @@ rt_err_t rt_mb_send(rt_mailbox_t mb, rt_ubase_t value)
 RTM_EXPORT(rt_mb_send);
 
 /**
+ * This function will send an urgent mail to mailbox object, if there are threads
+ * suspended on mailbox object, it will be waked up. This function will return
+ * immediately.
+ *
+ * @param mb the mailbox object
+ * @param value the mail
+ *
+ * @return the error code
+ */
+rt_err_t rt_mb_urgent(rt_mailbox_t mb, rt_ubase_t value)
+{
+    register rt_ubase_t temp;
+
+    /* parameter check */
+    RT_ASSERT(mb != RT_NULL);
+    RT_ASSERT(rt_object_get_type(&mb->parent.parent) == RT_Object_Class_MailBox);
+
+    RT_OBJECT_HOOK_CALL(rt_object_put_hook, (&(mb->parent.parent)));
+
+    /* disable interrupt */
+    temp = rt_hw_interrupt_disable();
+
+    if (mb->entry == mb->size)
+    {
+        rt_hw_interrupt_enable(temp);
+        return -RT_EFULL;
+    }
+
+    /* rewind to the previous position */
+    if (mb->out_offset > 0)
+    {
+        mb->out_offset --;
+    }
+    else
+    {
+        mb->out_offset = mb->size - 1;
+    }
+
+    /* set ptr */
+    mb->msg_pool[mb->out_offset] = value;
+
+    /* increase message entry */
+    mb->entry ++;
+
+    /* resume suspended thread */
+    if (!rt_list_isempty(&mb->parent.suspend_thread))
+    {
+        rt_ipc_list_resume(&(mb->parent.suspend_thread));
+
+        /* enable interrupt */
+        rt_hw_interrupt_enable(temp);
+
+        rt_schedule();
+
+        return RT_EOK;
+    }
+
+    /* enable interrupt */
+    rt_hw_interrupt_enable(temp);
+
+    return RT_EOK;
+}
+RTM_EXPORT(rt_mb_urgent);
+
+/**
  * This function will receive a mail from mailbox object, if there is no mail
  * in mailbox object, the thread shall wait for a specified time.
  *
@@ -1692,8 +1872,12 @@ rt_err_t rt_mb_recv(rt_mailbox_t mb, rt_ubase_t *value, rt_int32_t timeout)
     ++ mb->out_offset;
     if (mb->out_offset >= mb->size)
         mb->out_offset = 0;
+
     /* decrease message entry */
-    mb->entry --;
+    if(mb->entry > 0)
+    {
+        mb->entry --;
+    }
 
     /* resume suspended thread */
     if (!rt_list_isempty(&(mb->suspend_sender_thread)))
@@ -2019,7 +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;
@@ -2107,8 +2291,16 @@ rt_err_t rt_mq_send_wait(rt_mq_t     mq,
     if (mq->msg_queue_head == RT_NULL)
         mq->msg_queue_head = msg;
 
-    /* increase message entry */
-    mq->entry ++;
+    if(mq->entry < RT_MQ_ENTRY_MAX)
+    {
+        /* increase message entry */
+        mq->entry ++;
+    }
+    else
+    {
+        rt_hw_interrupt_enable(temp); /* enable interrupt */
+        return -RT_EFULL; /* value overflowed */
+    }
 
     /* resume suspended thread */
     if (!rt_list_isempty(&mq->parent.suspend_thread))
@@ -2207,9 +2399,17 @@ rt_err_t rt_mq_urgent(rt_mq_t mq, const void *buffer, rt_size_t size)
     if (mq->msg_queue_tail == RT_NULL)
         mq->msg_queue_tail = msg;
 
-    /* increase message entry */
-    mq->entry ++;
-
+    if(mq->entry < RT_MQ_ENTRY_MAX)
+    {
+        /* increase message entry */
+        mq->entry ++;
+    }
+    else
+    {
+        rt_hw_interrupt_enable(temp); /* enable interrupt */
+        return -RT_EFULL; /* value overflowed */
+    }
+    
     /* resume suspended thread */
     if (!rt_list_isempty(&mq->parent.suspend_thread))
     {
@@ -2351,7 +2551,10 @@ rt_err_t rt_mq_recv(rt_mq_t    mq,
         mq->msg_queue_tail = RT_NULL;
 
     /* decrease message entry */
-    mq->entry --;
+    if(mq->entry > 0)
+    {
+        mq->entry --;
+    }
 
     /* enable interrupt */
     rt_hw_interrupt_enable(temp);
diff --git a/src/kservice.c b/src/kservice.c
index 1705ce5283..423fe3ddb3 100644
--- a/src/kservice.c
+++ b/src/kservice.c
@@ -123,7 +123,7 @@ RTM_EXPORT(_rt_errno);
  *
  * @return the address of source memory
  */
-void *rt_memset(void *s, int c, rt_ubase_t count)
+RT_WEAK void *rt_memset(void *s, int c, rt_ubase_t count)
 {
 #ifdef RT_USING_TINY_SIZE
     char *xs = (char *)s;
@@ -207,7 +207,7 @@ RTM_EXPORT(rt_memset);
  *
  * @return the address of destination memory
  */
-void *rt_memcpy(void *dst, const void *src, rt_ubase_t count)
+RT_WEAK void *rt_memcpy(void *dst, const void *src, rt_ubase_t count)
 {
 #ifdef RT_USING_TINY_SIZE
     char *tmp = (char *)dst, *s = (char *)src;
@@ -321,7 +321,7 @@ RTM_EXPORT(rt_memmove);
  *
  * @return the result
  */
-rt_int32_t rt_memcmp(const void *cs, const void *ct, rt_ubase_t count)
+RT_WEAK rt_int32_t rt_memcmp(const void *cs, const void *ct, rt_ubase_t count)
 {
     const unsigned char *su1, *su2;
     int res = 0;
@@ -456,7 +456,10 @@ RTM_EXPORT(rt_strncmp);
 rt_int32_t rt_strcmp(const char *cs, const char *ct)
 {
     while (*cs && *cs == *ct)
-        cs++, ct++;
+    {        
+        cs++;
+        ct++;
+    }
 
     return (*cs - *ct);
 }
@@ -538,12 +541,12 @@ void rt_show_version(void)
     rt_kprintf("- RT -     Thread Operating System\n");
     rt_kprintf(" / | \\     %d.%d.%d build %s\n",
                RT_VERSION, RT_SUBVERSION, RT_REVISION, __DATE__);
-    rt_kprintf(" 2006 - 2020 Copyright by rt-thread team\n");
+    rt_kprintf(" 2006 - 2021 Copyright by rt-thread team\n");
 }
 RTM_EXPORT(rt_show_version);
 
 /* private function */
-#define isdigit(c)  ((unsigned)((c) - '0') < 10)
+#define _ISDIGIT(c)  ((unsigned)((c) - '0') < 10)
 
 #ifdef RT_PRINTF_LONGLONG
 rt_inline int divide(long long *n, int base)
@@ -588,7 +591,7 @@ rt_inline int divide(long *n, int base)
 rt_inline int skip_atoi(const char **s)
 {
     register int i = 0;
-    while (isdigit(**s))
+    while (_ISDIGIT(**s))
         i = i * 10 + *((*s)++) - '0';
 
     return i;
@@ -834,7 +837,7 @@ rt_int32_t rt_vsnprintf(char       *buf,
 
         /* get field width */
         field_width = -1;
-        if (isdigit(*fmt)) field_width = skip_atoi(&fmt);
+        if (_ISDIGIT(*fmt)) field_width = skip_atoi(&fmt);
         else if (*fmt == '*')
         {
             ++ fmt;
@@ -853,7 +856,7 @@ rt_int32_t rt_vsnprintf(char       *buf,
         if (*fmt == '.')
         {
             ++ fmt;
-            if (isdigit(*fmt)) precision = skip_atoi(&fmt);
+            if (_ISDIGIT(*fmt)) precision = skip_atoi(&fmt);
             else if (*fmt == '*')
             {
                 ++ fmt;
@@ -1113,7 +1116,7 @@ RTM_EXPORT(rt_console_get_device);
  *
  * @param name the name of new console device
  *
- * @return the old console device handler
+ * @return the old console device handler on successful, or RT_NULL on failure.
  */
 rt_device_t rt_console_set_device(const char *name)
 {
@@ -1124,6 +1127,10 @@ 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)
@@ -1180,7 +1187,7 @@ void rt_kputs(const char *str)
  *
  * @param fmt the format
  */
-void rt_kprintf(const char *fmt, ...)
+RT_WEAK void rt_kprintf(const char *fmt, ...)
 {
     va_list args;
     rt_size_t length;
diff --git a/src/memheap.c b/src/memheap.c
index aef56e1a74..449e66e975 100644
--- a/src/memheap.c
+++ b/src/memheap.c
@@ -85,6 +85,10 @@ rt_err_t rt_memheap_init(struct rt_memheap *memheap,
     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;
@@ -126,8 +130,8 @@ 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_object_detach(&(heap->lock.parent.parent));
+    
+    rt_sem_detach(&heap->lock);
     rt_object_detach(&(heap->parent));
 
     /* Return a successful completion. */
@@ -206,6 +210,10 @@ void *rt_memheap_alloc(struct rt_memheap *heap, rt_size_t size)
                 /* 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;
@@ -257,6 +265,13 @@ 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;
 
+#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));
 
@@ -381,6 +396,10 @@ void *rt_memheap_realloc(struct rt_memheap *heap, void *ptr, rt_size_t newsize)
                 /* 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;
@@ -445,6 +464,10 @@ void *rt_memheap_realloc(struct rt_memheap *heap, void *ptr, rt_size_t newsize)
     /* 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;
@@ -590,6 +613,10 @@ 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));
 }
@@ -712,6 +739,94 @@ void *rt_calloc(rt_size_t count, rt_size_t size)
 }
 RTM_EXPORT(rt_calloc);
 
-#endif
+void rt_memory_info(rt_uint32_t *total,
+                    rt_uint32_t *used,
+                    rt_uint32_t *max_used)
+{
+    if (total != RT_NULL)
+        *total = _heap.pool_size;
+
+    if (used  != RT_NULL)
+        *used = _heap.pool_size - _heap.available_size;
+
+    if (max_used != RT_NULL)
+        *max_used = _heap.max_used_size;
+}
 
 #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 00471efb35..db614032aa 100644
--- a/src/mempool.c
+++ b/src/mempool.c
@@ -134,7 +134,7 @@ RTM_EXPORT(rt_mp_init);
 rt_err_t rt_mp_detach(struct rt_mempool *mp)
 {
     struct rt_thread *thread;
-    register rt_ubase_t temp;
+    register rt_ubase_t level;
 
     /* parameter check */
     RT_ASSERT(mp != RT_NULL);
@@ -145,7 +145,7 @@ rt_err_t rt_mp_detach(struct rt_mempool *mp)
     while (!rt_list_isempty(&(mp->suspend_thread)))
     {
         /* disable interrupt */
-        temp = rt_hw_interrupt_disable();
+        level = rt_hw_interrupt_disable();
 
         /* get next suspend thread */
         thread = rt_list_entry(mp->suspend_thread.next, struct rt_thread, tlist);
@@ -160,7 +160,7 @@ rt_err_t rt_mp_detach(struct rt_mempool *mp)
         rt_thread_resume(thread);
 
         /* enable interrupt */
-        rt_hw_interrupt_enable(temp);
+        rt_hw_interrupt_enable(level);
     }
 
     /* detach object */
@@ -250,7 +250,7 @@ RTM_EXPORT(rt_mp_create);
 rt_err_t rt_mp_delete(rt_mp_t mp)
 {
     struct rt_thread *thread;
-    register rt_ubase_t temp;
+    register rt_ubase_t level;
 
     RT_DEBUG_NOT_IN_INTERRUPT;
 
@@ -263,7 +263,7 @@ rt_err_t rt_mp_delete(rt_mp_t mp)
     while (!rt_list_isempty(&(mp->suspend_thread)))
     {
         /* disable interrupt */
-        temp = rt_hw_interrupt_disable();
+        level = rt_hw_interrupt_disable();
 
         /* get next suspend thread */
         thread = rt_list_entry(mp->suspend_thread.next, struct rt_thread, tlist);
@@ -278,7 +278,7 @@ rt_err_t rt_mp_delete(rt_mp_t mp)
         rt_thread_resume(thread);
 
         /* enable interrupt */
-        rt_hw_interrupt_enable(temp);
+        rt_hw_interrupt_enable(level);
     }
 
     /* release allocated room */
diff --git a/src/object.c b/src/object.c
index 6866d805ca..56263618b3 100644
--- a/src/object.c
+++ b/src/object.c
@@ -192,18 +192,6 @@ void rt_object_put_sethook(void (*hook)(struct rt_object *object))
 #endif
 
 /**
- * @ingroup SystemInit
- *
- * This function will initialize system object management.
- *
- * @deprecated since 0.3.0, this function does not need to be invoked
- * in the system initialization.
- */
-void rt_system_object_init(void)
-{
-}
-
-/**
  * @addtogroup KernelObject
  */
 
@@ -485,7 +473,7 @@ void rt_object_delete(rt_object_t object)
     RT_OBJECT_HOOK_CALL(rt_object_detach_hook, (object));
 
     /* reset object type */
-    object->type = 0;
+    object->type = RT_Object_Class_Null;
 
     /* lock interrupt */
     temp = rt_hw_interrupt_disable();
diff --git a/src/scheduler.c b/src/scheduler.c
index 6baaa9627a..06f305ea0b 100644
--- a/src/scheduler.c
+++ b/src/scheduler.c
@@ -33,10 +33,6 @@
 #include <rtthread.h>
 #include <rthw.h>
 
-#ifdef RT_USING_SMP
-rt_hw_spinlock_t _rt_critical_lock;
-#endif /*RT_USING_SMP*/
-
 rt_list_t rt_thread_priority_table[RT_THREAD_PRIORITY_MAX];
 rt_uint32_t rt_thread_ready_priority_group;
 #if RT_THREAD_PRIORITY_MAX > 32
@@ -47,7 +43,7 @@ rt_uint8_t rt_thread_ready_table[32];
 #ifndef RT_USING_SMP
 extern volatile rt_uint8_t rt_interrupt_nest;
 static rt_int16_t rt_scheduler_lock_nest;
-struct rt_thread *rt_current_thread;
+struct rt_thread *rt_current_thread = RT_NULL;
 rt_uint8_t rt_current_priority;
 #endif /*RT_USING_SMP*/
 
@@ -94,12 +90,7 @@ static void _rt_scheduler_stack_check(struct rt_thread *thread)
         rt_ubase_t level;
 
         rt_kprintf("thread:%s stack overflow\n", thread->name);
-#ifdef RT_USING_FINSH
-        {
-            extern long list_thread(void);
-            list_thread();
-        }
-#endif
+
         level = rt_hw_interrupt_disable();
         while (level);
     }
@@ -350,9 +341,9 @@ void rt_schedule(void)
                 }
                 else
                 {
-                    current_thread->stat &= ~RT_THREAD_STAT_YIELD_MASK;
                     rt_schedule_insert_thread(current_thread);
                 }
+                current_thread->stat &= ~RT_THREAD_STAT_YIELD_MASK;
             }
             to_thread->oncpu = cpu_id;
             if (to_thread != current_thread)
@@ -448,9 +439,9 @@ void rt_schedule(void)
                 }
                 else
                 {
-                    rt_current_thread->stat &= ~RT_THREAD_STAT_YIELD_MASK;
                     need_insert_from_thread = 1;
                 }
+                rt_current_thread->stat &= ~RT_THREAD_STAT_YIELD_MASK;
             }
 
             if (to_thread != rt_current_thread)
@@ -599,9 +590,9 @@ void rt_scheduler_do_irq_switch(void *context)
                 }
                 else
                 {
-                    current_thread->stat &= ~RT_THREAD_STAT_YIELD_MASK;
                     rt_schedule_insert_thread(current_thread);
                 }
+                current_thread->stat &= ~RT_THREAD_STAT_YIELD_MASK;
             }
             to_thread->oncpu = cpu_id;
             if (to_thread != current_thread)
@@ -788,7 +779,7 @@ void rt_schedule_remove_thread(struct rt_thread *thread)
         {
 #if RT_THREAD_PRIORITY_MAX > 32
             pcpu->ready_table[thread->number] &= ~thread->high_mask;
-            if (rt_thread_ready_table[thread->number] == 0)
+            if (pcpu->ready_table[thread->number] == 0)
             {
                 pcpu->priority_group &= ~thread->number_mask;
             }
@@ -851,7 +842,7 @@ void rt_enter_critical(void)
     if (!current_thread)
     {
         rt_hw_local_irq_enable(level);
-        return ;
+        return;
     }
 
     /*
@@ -859,12 +850,15 @@ void rt_enter_critical(void)
      * enough and does not check here
      */
 
-    /* lock scheduler for all cpus */
-    if (current_thread->critical_lock_nest == 0)
     {
-        rt_hw_spin_lock(&_rt_critical_lock);
+        register rt_uint16_t lock_nest = current_thread->cpus_lock_nest;
+        current_thread->cpus_lock_nest++;
+        if (lock_nest == 0)
+        {
+            current_thread->scheduler_lock_nest ++;
+            rt_hw_spin_lock(&_cpus_lock);
+        }
     }
-
     /* critical for local cpu */
     current_thread->critical_lock_nest ++;
 
@@ -910,16 +904,18 @@ void rt_exit_critical(void)
     if (!current_thread)
     {
         rt_hw_local_irq_enable(level);
-        return ;
+        return;
     }
 
     current_thread->scheduler_lock_nest --;
 
     current_thread->critical_lock_nest --;
 
-    if (current_thread->critical_lock_nest == 0)
+    current_thread->cpus_lock_nest--;
+    if (current_thread->cpus_lock_nest == 0)
     {
-        rt_hw_spin_unlock(&_rt_critical_lock);
+        current_thread->scheduler_lock_nest --;
+        rt_hw_spin_unlock(&_cpus_lock);
     }
 
     if (current_thread->scheduler_lock_nest <= 0)
diff --git a/src/thread.c b/src/thread.c
index 715596b132..2681eca59f 100644
--- a/src/thread.c
+++ b/src/thread.c
@@ -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>
@@ -77,6 +78,31 @@ void rt_thread_inited_sethook(void (*hook)(rt_thread_t thread))
 
 #endif
 
+/* must be invoke witch rt_hw_interrupt_disable */
+static void _thread_cleanup_execute(rt_thread_t thread)
+{
+    register rt_base_t level;
+#ifdef RT_USING_MODULE
+    struct rt_dlmodule *module = RT_NULL;
+#endif
+    level = rt_hw_interrupt_disable();
+#ifdef RT_USING_MODULE
+    module = (struct rt_dlmodule*)thread->module_id;
+    if (module)
+    {
+        dlmodule_destroy(module);
+    }
+#endif
+    /* invoke thread cleanup */
+    if (thread->cleanup != RT_NULL)
+        thread->cleanup(thread);
+
+#ifdef RT_USING_SIGNALS
+    rt_thread_free_sig(thread);
+#endif
+    rt_hw_interrupt_enable(level);
+}
+
 void rt_thread_exit(void)
 {
     struct rt_thread *thread;
@@ -88,6 +114,8 @@ void rt_thread_exit(void)
     /* disable interrupt */
     level = rt_hw_interrupt_disable();
 
+    _thread_cleanup_execute(thread);
+
     /* remove from schedule */
     rt_schedule_remove_thread(thread);
     /* change stat */
@@ -96,8 +124,7 @@ void rt_thread_exit(void)
     /* remove it from timer list */
     rt_timer_detach(&thread->thread_timer);
 
-    if ((rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE) &&
-        thread->cleanup == RT_NULL)
+    if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
     {
         rt_object_detach((rt_object_t)thread);
     }
@@ -347,14 +374,15 @@ rt_err_t rt_thread_detach(rt_thread_t thread)
         rt_schedule_remove_thread(thread);
     }
 
+    _thread_cleanup_execute(thread);
+
     /* release thread timer */
     rt_timer_detach(&(thread->thread_timer));
 
     /* change stat */
     thread->stat = RT_THREAD_CLOSE;
 
-    if ((rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE) &&
-        thread->cleanup == RT_NULL)
+    if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
     {
         rt_object_detach((rt_object_t)thread);
     }
@@ -449,6 +477,8 @@ rt_err_t rt_thread_delete(rt_thread_t thread)
         rt_schedule_remove_thread(thread);
     }
 
+    _thread_cleanup_execute(thread);
+
     /* release thread timer */
     rt_timer_detach(&(thread->thread_timer));
 
@@ -478,7 +508,15 @@ 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;
 }
@@ -561,7 +599,7 @@ 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);
@@ -633,75 +671,93 @@ 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;
+            /* 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);
 
-            /* 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
+                /* 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
+
+                /* insert thread to schedule queue again */
+                rt_schedule_insert_thread(thread);
+            }
+            else
+            {
+                thread->current_priority = *(rt_uint8_t *)arg;
 
-            /* insert thread to schedule queue again */
-            rt_schedule_insert_thread(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
+            }
+
+            /* enable interrupt */
+            rt_hw_interrupt_enable(temp);
+            break;
         }
-        else
-        {
-            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
+        case RT_THREAD_CTRL_STARTUP:
+        {
+            return rt_thread_startup(thread);
         }
 
-        /* enable interrupt */
-        rt_hw_interrupt_enable(temp);
-        break;
+        case RT_THREAD_CTRL_CLOSE:
+        {
+            rt_err_t rt_err;
 
-    case RT_THREAD_CTRL_STARTUP:
-        return rt_thread_startup(thread);
+            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;
+        }
 
-#ifdef RT_USING_HEAP
-    case RT_THREAD_CTRL_CLOSE:
-        return rt_thread_delete(thread);
-#endif
+    #ifdef RT_USING_SMP
+        case RT_THREAD_CTRL_BIND_CPU:
+        {
+            rt_uint8_t cpu;
 
-#ifdef RT_USING_SMP
-    case RT_THREAD_CTRL_BIND_CPU:
-    {
-        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;
+            }
 
-        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;
@@ -846,38 +902,7 @@ RTM_EXPORT(rt_thread_timeout);
  */
 rt_thread_t rt_thread_find(char *name)
 {
-    struct rt_object_information *information;
-    struct rt_object *object;
-    struct rt_list_node *node;
-
-    /* enter critical */
-    if (rt_thread_self() != RT_NULL)
-        rt_enter_critical();
-
-    /* try to find device object */
-    information = rt_object_get_information(RT_Object_Class_Thread);
-    RT_ASSERT(information != RT_NULL);
-    for (node  = information->object_list.next;
-         node != &(information->object_list);
-         node  = node->next)
-    {
-        object = rt_list_entry(node, struct rt_object, list);
-        if (rt_strncmp(object->name, name, RT_NAME_MAX) == 0)
-        {
-            /* leave critical */
-            if (rt_thread_self() != RT_NULL)
-                rt_exit_critical();
-
-            return (rt_thread_t)object;
-        }
-    }
-
-    /* leave critical */
-    if (rt_thread_self() != RT_NULL)
-        rt_exit_critical();
-
-    /* not found */
-    return RT_NULL;
+    return (rt_thread_t)rt_object_find(name, RT_Object_Class_Thread);
 }
 RTM_EXPORT(rt_thread_find);
 
diff --git a/src/timer.c b/src/timer.c
index 28a5a9e494..d882711151 100644
--- a/src/timer.c
+++ b/src/timer.c
@@ -25,6 +25,10 @@
 static rt_list_t rt_timer_list[RT_TIMER_SKIP_LIST_LEVEL];
 
 #ifdef RT_USING_TIMER_SOFT
+
+#define RT_SOFT_TIMER_IDLE              1
+#define RT_SOFT_TIMER_BUSY              0
+
 #ifndef RT_TIMER_THREAD_STACK_SIZE
 #define RT_TIMER_THREAD_STACK_SIZE     512
 #endif
@@ -33,6 +37,8 @@ static rt_list_t rt_timer_list[RT_TIMER_SKIP_LIST_LEVEL];
 #define RT_TIMER_THREAD_PRIO           0
 #endif
 
+/* soft timer status */
+static rt_uint8_t soft_timer_status = RT_SOFT_TIMER_IDLE;
 /* soft timer list */
 static rt_list_t rt_soft_timer_list[RT_TIMER_SKIP_LIST_LEVEL];
 static struct rt_thread timer_thread;
@@ -221,6 +227,8 @@ rt_err_t rt_timer_detach(rt_timer_t timer)
     level = rt_hw_interrupt_disable();
 
     _rt_timer_remove(timer);
+    /* stop timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
 
     /* enable interrupt */
     rt_hw_interrupt_enable(level);
@@ -284,6 +292,8 @@ rt_err_t rt_timer_delete(rt_timer_t timer)
     level = rt_hw_interrupt_disable();
 
     _rt_timer_remove(timer);
+    /* stop timer */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
 
     /* enable interrupt */
     rt_hw_interrupt_enable(level);
@@ -321,7 +331,6 @@ rt_err_t rt_timer_start(rt_timer_t timer)
     _rt_timer_remove(timer);
     /* change status of timer */
     timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
-    rt_hw_interrupt_enable(level);
 
     RT_OBJECT_HOOK_CALL(rt_object_take_hook, (&(timer->parent)));
 
@@ -332,9 +341,6 @@ rt_err_t rt_timer_start(rt_timer_t timer)
     RT_ASSERT(timer->init_tick < RT_TICK_MAX / 2);
     timer->timeout_tick = rt_tick_get() + timer->init_tick;
 
-    /* disable interrupt */
-    level = rt_hw_interrupt_disable();
-
 #ifdef RT_USING_TIMER_SOFT
     if (timer->parent.flag & RT_TIMER_FLAG_SOFT_TIMER)
     {
@@ -408,7 +414,8 @@ rt_err_t rt_timer_start(rt_timer_t timer)
     if (timer->parent.flag & RT_TIMER_FLAG_SOFT_TIMER)
     {
         /* check whether timer thread is ready */
-        if ((timer_thread.stat & RT_THREAD_STAT_MASK) == RT_THREAD_SUSPEND)
+        if ((soft_timer_status == RT_SOFT_TIMER_IDLE) &&
+           ((timer_thread.stat & RT_THREAD_STAT_MASK) == RT_THREAD_SUSPEND))
         {
             /* resume timer thread to check soft timer */
             rt_thread_resume(&timer_thread);
@@ -445,13 +452,12 @@ rt_err_t rt_timer_stop(rt_timer_t timer)
     level = rt_hw_interrupt_disable();
 
     _rt_timer_remove(timer);
+    /* change status */
+    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
 
     /* enable interrupt */
     rt_hw_interrupt_enable(level);
 
-    /* change stat */
-    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
-
     return RT_EOK;
 }
 RTM_EXPORT(rt_timer_stop);
@@ -467,10 +473,13 @@ RTM_EXPORT(rt_timer_stop);
  */
 rt_err_t rt_timer_control(rt_timer_t timer, int cmd, void *arg)
 {
+    register rt_base_t level;
+
     /* timer check */
     RT_ASSERT(timer != RT_NULL);
     RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
 
+    level = rt_hw_interrupt_disable();
     switch (cmd)
     {
     case RT_TIMER_CTRL_GET_TIME:
@@ -500,8 +509,12 @@ rt_err_t rt_timer_control(rt_timer_t timer, int cmd, void *arg)
             /*timer is stop*/
             *(rt_tick_t *)arg = RT_TIMER_FLAG_DEACTIVATED;
         }
-        break;    
+        break;
+
+    default:
+        break;
     }
+    rt_hw_interrupt_enable(level);
 
     return RT_EOK;
 }
@@ -518,6 +531,7 @@ void rt_timer_check(void)
     struct rt_timer *t;
     rt_tick_t current_tick;
     register rt_base_t level;
+    rt_list_t list = RT_LIST_OBJECT_INIT(list);
 
     RT_DEBUG_LOG(RT_DEBUG_TIMER, ("timer check enter\n"));
 
@@ -541,7 +555,12 @@ void rt_timer_check(void)
 
             /* remove timer from timer list firstly */
             _rt_timer_remove(t);
-
+            if (!(t->parent.flag & RT_TIMER_FLAG_PERIODIC))
+            {
+                t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+            }
+            /* add timer to temporary list  */
+            rt_list_insert_after(&list, &(t->row[RT_TIMER_SKIP_LIST_LEVEL - 1]));
             /* call timeout function */
             t->timeout_func(t->parameter);
 
@@ -551,6 +570,12 @@ void rt_timer_check(void)
             RT_OBJECT_HOOK_CALL(rt_timer_exit_hook, (t));
             RT_DEBUG_LOG(RT_DEBUG_TIMER, ("current tick: %d\n", current_tick));
 
+            /* Check whether the timer object is detached or started again */
+            if (rt_list_isempty(&list))
+            {
+                continue;
+            }
+            rt_list_remove(&(t->row[RT_TIMER_SKIP_LIST_LEVEL - 1]));
             if ((t->parent.flag & RT_TIMER_FLAG_PERIODIC) &&
                 (t->parent.flag & RT_TIMER_FLAG_ACTIVATED))
             {
@@ -558,14 +583,8 @@ void rt_timer_check(void)
                 t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
                 rt_timer_start(t);
             }
-            else
-            {
-                /* stop timer */
-                t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
-            }
         }
-        else
-            break;
+        else break;
     }
 
     /* enable interrupt */
@@ -586,26 +605,27 @@ rt_tick_t rt_timer_next_timeout_tick(void)
 
 #ifdef RT_USING_TIMER_SOFT
 /**
- * This function will check timer list, if a timeout event happens, the
+ * This function will check software-timer list, if a timeout event happens, the
  * corresponding timeout function will be invoked.
  */
 void rt_soft_timer_check(void)
 {
     rt_tick_t current_tick;
-    rt_list_t *n;
     struct rt_timer *t;
+    register rt_base_t level;
+    rt_list_t list = RT_LIST_OBJECT_INIT(list);
 
     RT_DEBUG_LOG(RT_DEBUG_TIMER, ("software timer check enter\n"));
 
-    current_tick = rt_tick_get();
-
-    /* lock scheduler */
-    rt_enter_critical();
+    /* disable interrupt */
+    level = rt_hw_interrupt_disable();
 
-    for (n = rt_soft_timer_list[RT_TIMER_SKIP_LIST_LEVEL - 1].next;
-         n != &(rt_soft_timer_list[RT_TIMER_SKIP_LIST_LEVEL - 1]);)
+    while (!rt_list_isempty(&rt_soft_timer_list[RT_TIMER_SKIP_LIST_LEVEL - 1]))
     {
-        t = rt_list_entry(n, struct rt_timer, row[RT_TIMER_SKIP_LIST_LEVEL - 1]);
+        t = rt_list_entry(rt_soft_timer_list[RT_TIMER_SKIP_LIST_LEVEL - 1].next,
+                            struct rt_timer, row[RT_TIMER_SKIP_LIST_LEVEL - 1]);
+
+        current_tick = rt_tick_get();
 
         /*
          * It supposes that the new tick shall less than the half duration of
@@ -615,26 +635,35 @@ void rt_soft_timer_check(void)
         {
             RT_OBJECT_HOOK_CALL(rt_timer_enter_hook, (t));
 
-            /* move node to the next */
-            n = n->next;
-
             /* remove timer from timer list firstly */
             _rt_timer_remove(t);
+            if (!(t->parent.flag & RT_TIMER_FLAG_PERIODIC))
+            {
+                t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
+            }
+            /* add timer to temporary list  */
+            rt_list_insert_after(&list, &(t->row[RT_TIMER_SKIP_LIST_LEVEL - 1]));
+
+            soft_timer_status = RT_SOFT_TIMER_BUSY;
+            /* enable interrupt */
+            rt_hw_interrupt_enable(level);
 
-            /* not lock scheduler when performing timeout function */
-            rt_exit_critical();
             /* call timeout function */
             t->timeout_func(t->parameter);
 
-            /* re-get tick */
-            current_tick = rt_tick_get();
-
             RT_OBJECT_HOOK_CALL(rt_timer_exit_hook, (t));
             RT_DEBUG_LOG(RT_DEBUG_TIMER, ("current tick: %d\n", current_tick));
 
-            /* lock scheduler */
-            rt_enter_critical();
+            /* disable interrupt */
+            level = rt_hw_interrupt_disable();
 
+            soft_timer_status = RT_SOFT_TIMER_IDLE;
+            /* Check whether the timer object is detached or started again */
+            if (rt_list_isempty(&list))
+            {
+                continue;
+            }
+            rt_list_remove(&(t->row[RT_TIMER_SKIP_LIST_LEVEL - 1]));
             if ((t->parent.flag & RT_TIMER_FLAG_PERIODIC) &&
                 (t->parent.flag & RT_TIMER_FLAG_ACTIVATED))
             {
@@ -642,17 +671,11 @@ void rt_soft_timer_check(void)
                 t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
                 rt_timer_start(t);
             }
-            else
-            {
-                /* stop timer */
-                t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
-            }
         }
         else break; /* not check anymore */
     }
-
-    /* unlock scheduler */
-    rt_exit_critical();
+    /* enable interrupt */
+    rt_hw_interrupt_enable(level);
 
     RT_DEBUG_LOG(RT_DEBUG_TIMER, ("software timer check leave\n"));
 }