From ac397f58f8667c5dd18b4a1897e2ddf2c783d820 Mon Sep 17 00:00:00 2001
From: zhangzheng <1358745329@qq.com>
Date: Thu, 15 Dec 2022 18:17:50 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=AF=E6=8C=81=E7=B3=BB=E7=BB=9F=E9=87=8D?=
 =?UTF-8?q?=E5=90=AF=E5=91=BD=E4=BB=A4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .vscode/launch.json            |   4 +-
 .vscode/settings.json          |   9 +-
 CMakeLists.txt                 |   1 +
 mkrtos_real/inc/arch/arch.h    |  66 ++--
 mkrtos_real/inc/mkrtos/sys.h   | 358 +++++++++----------
 mkrtos_real/ipc/knl_msg.c      |  15 +-
 mkrtos_real/ipc/sys_msg.c      | 605 ++++++++++++++++++---------------
 mkrtos_real/knl/arch.c         | 237 +++++++------
 mkrtos_real/knl/sched.c        |   6 +-
 mkrtos_real/knl/sys.c          | 360 ++++++++++++--------
 mkrtos_real/knl/syscall.c      |  25 +-
 mkrtos_reboot/CMakeLists.txt   |  39 +++
 mkrtos_reboot/link.lds         | 119 +++++++
 mkrtos_reboot/setting.cmake    |   0
 mkrtos_reboot/src/heap_stack.c |  17 +
 mkrtos_reboot/src/main.c       |  44 +++
 stm32f205rft6_build.sh         |   7 +-
 17 files changed, 1152 insertions(+), 760 deletions(-)
 create mode 100644 mkrtos_reboot/CMakeLists.txt
 create mode 100644 mkrtos_reboot/link.lds
 create mode 100644 mkrtos_reboot/setting.cmake
 create mode 100644 mkrtos_reboot/src/heap_stack.c
 create mode 100644 mkrtos_reboot/src/main.c

diff --git a/.vscode/launch.json b/.vscode/launch.json
index 140b1730f..aadf90cb1 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,13 +4,13 @@
             "name": "(gdb) 启动",
             "type": "cppdbg",
             "request": "launch",
-            "program": "/home/zhangzheng/mkrtos-real/build/mkrtos/mkrtos_real/mkrtos_real.elf",
+            "program": "/home/ubuntu/zhangzheng/mkrtos-real/build/mkrtos/mkrtos_real/mkrtos_real.elf",
             "args": [],
             "stopAtEntry": true,
             "cwd": "${fileDirname}",
             "environment": [],
             "externalConsole": false,
-            "miDebuggerPath": "/home/zhangzheng/mkrtos-real/toolchains/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-gdb",
+            "miDebuggerPath": "/home/ubuntu/zhangzheng/mkrtos-real/toolchains/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-gdb",
             "miDebuggerServerAddress": "127.0.0.1:3333",
             "MIMode": "gdb",
             "setupCommands": [
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 3ce97deb1..846718b04 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -69,7 +69,12 @@
         "atomic.h": "c",
         "slist.h": "c",
         "exec.h": "c",
-        "bitset": "c"
+        "bitset": "c",
+        "knl_mutex.h": "c",
+        "knl_msg.h": "c",
+        "msg.h": "c",
+        "reboot.h": "c"
     },
-    "cortex-debug.showRTOS": false
+    "cortex-debug.showRTOS": false,
+    "editor.formatOnSave": true
 }
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0772d9d89..1d94ad6a2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,6 +37,7 @@ add_subdirectory(mkrtos_ls)
 add_subdirectory(mkrtos_ym)
 add_subdirectory(mkrtos_shell)
 add_subdirectory(mkrtos_test)
+add_subdirectory(mkrtos_reboot)
 # add_custom_target(
 #     gen_system_cpio
 #     ALL
diff --git a/mkrtos_real/inc/arch/arch.h b/mkrtos_real/inc/arch/arch.h
index 62388c197..525dd5986 100644
--- a/mkrtos_real/inc/arch/arch.h
+++ b/mkrtos_real/inc/arch/arch.h
@@ -10,46 +10,44 @@
 /**
  * @brief OS周期的ms
  */
-#define OS_WORK_PERIOD_MS  ((1000/OS_WORK_HZ))
+#define OS_WORK_PERIOD_MS ((1000 / OS_WORK_HZ))
 
 int32_t arch_init(void);
 
 extern void kprint(const char *fmt, ...);
-extern int int_cn_;
+
+void arch_reboot(void);
 /**
  * @brief 关闭cpu中断
  * @return 返回之前得中断使能状态
  */
-static inline uint32_t dis_cpu_intr(void) {
+static inline uint32_t dis_cpu_intr(void)
+{
 	uint32_t res;
 	__asm__ __volatile__(
-			"MRS     %0, PRIMASK\n"
-			"CPSID   I\n"
-			:"=r"(res)
-			:
-			:
-	);
-	int_cn_++;
+		"MRS     %0, PRIMASK\n"
+		"CPSID   I\n"
+		: "=r"(res)
+		:
+		:);
 	return res;
 }
 /**
  * @brief 恢复cpu中断状态
  */
-static inline void restore_cpu_intr(uint32_t s) {
+static inline void restore_cpu_intr(uint32_t s)
+{
 	__asm__ __volatile__(
-			"MSR     PRIMASK, %0\n"
-			:
-			:"r"(s)
-			:
-	);
-	int_cn_--;
-
+		"MSR     PRIMASK, %0\n"
+		:
+		: "r"(s)
+		:);
 }
-void set_psp(void* new_psp);
+void set_psp(void *new_psp);
 uint32_t get_psp(void);
 /**
-* @brief 如何在用户级进行任务切换，手动触发PendSv
-*/
+ * @brief 如何在用户级进行任务切换，手动触发PendSv
+ */
 void to_schedule(void);
 /**
  * 在用户层面执行函数，需要在psp栈上模拟值
@@ -58,23 +56,23 @@ void to_schedule(void);
  * @param memStack
  * @return
  */
-void* set_into_user_stack(void *callFunc,void *arg0,uint32_t *memStack,void* resAddr);
+void *set_into_user_stack(void *callFunc, void *arg0, uint32_t *memStack, void *resAddr);
 
 uint32_t *os_task_set_reg1(uint32_t *mem_stack,
-		int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
-		void *prg2, void (*thread_exit_func)(void));
+						   int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
+						   void *prg2, void (*thread_exit_func)(void));
 
 /**
-* @brief 填充寄存器
-* @param mem 栈内存
-* @param taskFun 任务函数
-* @param prg0 需要传递的参数0
-* @param prg1需要传递的参数1
-* @return 栈顶地址
-*/
-uint32_t* os_task_set_reg(uint32_t *mem_stack,
-		int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
-		void *prg2, void (*thread_exit_func)(void),void *ram);
+ * @brief 填充寄存器
+ * @param mem 栈内存
+ * @param taskFun 任务函数
+ * @param prg0 需要传递的参数0
+ * @param prg1需要传递的参数1
+ * @return 栈顶地址
+ */
+uint32_t *os_task_set_reg(uint32_t *mem_stack,
+						  int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
+						  void *prg2, void (*thread_exit_func)(void), void *ram);
 /**
  * @brief 获取中断号
  */
diff --git a/mkrtos_real/inc/mkrtos/sys.h b/mkrtos_real/inc/mkrtos/sys.h
index e0cf6d7fa..ec5119484 100644
--- a/mkrtos_real/inc/mkrtos/sys.h
+++ b/mkrtos_real/inc/mkrtos/sys.h
@@ -87,56 +87,57 @@ extern int sys_symlink();      // 83 - 建立符号链接。             (fs/nam
 extern int sys_lstat();        // 84 - 取符号链接文件状态。       (fs/stat.c，47)
 extern int sys_readlink();     // 85 - 读取符号链接文件信息。     (fs/stat.c，69)
 extern int sys_uselib();       // 86 - 选择共享库。
-extern int sys_mmap();       // 90 - 选择共享库。
-extern int sys_munmap();    //91
-extern int sys_truncate();//92
-extern int sys_ftruncate();//93
-extern int sys_fchown();//95
-extern int sys_getpriority(); //96
-extern int sys_setpriority(); //97
+extern int sys_reboot();       // 88 - 重启系统
+extern int sys_mmap();         // 90 - 选择共享库。
+extern int sys_munmap();       // 91
+extern int sys_truncate();     // 92
+extern int sys_ftruncate();    // 93
+extern int sys_fchown();       // 95
+extern int sys_getpriority();  // 96
+extern int sys_setpriority();  // 97
 extern int sys_socketcall();
-extern int sys_wait4();     //114-wait4
-extern int sys_ipc();       //117
+extern int sys_wait4(); // 114-wait4
+extern int sys_ipc();   // 117
 extern int sys_fsync();
 extern int sys_getdents();
-extern int sys_clone(); //120
+extern int sys_clone(); // 120
 extern int sys_sigprocmask();
-extern int sys_sched_yield();//158
-extern int sys_nanosleep(); //162
-extern int sys_mremap();//163
-extern int sys_poll();//168
-extern int sys_rt_sigaction(); //174
+extern int sys_sched_yield();  // 158
+extern int sys_nanosleep();    // 162
+extern int sys_mremap();       // 163
+extern int sys_poll();         // 168
+extern int sys_rt_sigaction(); // 174
 extern int sys_rt_sigprocmask();
-extern int sys_rt_sigsuspend();//179
-extern int sys_getcwd();//183
+extern int sys_rt_sigsuspend(); // 179
+extern int sys_getcwd();        // 183
 extern int sys_getenv();
 
-extern int sys_rt_sigreturn(void* psp);
+extern int sys_rt_sigreturn(void *psp);
 extern int sys_mmap2();
 extern int sys_readdir();
 int sys_fchmod(unsigned int fd, mode_t mode);
 extern int sys_fchdir();
-int sys_statfs(const char * path, struct statfs * buf);
-int sys_fstatfs(unsigned int fd, struct statfs * buf);
+int sys_statfs(const char *path, struct statfs *buf);
+int sys_fstatfs(unsigned int fd, struct statfs *buf);
 extern int sys_sigreturn();
 
-extern int sys_socket();//281
-extern int sys_bind();//282
-extern int sys_connect();//283
-extern int sys_listen();//284
-extern int sys_accept();//285
-extern int sys_getsockname();//286
-extern int sys_getpeername();//287
-extern int sys_socketpair();//288
-extern int sys_send();//289
-extern int sys_sendto();//290
-extern int sys_recv();//291
-extern int sys_recvfrom();//292
-extern int sys_shutdown();//293
-extern int sys_setsockopt();//294
-extern int sys_getsockopt();//295
-extern int sys_sendmsg();//296
-extern int sys_recvmsg();//297
+extern int sys_socket();      // 281
+extern int sys_bind();        // 282
+extern int sys_connect();     // 283
+extern int sys_listen();      // 284
+extern int sys_accept();      // 285
+extern int sys_getsockname(); // 286
+extern int sys_getpeername(); // 287
+extern int sys_socketpair();  // 288
+extern int sys_send();        // 289
+extern int sys_sendto();      // 290
+extern int sys_recv();        // 291
+extern int sys_recvfrom();    // 292
+extern int sys_shutdown();    // 293
+extern int sys_setsockopt();  // 294
+extern int sys_getsockopt();  // 295
+extern int sys_sendmsg();     // 296
+extern int sys_recvmsg();     // 297
 
 extern int sys_subscribe_msg();
 extern int sys_publish_msg();
@@ -146,145 +147,146 @@ extern int slot_reg(void);
 extern int fork_exec(void);
 
 const sys_call_func sys_call_table[] = {
-        [0]=sys_setup,//实现
-        [1]=sys_exit,//实现
-        [2]=sys_fork,//实现
-        [3]=sys_read,//实现
-        [4]=sys_write,//实现
-        [5]=sys_open,//实现
-        [6]=sys_close,//实现
-        [7]=sys_waitpid,//实现
-        [8]= sys_creat,//实现
-        [9]=sys_link,//实现
-        [10]=sys_unlink,//实现
-        [11]=sys_execve,
-        [12]=sys_chdir,//实现
-        [13]=sys_time,//
-        [14]=sys_mknod,
-        [15]=sys_chmod,
-        [16]= NULL,//sys_chown
-        [17]=sys_break,
-        [18]=sys_stat,
-        [19]=sys_lseek,
-        [20]=sys_getpid,
-        [21]=sys_mount,
-        [22]=NULL,//sys_umount,
-        [23]=sys_setuid,
-        [24]=sys_getuid,
-        [25]=sys_stime,
-        [26]=sys_ptrace,
-        [27]=sys_alarm,
-        [28]=sys_fstat,
-        [29]=sys_pause,
-        [30]=sys_utime,
-        [31]=sys_stty,
-        [32]=sys_gtty,
-        [33]=sys_access,
-        [34]=sys_nice,
-        [35]=sys_ftime,
-        [36]=sys_sync,
-        [37]=sys_kill,
-        [38]=sys_rename,
-        [39]=sys_mkdir,
-        [40]=sys_rmdir,
-        [41]=sys_dup,
-        [42]=sys_pipe,
-        [43]=sys_times,
-        [44]=sys_prof,
-        [45]=sys_brk,
-        [46]=sys_setgid,
-        [47]=sys_getgid,
-        [48]=sys_signal,
-        [49]=sys_geteuid,
-        [50]=sys_getegid,
-        [51]=sys_acct,
-        [52]NULL,//sys_phys,
-        [53]=sys_lock,
-        [54]=sys_ioctl,
-        [55]=sys_fcntl,
-        [56]=sys_mpx,
-        [57]=sys_setpgid,
-        [58]=sys_ulimit,
-        [59]=sys_uname,
-        [60]=sys_umask,
-        [61]=sys_chroot,
-        [62]=sys_ustat,
-        [63]=sys_dup2,
-        [64]=sys_getppid,
-        [65]=sys_getpgrp,
-        [66]=sys_setsid,
-        [67]=sys_sigaction,
-        [68]=sys_sgetmask,
-        [69]=sys_ssetmask,
-        [70]=sys_setreuid,
-        [71]=sys_setregid,
-        [72]=sys_sigsuspend,
-//                           sys_sigpending,
-//                           sys_sethostname,
-//                           sys_setrlimit,
-//                           sys_getrlimit,
-//                           sys_getrusage,
-       [78]=sys_gettimeofday,
-       [79]=sys_settimeofday,
-//                           sys_getgroups,
-//                           sys_setgroups,
-        [82]=sys_select,
-        [83]=sys_symlink,
-        [84]=sys_lstat,
-//                           sys_readlink,
-//                           sys_uselib,
-        [89]=sys_readdir,
-        [90]=sys_mmap,
-        [91]=sys_munmap,
-        [92]=sys_truncate,
-        [93]=sys_ftruncate,
-        [94]=sys_fchmod,
-        [95]=sys_fchown,
-        [96]=sys_getpriority,
-        [97]=sys_setpriority,
-        [99]=sys_statfs,
-        [100]=sys_fstatfs,
-        [102]=sys_socketcall,
-        [106]=sys_stat,
-        [107]=sys_lstat,
-        [114]=sys_wait4,
-        [117]=sys_ipc,
-        [118]=sys_fsync,
-        [119]=sys_sigreturn,
-        [120]=sys_clone,
-        [122]=sys_uname,
-        [126]=sys_sigprocmask,
-        [133]=sys_fchdir,
-        [141]=sys_getdents,
-        [158]=sys_sched_yield,
-        [162]=sys_nanosleep,
-        [163]=NULL,//sys_mremap,
-        [168]=sys_poll,
-        [173]=sys_rt_sigreturn,
-        [174]=sys_rt_sigaction,
-        [175]=sys_rt_sigprocmask,
-        [179]=sys_rt_sigsuspend,
-        [182]=sys_chown,
-        [183]=sys_getcwd,
-		[192]=sys_mmap2,
-        [281]=sys_socket,
-        [282]=sys_bind,
-        [283]=sys_connect,
-        [284]=sys_listen,
-        [285]=sys_accept,
-        [286]=sys_getsockname,
-        [287]=sys_getpeername,
-        [288]=sys_socketpair,
-        [289]=sys_send,
-        [290]=sys_sendto,
-        [291]=sys_recv,
-        [292]=sys_recvfrom,
-        [293]=sys_shutdown,
-        [294]=sys_setsockopt,
-        [295]=sys_getsockopt,
-        [296]=sys_sendmsg,
-        [297]=sys_recvmsg,
-		[395]=sys_p2c_addr,
-		[396]=slot_reg,
-		[397]=fork_exec,
+    [0] = sys_setup,   // 实现
+    [1] = sys_exit,    // 实现
+    [2] = sys_fork,    // 实现
+    [3] = sys_read,    // 实现
+    [4] = sys_write,   // 实现
+    [5] = sys_open,    // 实现
+    [6] = sys_close,   // 实现
+    [7] = sys_waitpid, // 实现
+    [8] = sys_creat,   // 实现
+    [9] = sys_link,    // 实现
+    [10] = sys_unlink, // 实现
+    [11] = sys_execve,
+    [12] = sys_chdir, // 实现
+    [13] = sys_time,  //
+    [14] = sys_mknod,
+    [15] = sys_chmod,
+    [16] = NULL, // sys_chown
+    [17] = sys_break,
+    [18] = sys_stat,
+    [19] = sys_lseek,
+    [20] = sys_getpid,
+    [21] = sys_mount,
+    [22] = NULL, // sys_umount,
+    [23] = sys_setuid,
+    [24] = sys_getuid,
+    [25] = sys_stime,
+    [26] = sys_ptrace,
+    [27] = sys_alarm,
+    [28] = sys_fstat,
+    [29] = sys_pause,
+    [30] = sys_utime,
+    [31] = sys_stty,
+    [32] = sys_gtty,
+    [33] = sys_access,
+    [34] = sys_nice,
+    [35] = sys_ftime,
+    [36] = sys_sync,
+    [37] = sys_kill,
+    [38] = sys_rename,
+    [39] = sys_mkdir,
+    [40] = sys_rmdir,
+    [41] = sys_dup,
+    [42] = sys_pipe,
+    [43] = sys_times,
+    [44] = sys_prof,
+    [45] = sys_brk,
+    [46] = sys_setgid,
+    [47] = sys_getgid,
+    [48] = sys_signal,
+    [49] = sys_geteuid,
+    [50] = sys_getegid,
+    [51] = sys_acct,
+    [52] NULL, // sys_phys,
+    [53] = sys_lock,
+    [54] = sys_ioctl,
+    [55] = sys_fcntl,
+    [56] = sys_mpx,
+    [57] = sys_setpgid,
+    [58] = sys_ulimit,
+    [59] = sys_uname,
+    [60] = sys_umask,
+    [61] = sys_chroot,
+    [62] = sys_ustat,
+    [63] = sys_dup2,
+    [64] = sys_getppid,
+    [65] = sys_getpgrp,
+    [66] = sys_setsid,
+    [67] = sys_sigaction,
+    [68] = sys_sgetmask,
+    [69] = sys_ssetmask,
+    [70] = sys_setreuid,
+    [71] = sys_setregid,
+    [72] = sys_sigsuspend,
+    //                           sys_sigpending,
+    //                           sys_sethostname,
+    //                           sys_setrlimit,
+    //                           sys_getrlimit,
+    //                           sys_getrusage,
+    [78] = sys_gettimeofday,
+    [79] = sys_settimeofday,
+    //                           sys_getgroups,
+    //                           sys_setgroups,
+    [82] = sys_select,
+    [83] = sys_symlink,
+    [84] = sys_lstat,
+    //                           sys_readlink,
+    //                           sys_uselib,
+    [88] = sys_reboot,
+    [89] = sys_readdir,
+    [90] = sys_mmap,
+    [91] = sys_munmap,
+    [92] = sys_truncate,
+    [93] = sys_ftruncate,
+    [94] = sys_fchmod,
+    [95] = sys_fchown,
+    [96] = sys_getpriority,
+    [97] = sys_setpriority,
+    [99] = sys_statfs,
+    [100] = sys_fstatfs,
+    [102] = sys_socketcall,
+    [106] = sys_stat,
+    [107] = sys_lstat,
+    [114] = sys_wait4,
+    [117] = sys_ipc,
+    [118] = sys_fsync,
+    [119] = sys_sigreturn,
+    [120] = sys_clone,
+    [122] = sys_uname,
+    [126] = sys_sigprocmask,
+    [133] = sys_fchdir,
+    [141] = sys_getdents,
+    [158] = sys_sched_yield,
+    [162] = sys_nanosleep,
+    [163] = NULL, // sys_mremap,
+    [168] = sys_poll,
+    [173] = sys_rt_sigreturn,
+    [174] = sys_rt_sigaction,
+    [175] = sys_rt_sigprocmask,
+    [179] = sys_rt_sigsuspend,
+    [182] = sys_chown,
+    [183] = sys_getcwd,
+    [192] = sys_mmap2,
+    [281] = sys_socket,
+    [282] = sys_bind,
+    [283] = sys_connect,
+    [284] = sys_listen,
+    [285] = sys_accept,
+    [286] = sys_getsockname,
+    [287] = sys_getpeername,
+    [288] = sys_socketpair,
+    [289] = sys_send,
+    [290] = sys_sendto,
+    [291] = sys_recv,
+    [292] = sys_recvfrom,
+    [293] = sys_shutdown,
+    [294] = sys_setsockopt,
+    [295] = sys_getsockopt,
+    [296] = sys_sendmsg,
+    [297] = sys_recvmsg,
+    [395] = sys_p2c_addr,
+    [396] = slot_reg,
+    [397] = fork_exec,
 };
diff --git a/mkrtos_real/ipc/knl_msg.c b/mkrtos_real/ipc/knl_msg.c
index 82bd32447..56557b232 100644
--- a/mkrtos_real/ipc/knl_msg.c
+++ b/mkrtos_real/ipc/knl_msg.c
@@ -1,10 +1,9 @@
 //
 // Created by Administrator on 2022/3/27.
 //
-//�ں�����ʹ�õ�msg��������posix��ֻ��Ϊ������ٶ�
 
 #include "ipc/knl_msg.h"
-
+#include <knl_service.h>
 #include <errno.h>
 #include <string.h>
 
@@ -114,24 +113,21 @@ int msg_get(struct msg_hdl*msg,uint8_t *data,uint32_t wait){
             times.tv_sec=wait/1000;
             times.tv_nsec=(wait%1000)*1000*1000;
             again_sleep:
-            //��ȡ����
             ret=do_nanosleep(&msg->get_slp,&times,&rem,&(msg->is_empty),1);
             if(ret==-EINTR){
-                //������Ҫ�����趨��ʱ
                 times.tv_nsec=rem.tv_nsec;
                 times.tv_sec=rem.tv_sec;
                 rem.tv_sec=0;
                 rem.tv_nsec=0;
                 goto again_sleep;
             }
-            //ʣ���ʱ��ŵ�wait��
             wait=rem.tv_sec*1000+rem.tv_nsec/1000/1000;
             goto again;
         }
     }else{
         spin_lock(&(msg->slh));
         msg->front=(msg->front+1)%msg->max_len;
-        memcpy(data,
+        mkrtos_memcpy(data,
                msg->msg+ msg->front * msg->msg_size
                 ,msg->msg_size);
         if(msg_is_empty(msg)){
@@ -155,7 +151,6 @@ int msg_put(struct msg_hdl *msg,uint8_t *data,uint32_t wait){
     old_wait=wait;
     again:
     if(atomic_test(&msg->is_full,1)){
-        /*���ˣ�����ʧ�ܣ������������߲��ȴ��ͷ�*/
         if(wait==0){
             return -1;
         }else{
@@ -166,25 +161,21 @@ int msg_put(struct msg_hdl *msg,uint8_t *data,uint32_t wait){
             int ret;
 
             again_sleep:
-            //��ȡ����
             ret=do_nanosleep(&msg->put_slp,&times,&rem,&(msg->is_full),1);
             if(ret==-EINTR){
-                //������Ҫ�����趨��ʱ
                 times.tv_nsec=rem.tv_nsec;
                 times.tv_sec=rem.tv_sec;
                 rem.tv_sec=0;
                 rem.tv_nsec=0;
                 goto again_sleep;
             }
-            //ʣ���ʱ��ŵ�wait��
             wait=rem.tv_sec*1000+rem.tv_nsec/1000/1000;
             goto again;
         }
     }else{
         spin_lock(&msg->slh);
         msg->rear=(msg->rear+1)%msg->max_len ;
-        memcpy(
-                /*�����Ŀ�ʼ��ַ*/
+        mkrtos_memcpy(
                 msg->msg+ msg->rear * msg->msg_size
                 ,data
                 ,msg->msg_size
diff --git a/mkrtos_real/ipc/sys_msg.c b/mkrtos_real/ipc/sys_msg.c
index 9e2723bff..fa957736c 100644
--- a/mkrtos_real/ipc/sys_msg.c
+++ b/mkrtos_real/ipc/sys_msg.c
@@ -10,259 +10,315 @@
 #include <knl_service.h>
 
 #define MSG_NUM 4
-static struct msqid_ds msgid_ds_ls[MSG_NUM]={
-        [0].msg_qbytes=2048
-};
-static struct atomic msgid_ds_used[MSG_NUM]={0};
-static struct atomic msg_list_lk={0};
+static struct msqid_ds msgid_ds_ls[MSG_NUM] = {
+    [0].msg_qbytes = 2048};
+static struct atomic msgid_ds_used[MSG_NUM] = {0};
+static struct atomic msg_list_lk = {0};
 
-static struct atomic msg_locks[MSG_NUM]={0};
-struct s_msg{
+static struct atomic msg_locks[MSG_NUM] = {0};
+struct s_msg
+{
     long mtype;
     char mtext[1];
 };
 #define DATA_SIZE 512
-static void lock_msg(int id){
-    while(!atomic_test_set(&msg_locks[id],1));
+static void lock_msg(int id)
+{
+    while (!atomic_test_set(&msg_locks[id], 1))
+        ;
 }
-static void unlock_msg(int id){
-    atomic_set(&msg_locks[id],0);
+static void unlock_msg(int id)
+{
+    atomic_set(&msg_locks[id], 0);
 }
 
-static struct msg* do_find_msg(struct msg* newmsg,int type){
+static struct msg *do_find_msg(struct msg *newmsg, int type)
+{
 
-    //type�����㣬ֱ�ӷ��ص�һ��
-    if(!type){
+    if (!type)
+    {
         return newmsg;
-    }else if(type>0) {
-        while (newmsg) {
-            if (newmsg->msg_type == type) {
+    }
+    else if (type > 0)
+    {
+        while (newmsg)
+        {
+            if (newmsg->msg_type == type)
+            {
                 return newmsg;
             }
             newmsg = newmsg->next;
         }
-    }else {
-        //type<0
-        //��������ֵ��С����Ϣ������ֱ�ӷ��ص�һ������Ϊ���밴type��С�����
+    }
+    else
+    {
         return newmsg;
     }
     return NULL;
 }
-//����type�Ĵ�С������Ϣ�IJ���
-static void insert_msg(struct msg** head,struct msg* ins){
-    struct msg *temp=*head;
-    struct msg *prev=NULL;
+static void insert_msg(struct msg **head, struct msg *ins)
+{
+    struct msg *temp = *head;
+    struct msg *prev = NULL;
 
-    do{
-        if(!temp && !prev){//û���κ���Ϣ
-            *head=ins;
+    do
+    {
+        if (!temp && !prev)
+        {
+            *head = ins;
             break;
-        }else if(!temp->next){ //���һ����Ϣ
-            if(!prev){//ֻ��һ����Ϣ
-                //ͷ������
-                ins->next=temp;
-                *head=ins;
-            }else{
-                ins->next=temp;
-                prev->next=ins;
+        }
+        else if (!temp->next)
+        {
+            if (!prev)
+            {
+
+                ins->next = temp;
+                *head = ins;
+            }
+            else
+            {
+                ins->next = temp;
+                prev->next = ins;
             }
             break;
-        }else{
-            if(temp->msg_type>=ins->msg_type) {
-                if(!prev){//ֻ��һ����Ϣ
-                    //ͷ������
-                    ins->next=temp;
-                    *head=ins;
-                }else{
-                    ins->next=temp;
-                    prev->next=ins;
+        }
+        else
+        {
+            if (temp->msg_type >= ins->msg_type)
+            {
+                if (!prev)
+                {
+                    ins->next = temp;
+                    *head = ins;
+                }
+                else
+                {
+                    ins->next = temp;
+                    prev->next = ins;
                 }
                 break;
             }
         }
-        prev=temp;
-        temp=temp->next;
-    }while(temp);
+        prev = temp;
+        temp = temp->next;
+    } while (temp);
 }
-static void do_remove_msg(struct msg** head,struct msg* remmsg){
-    struct msg *prev=NULL;
-    struct msg *temp=*head;
+static void do_remove_msg(struct msg **head, struct msg *remmsg)
+{
+    struct msg *prev = NULL;
+    struct msg *temp = *head;
     uint32_t t;
-    while(temp){
-        if(temp==remmsg) {
-            if (prev==NULL) {
-                //ɾ���ĵ�һ��
-                *head=temp->next;
+    while (temp)
+    {
+        if (temp == remmsg)
+        {
+            if (prev == NULL)
+            {
+                *head = temp->next;
                 free(temp->data);
                 free(temp);
                 break;
-            }else{
-                prev->next=temp->next;
+            }
+            else
+            {
+                prev->next = temp->next;
                 break;
             }
         }
-        prev=temp;
-        temp=temp->next;
+        prev = temp;
+        temp = temp->next;
     }
 }
-static void do_remove_all_msg(struct msg* head){
-    struct msg *temp=head;
+static void do_remove_all_msg(struct msg *head)
+{
+    struct msg *temp = head;
     uint32_t t;
-    while(temp){
+    while (temp)
+    {
         struct msg *next;
-        next=temp->next;
+        next = temp->next;
         free(temp->data);
         free(temp);
-        temp=next;
+        temp = next;
     }
 }
-static int32_t inner_find_msg(key_t key){
+static int32_t inner_find_msg(key_t key)
+{
     int i;
 
-    while(!atomic_test_set(&msg_list_lk,1));
-    for(i=0;i<MSG_NUM;i++){
-        if (!atomic_test(&msgid_ds_used[i],0)) {
-            if (msgid_ds_ls[i].msg_perm.key == key) {
+    while (!atomic_test_set(&msg_list_lk, 1))
+        ;
+    for (i = 0; i < MSG_NUM; i++)
+    {
+        if (!atomic_test(&msgid_ds_used[i], 0))
+        {
+            if (msgid_ds_ls[i].msg_perm.key == key)
+            {
                 atomic_set(&msg_list_lk, 0);
                 return i;
             }
         }
     }
-    atomic_set(&msg_list_lk,0);
+    atomic_set(&msg_list_lk, 0);
 
     return -1;
 }
-static int32_t inner_msg_creat(key_t key,int flag){
+static int32_t inner_msg_creat(key_t key, int flag)
+{
     int i;
 
-    while(!atomic_test_set(&msg_list_lk,1));
-    for(i=0;i<MSG_NUM;i++){
-        if (atomic_test_set(&msgid_ds_used[i],1)) {
+    while (!atomic_test_set(&msg_list_lk, 1))
+        ;
+    for (i = 0; i < MSG_NUM; i++)
+    {
+        if (atomic_test_set(&msgid_ds_used[i], 1))
+        {
             break;
         }
     }
-    atomic_set(&msg_list_lk,0);
-    if(i==MSG_NUM) {
+    atomic_set(&msg_list_lk, 0);
+    if (i == MSG_NUM)
+    {
         return -ENOSPC;
     }
 
-    msgid_ds_ls[i].msg_perm.cgid=get_current_task()->egid;
-    msgid_ds_ls[i].msg_perm.cuid=get_current_task()->euid;
-    msgid_ds_ls[i].msg_perm.gid=get_current_task()->rgid;
-    msgid_ds_ls[i].msg_perm.uid=get_current_task()->ruid;
-    msgid_ds_ls[i].msg_perm.key=key;
-    msgid_ds_ls[i].msg_perm.mode=flag;
-    msgid_ds_ls[i].msg_perm.seq=0;
+    msgid_ds_ls[i].msg_perm.cgid = get_current_task()->egid;
+    msgid_ds_ls[i].msg_perm.cuid = get_current_task()->euid;
+    msgid_ds_ls[i].msg_perm.gid = get_current_task()->rgid;
+    msgid_ds_ls[i].msg_perm.uid = get_current_task()->ruid;
+    msgid_ds_ls[i].msg_perm.key = key;
+    msgid_ds_ls[i].msg_perm.mode = flag;
+    msgid_ds_ls[i].msg_perm.seq = 0;
 
-    msgid_ds_ls[i].msg_first=0;	/* first message on queue,unused  */
-    msgid_ds_ls[i].msg_last=0;		/* last message in queue,unused */
-    msgid_ds_ls[i].msg_stime=0;		/* last msgsnd time */
-    msgid_ds_ls[i].msg_rtime=0;		/* last msgrcv time */
-    msgid_ds_ls[i].msg_ctime=0;		/* last change time */
-    msgid_ds_ls[i].msg_lcbytes=0;	/* Reuse junk fields for 32 bit */
-    msgid_ds_ls[i].msg_lqbytes=0;	/* ditto */
-    msgid_ds_ls[i].msg_cbytes=0;	/* current number of bytes on queue */
-    msgid_ds_ls[i].msg_qnum=0;	/* number of messages in queue */
-    msgid_ds_ls[i].msg_qbytes=2048;	/* max number of bytes on queue */
-    msgid_ds_ls[i].msg_lspid=0;		/* pid of last msgsnd */
-    msgid_ds_ls[i].msg_lrpid=0;		/* last receive pid */
-    msgid_ds_ls[i].w_wait=0;		/* last receive pid */
-    msgid_ds_ls[i].r_wait=0;		/* last receive pid */
+    msgid_ds_ls[i].msg_first = 0;     /* first message on queue,unused  */
+    msgid_ds_ls[i].msg_last = 0;      /* last message in queue,unused */
+    msgid_ds_ls[i].msg_stime = 0;     /* last msgsnd time */
+    msgid_ds_ls[i].msg_rtime = 0;     /* last msgrcv time */
+    msgid_ds_ls[i].msg_ctime = 0;     /* last change time */
+    msgid_ds_ls[i].msg_lcbytes = 0;   /* Reuse junk fields for 32 bit */
+    msgid_ds_ls[i].msg_lqbytes = 0;   /* ditto */
+    msgid_ds_ls[i].msg_cbytes = 0;    /* current number of bytes on queue */
+    msgid_ds_ls[i].msg_qnum = 0;      /* number of messages in queue */
+    msgid_ds_ls[i].msg_qbytes = 2048; /* max number of bytes on queue */
+    msgid_ds_ls[i].msg_lspid = 0;     /* pid of last msgsnd */
+    msgid_ds_ls[i].msg_lrpid = 0;     /* last receive pid */
+    msgid_ds_ls[i].w_wait = 0;        /* last receive pid */
+    msgid_ds_ls[i].r_wait = 0;        /* last receive pid */
 
     return i;
 }
 
-//���Ѷ��������е�����
-void msg_wake_up(struct msg_queue *queue//,int32_t msgtype
-        ){
+void msg_wake_up(struct msg_queue *queue //,int32_t msgtype
+)
+{
     uint32_t t;
-    t=dis_cpu_intr();
-    while(queue){
-        if(queue->task){
-            if(
-                    //( msgtype<0 || queue->msgtype==msgtype)
-                   // &&
-                    queue->task->status==TASK_SUSPEND
-                    ||queue->task->status==TASK_UNINTR
-                    )
+    t = dis_cpu_intr();
+    while (queue)
+    {
+        if (queue->task)
+        {
+            if (
+                //( msgtype<0 || queue->msgtype==msgtype)
+                // &&
+                queue->task->status == TASK_SUSPEND || queue->task->status == TASK_UNINTR)
             {
                 task_run_1(queue->task);
             }
         }
-        queue=queue->next;
+        queue = queue->next;
     }
     restore_cpu_intr(t);
 }
 
-//����һ�����ȴ�������
-void msg_add_wait_queue(struct msg_queue** queue,struct msg_queue* add_queue){
+void msg_add_wait_queue(struct msg_queue **queue, struct msg_queue *add_queue)
+{
     uint32_t t;
-    t=dis_cpu_intr();
-    if(*queue==NULL){
-        *queue=add_queue;
-    }else{
+    t = dis_cpu_intr();
+    if (*queue == NULL)
+    {
+        *queue = add_queue;
+    }
+    else
+    {
         add_queue->next = (*queue);
-        *queue=add_queue;
+        *queue = add_queue;
     }
     restore_cpu_intr(t);
 }
-//�Ƴ�һ���ȴ���
-void msg_remove_wait_queue(struct msg_queue ** queue,struct msg_queue* add_queue){
-    struct msg_queue *temp=*queue;
-    struct msg_queue *prev=NULL;
+void msg_remove_wait_queue(struct msg_queue **queue, struct msg_queue *add_queue)
+{
+    struct msg_queue *temp = *queue;
+    struct msg_queue *prev = NULL;
     uint32_t t;
-    if(!add_queue){
-        return ;
+    if (!add_queue)
+    {
+        return;
     }
-    t=dis_cpu_intr();
-    while(temp){
-        if(temp==add_queue) {
-            if (prev==NULL) {
-                //ɾ���ĵ�һ��
-                *queue=temp->next;
+    t = dis_cpu_intr();
+    while (temp)
+    {
+        if (temp == add_queue)
+        {
+            if (prev == NULL)
+            {
+                *queue = temp->next;
                 break;
-            }else{
-                prev->next=temp->next;
+            }
+            else
+            {
+                prev->next = temp->next;
                 break;
             }
         }
-        prev=temp;
-        temp=temp->next;
+        prev = temp;
+        temp = temp->next;
     }
     restore_cpu_intr(t);
 }
 /**
- * ��ȡ��Ϣ
+ *
  * @param key
  * @param flag
  * @return
  */
-int sys_msgget(key_t key,int flag){
+int sys_msgget(key_t key, int flag)
+{
     int id;
-    if(key==IPC_PRIVATE){
-        id=inner_msg_creat(key,flag);
+    if (key == IPC_PRIVATE)
+    {
+        id = inner_msg_creat(key, flag);
         return id;
-    }else{
-        id=inner_find_msg(key);
-        if(!flag){
-            if(id<0) {
+    }
+    else
+    {
+        id = inner_find_msg(key);
+        if (!flag)
+        {
+            if (id < 0)
+            {
                 return -ENOENT;
             }
             return id;
-        }else {
-            //��ȡһ�����ڵ�
-            if (flag & IPC_CREAT) {
-                if (flag & IPC_EXCL) {
-                    if(id>=0) {
+        }
+        else
+        {
+            if (flag & IPC_CREAT)
+            {
+                if (flag & IPC_EXCL)
+                {
+                    if (id >= 0)
+                    {
                         return -ENOENT;
                     }
-                    id=inner_msg_creat(key,flag);
+                    id = inner_msg_creat(key, flag);
                     return id;
                 }
-                if(id>=0){
+                if (id >= 0)
+                {
                     return id;
                 }
-                id=inner_msg_creat(key,flag);
+                id = inner_msg_creat(key, flag);
                 return id;
             }
             return id;
@@ -270,174 +326,187 @@ int sys_msgget(key_t key,int flag){
     }
     return -ENOMEM;
 }
-int sys_msgctl(int msgid,int cmd,struct msqid_ds *buf){
+int sys_msgctl(int msgid, int cmd, struct msqid_ds *buf)
+{
     struct msqid_ds *msq;
-    if(msgid<0||msgid>=MSG_NUM){
+    if (msgid < 0 || msgid >= MSG_NUM)
+    {
         return -EINVAL;
     }
-    if(!buf){
+    if (!buf)
+    {
         return -EFAULT;
     }
-    if(atomic_test(&msgid_ds_used[msgid],0)){
+    if (atomic_test(&msgid_ds_used[msgid], 0))
+    {
         return -EIDRM;
     }
-    msq=&msgid_ds_ls[msgid];
-    switch(cmd){
-        case IPC_STAT:
-            lock_msg(msgid);
-            mkrtos_memcpy(buf,msq,sizeof(struct msqid_ds));
-            lock_msg(msgid);
-            break;
-        case IPC_SET:
-            if(get_current_task()->euid==msq->msg_perm.cuid
-            ||get_current_task()->euid==msq->msg_perm.uid
+    msq = &msgid_ds_ls[msgid];
+    switch (cmd)
+    {
+    case IPC_STAT:
+        lock_msg(msgid);
+        mkrtos_memcpy(buf, msq, sizeof(struct msqid_ds));
+        lock_msg(msgid);
+        break;
+    case IPC_SET:
+        if (get_current_task()->euid == msq->msg_perm.cuid || get_current_task()->euid == msq->msg_perm.uid
             //||get_current_task()->is_s_user
-            ){
-                lock_msg(msgid);
-                msq->msg_perm.uid=buf->msg_perm.uid;
-                msq->msg_perm.gid=buf->msg_perm.gid;
-                msq->msg_perm.mode=buf->msg_perm.mode;
-                msq->msg_qbytes=buf->msg_qbytes;
-                unlock_msg(msgid);
-            }
-            break;
-        case IPC_RMID:
-            if(get_current_task()->euid==msq->msg_perm.cuid
-               ||get_current_task()->euid==msq->msg_perm.uid
-              // ||get_current_task()->is_s_user
-                    ) {
-                lock_msg(msgid);
-                do_remove_all_msg(msgid_ds_ls[msgid].msg_first);
-                //ɾ�����е�����
-                atomic_set(&msgid_ds_used[msgid], 0);
-                unlock_msg(msgid);
-                //ɾ�����е���Ϣ
-                //�������е��ڵȴ�������д�����񣬸�����������ɾ����
-                msg_wake_up(msgid_ds_ls[msgid].r_wait);
-                msg_wake_up(msgid_ds_ls[msgid].w_wait);
-            }
-            break;
-        default:
-            return -EINVAL;
+        )
+        {
+            lock_msg(msgid);
+            msq->msg_perm.uid = buf->msg_perm.uid;
+            msq->msg_perm.gid = buf->msg_perm.gid;
+            msq->msg_perm.mode = buf->msg_perm.mode;
+            msq->msg_qbytes = buf->msg_qbytes;
+            unlock_msg(msgid);
+        }
+        break;
+    case IPC_RMID:
+        if (get_current_task()->euid == msq->msg_perm.cuid || get_current_task()->euid == msq->msg_perm.uid
+            // ||get_current_task()->is_s_user
+        )
+        {
+            lock_msg(msgid);
+            do_remove_all_msg(msgid_ds_ls[msgid].msg_first);
+            atomic_set(&msgid_ds_used[msgid], 0);
+            unlock_msg(msgid);
+            msg_wake_up(msgid_ds_ls[msgid].r_wait);
+            msg_wake_up(msgid_ds_ls[msgid].w_wait);
+        }
+        break;
+    default:
+        return -EINVAL;
     }
     return 0;
 }
 
-int sys_msgrcv(int msgid,void *ptr,size_t nbytes,long type,int flag){
+int sys_msgrcv(int msgid, void *ptr, size_t nbytes, long type, int flag)
+{
     struct s_msg *s_msg;
     struct msqid_ds *msq;
-    struct msg* newmsg;
-    struct msg * f_msg;
+    struct msg *newmsg;
+    struct msg *f_msg;
 
-    if(msgid<0||msgid>=MSG_NUM){
+    if (msgid < 0 || msgid >= MSG_NUM)
+    {
         return -EINVAL;
     }
-    if(!ptr){
+    if (!ptr)
+    {
         return -EFAULT;
     }
-    if(atomic_test(&msgid_ds_used[msgid],0)){
+    if (atomic_test(&msgid_ds_used[msgid], 0))
+    {
         return -EIDRM;
     }
-    s_msg=ptr;
-    msq=&msgid_ds_ls[msgid];
-    uint32_t rsize=nbytes;
-    again_find:
+    s_msg = ptr;
+    msq = &msgid_ds_ls[msgid];
+    uint32_t rsize = nbytes;
+again_find:
     lock_msg(msgid);
-    f_msg = do_find_msg(msq->msg_first,type);
-    if(!f_msg){
+    f_msg = do_find_msg(msq->msg_first, type);
+    if (!f_msg)
+    {
         unlock_msg(msgid);
-        if(flag&IPC_NOWAIT) {
+        if (flag & IPC_NOWAIT)
+        {
             return -ENOMSG;
         }
-        struct msg_queue msg_wait={get_current_task(),NULL};
-        msg_add_wait_queue(&msq->r_wait,&msg_wait);
+        struct msg_queue msg_wait = {get_current_task(), NULL};
+        msg_add_wait_queue(&msq->r_wait, &msg_wait);
         task_suspend();
         task_sche();
         task_run();
-        msg_remove_wait_queue(&msq->r_wait,&msg_wait);
+        msg_remove_wait_queue(&msq->r_wait, &msg_wait);
 
-        //��Ϣ��ɾ���ˣ��򷵻�ERMID
-        if(atomic_test(&msgid_ds_used[msgid],0)){
+        if (atomic_test(&msgid_ds_used[msgid], 0))
+        {
             return -ERMID;
         }
-        if(get_current_task()->sig_bmp[0]
-        ||get_current_task()->sig_bmp[1]
-        ){
+        if (get_current_task()->sig_bmp[0] || get_current_task()->sig_bmp[1])
+        {
             return -EINTR;
         }
         goto again_find;
     }
-    if(f_msg->msg_size>nbytes){
-        if(!(flag&MSG_NOERROR)){
+    if (f_msg->msg_size > nbytes)
+    {
+        if (!(flag & MSG_NOERROR))
+        {
             unlock_msg(msgid);
             return -E2BIG;
         }
-    }else{
-        rsize=f_msg->msg_size;
     }
-    //��������
-    mkrtos_memcpy(s_msg->mtext,f_msg->data,rsize);
-    //ɾ����ǰ��
-    do_remove_msg(&msq->msg_first,f_msg);
-    msq->msg_cbytes-=f_msg->msg_size;
+    else
+    {
+        rsize = f_msg->msg_size;
+    }
+    mkrtos_memcpy(s_msg->mtext, f_msg->data, rsize);
+    do_remove_msg(&msq->msg_first, f_msg);
+    msq->msg_cbytes -= f_msg->msg_size;
     msq->msg_qnum--;
-    msq->msg_lrpid=get_current_task()->pid;
+    msq->msg_lrpid = get_current_task()->pid;
     unlock_msg(msgid);
-    //���ѵȴ�������͵���Ϣ
     msg_wake_up(msq->w_wait);
     return rsize;
 }
-int sys_msgsnd(int msgid,const void *ptr,size_t nbytes,int flag){
+int sys_msgsnd(int msgid, const void *ptr, size_t nbytes, int flag)
+{
     struct s_msg *s_msg;
     struct msqid_ds *msq;
-    struct msg* newmsg;
+    struct msg *newmsg;
 
-    if(msgid<0||msgid>=MSG_NUM){
+    if (msgid < 0 || msgid >= MSG_NUM)
+    {
         return -EINVAL;
     }
-    if(!ptr){
+    if (!ptr)
+    {
         return -EFAULT;
     }
-    if(atomic_test(&msgid_ds_used[msgid],0)){
+    if (atomic_test(&msgid_ds_used[msgid], 0))
+    {
         return -EIDRM;
     }
-    s_msg=(struct s_msg *)ptr;
-    if(s_msg->mtype<0){
+    s_msg = (struct s_msg *)ptr;
+    if (s_msg->mtype < 0)
+    {
         return -EINVAL;
     }
-    msq=&msgid_ds_ls[msgid];
+    msq = &msgid_ds_ls[msgid];
 
-    if(nbytes>DATA_SIZE){
-        if(!(flag&IPC_NOERROR)){
-            return  -E2BIG;
+    if (nbytes > DATA_SIZE)
+    {
+        if (!(flag & IPC_NOERROR))
+        {
+            return -E2BIG;
         }
-        //����ض���
-        nbytes=DATA_SIZE-nbytes;
+        nbytes = DATA_SIZE - nbytes;
     }
-    //�ȴ��п��еĿռ�д������
-    again_e:
+again_e:
     lock_msg(msgid);
-    if(nbytes+msq->msg_cbytes>msq->msg_qbytes){
+    if (nbytes + msq->msg_cbytes > msq->msg_qbytes)
+    {
         unlock_msg(msgid);
-        //��Ϣ��С���ˣ��ȴ�
-        if(flag&IPC_NOWAIT){
+        if (flag & IPC_NOWAIT)
+        {
             return -EAGAIN;
         }
-        //�����msgtype����Ϊ-1�ͺ��ˣ���Ϊд����Ҫ�ȴ�ij������
-        struct msg_queue msg_wait={get_current_task(),NULL};
+        struct msg_queue msg_wait = {get_current_task(), NULL};
 
-        msg_add_wait_queue(&msq->w_wait,&msg_wait);
+        msg_add_wait_queue(&msq->w_wait, &msg_wait);
         task_suspend();
         task_sche();
         task_run();
-        msg_remove_wait_queue(&msq->w_wait,&msg_wait);
+        msg_remove_wait_queue(&msq->w_wait, &msg_wait);
 
-        //��Ϣ��ɾ���ˣ��򷵻�ERMID
-        if(atomic_test(&msgid_ds_used[msgid],0)){
+        if (atomic_test(&msgid_ds_used[msgid], 0))
+        {
             return -ERMID;
         }
-        if(get_current_task()->sig_bmp[0]
-           ||get_current_task()->sig_bmp[1]){
+        if (get_current_task()->sig_bmp[0] || get_current_task()->sig_bmp[1])
+        {
             return -EINTR;
         }
 
@@ -445,35 +514,35 @@ int sys_msgsnd(int msgid,const void *ptr,size_t nbytes,int flag){
     }
     unlock_msg(msgid);
 
-    newmsg=malloc(sizeof(struct msg));
-    if(!newmsg){
+    newmsg = malloc(sizeof(struct msg));
+    if (!newmsg)
+    {
         return -ENOMEM;
     }
-    newmsg->data=malloc(nbytes);
-    if(!newmsg->data){
+    newmsg->data = malloc(nbytes);
+    if (!newmsg->data)
+    {
         free(newmsg);
         return -ENOMEM;
     }
-    newmsg->next=NULL;
-    newmsg->msg_size=nbytes;
-    newmsg->msg_type=s_msg->mtype;
-    mkrtos_memcpy(newmsg->data,s_msg->mtext,nbytes);
+    newmsg->next = NULL;
+    newmsg->msg_size = nbytes;
+    newmsg->msg_type = s_msg->mtype;
+    mkrtos_memcpy(newmsg->data, s_msg->mtext, nbytes);
 
     lock_msg(msgid);
-    insert_msg(&msq->msg_first,newmsg);
-//    //���浽��ͷ
-//    if(!msq->msg_first){
-//        msq->msg_first=newmsg;
-//        newmsg->next=NULL;
-//    }else{
-//        newmsg->next=msq->msg_first;
-//        msq->msg_first=newmsg;
-//    }
+    insert_msg(&msq->msg_first, newmsg);
+    //    if(!msq->msg_first){
+    //        msq->msg_first=newmsg;
+    //        newmsg->next=NULL;
+    //    }else{
+    //        newmsg->next=msq->msg_first;
+    //        msq->msg_first=newmsg;
+    //    }
     msq->msg_qnum++;
-    msq->msg_cbytes+=nbytes;
-    msq->msg_lspid=get_current_task()->pid;
+    msq->msg_cbytes += nbytes;
+    msq->msg_lspid = get_current_task()->pid;
     unlock_msg(msgid);
-    //�����ڵȴ����Ķ���
     msg_wake_up(msgid_ds_ls[msgid].r_wait);
 
     return nbytes;
diff --git a/mkrtos_real/knl/arch.c b/mkrtos_real/knl/arch.c
index 18d2d20f5..aa626bfc3 100644
--- a/mkrtos_real/knl/arch.c
+++ b/mkrtos_real/knl/arch.c
@@ -8,11 +8,10 @@
 #include <mkrtos.h>
 #include <config.h>
 
-int int_cn_ = 0;
-
 void SysTick_Handler(void);
 
-int32_t bsp_init(void) {
+int32_t bsp_init(void)
+{
 	return 0;
 }
 INIT_LV0(bsp_init);
@@ -20,28 +19,29 @@ INIT_LV0(bsp_init);
 /**
  * 在sched.c中调用，查看sche_start函数
  */
-int32_t arch_init(void) {
+int32_t arch_init(void)
+{
 	extern uint32_t SystemCoreClock;
-	//注册中断函数
+	// 注册中断函数
 	reg_isr_func(SysTick_Handler, 0, 0);
 	SysTick_Config(SystemCoreClock / OS_WORK_HZ);
 	return 0;
 }
 
 uint32_t *os_task_set_reg1(uint32_t *mem_stack,
-		int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
-		void *prg2, void (*thread_exit_func)(void))
+						   int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
+						   void *prg2, void (*thread_exit_func)(void))
 {
 	/* Registers stacked as if auto-saved on exception */
-	*(mem_stack) = (uint32_t) 0x01000000L; /* xPSR */
-	*(--mem_stack) = ((uint32_t) task_fun); /* Entry Point */
+	*(mem_stack) = (uint32_t)0x01000000L;  /* xPSR */
+	*(--mem_stack) = ((uint32_t)task_fun); /* Entry Point */
 	/* R14 (LR) (init value will cause fault if ever used)*/
-	*(--mem_stack) = (uint32_t) thread_exit_func;
-	*(--mem_stack) = (uint32_t) 0x12121212L; /* R12*/
-	*(--mem_stack) = (uint32_t) 0x03030303L; /* R3 */
-	*(--mem_stack) = (uint32_t) prg2; /* R2 */
-	*(--mem_stack) = (uint32_t) prg1; /* R1 */
-	*(--mem_stack) = (uint32_t) prg0; /* R0 : argument */
+	*(--mem_stack) = (uint32_t)thread_exit_func;
+	*(--mem_stack) = (uint32_t)0x12121212L; /* R12*/
+	*(--mem_stack) = (uint32_t)0x03030303L; /* R3 */
+	*(--mem_stack) = (uint32_t)prg2;		/* R2 */
+	*(--mem_stack) = (uint32_t)prg1;		/* R1 */
+	*(--mem_stack) = (uint32_t)prg0;		/* R0 : argument */
 
 	return mem_stack;
 }
@@ -53,144 +53,155 @@ uint32_t *os_task_set_reg1(uint32_t *mem_stack,
  * @param prg1需要传递的参数1
  * @return 栈顶地址
  */
-uint32_t* os_task_set_reg(uint32_t *mem_stack,
-		int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
-		void *prg2, void (*thread_exit_func)(void),void *ram) {
+uint32_t *os_task_set_reg(uint32_t *mem_stack,
+						  int32_t (*task_fun)(void *arg0, void *arg1), void *prg0, void *prg1,
+						  void *prg2, void (*thread_exit_func)(void), void *ram)
+{
 	extern void task_end(void);
 #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-    u32 i;
-    *(mem_stack)    = (uint32_t)0x00000000uL;
-    *(--mem_stack)  = (uint32_t)0x00000000uL;
+	u32 i;
+	*(mem_stack) = (uint32_t)0x00000000uL;
+	*(--mem_stack) = (uint32_t)0x00000000uL;
 
-    for (i = 0; i < 16; ++i)
-    {
-        *(--mem_stack) = (uint32_t)(0x00000000uL);
-    }
+	for (i = 0; i < 16; ++i)
+	{
+		*(--mem_stack) = (uint32_t)(0x00000000uL);
+	}
 
-    *(--mem_stack)  = (uint32_t)0x01000000uL;      // xPSR
-    *(--mem_stack)  = (uint32_t)taskFun;              // Entry Point
-    *(--mem_stack)  = (uint32_t)OSTaskEnd;     // R14 (LR)
-    *(--mem_stack)  = (uint32_t)0x12121212uL;      // R12
-    *(--mem_stack)  = (uint32_t)0x03030303uL;      // R3
-    *(--mem_stack)  = (uint32_t)0x02020202uL;      // R2
-    *(--mem_stack)  = (uint32_t)prg1;      // R1
-    *(--mem_stack)  = (uint32_t)prg0;             // R0 : argument
+	*(--mem_stack) = (uint32_t)0x01000000uL; // xPSR
+	*(--mem_stack) = (uint32_t)taskFun;		 // Entry Point
+	*(--mem_stack) = (uint32_t)OSTaskEnd;	 // R14 (LR)
+	*(--mem_stack) = (uint32_t)0x12121212uL; // R12
+	*(--mem_stack) = (uint32_t)0x03030303uL; // R3
+	*(--mem_stack) = (uint32_t)0x02020202uL; // R2
+	*(--mem_stack) = (uint32_t)prg1;		 // R1
+	*(--mem_stack) = (uint32_t)prg0;		 // R0 : argument
 
-                                           // Remaining registers saved on process stack
-    *(--mem_stack)  = (uint32_t)0x11111111uL;      // R11
-    *(--mem_stack)  = (uint32_t)0x10101010uL;      // R10
-    *(--mem_stack)  = (uint32_t)0x09090909uL;      // R9
-    *(--mem_stack)  = (uint32_t)0x08080808uL;      // R8
-    *(--mem_stack)  = (uint32_t)0x07070707uL;      // R7
-    *(--mem_stack)  = (uint32_t)0x06060606uL;      // R6
-    *(--mem_stack)  = (uint32_t)0x05050505uL;      // R5
-    *(--mem_stack)  = (uint32_t)0x04040404uL;      // R4
+	// Remaining registers saved on process stack
+	*(--mem_stack) = (uint32_t)0x11111111uL; // R11
+	*(--mem_stack) = (uint32_t)0x10101010uL; // R10
+	*(--mem_stack) = (uint32_t)0x09090909uL; // R9
+	*(--mem_stack) = (uint32_t)0x08080808uL; // R8
+	*(--mem_stack) = (uint32_t)0x07070707uL; // R7
+	*(--mem_stack) = (uint32_t)0x06060606uL; // R6
+	*(--mem_stack) = (uint32_t)0x05050505uL; // R5
+	*(--mem_stack) = (uint32_t)0x04040404uL; // R4
 
-    for (i = 0; i < 16; ++i)
-    {
-        *(--mem_stack) = (uint32_t)(0x00000000uL);
-    }
+	for (i = 0; i < 16; ++i)
+	{
+		*(--mem_stack) = (uint32_t)(0x00000000uL);
+	}
 
 #else
 	/* Registers stacked as if auto-saved on exception */
-	*(mem_stack) = (uint32_t) 0x01000000L; /* xPSR */
-	*(--mem_stack) = ((uint32_t) task_fun); /* Entry Point */
+	*(mem_stack) = (uint32_t)0x01000000L;  /* xPSR */
+	*(--mem_stack) = ((uint32_t)task_fun); /* Entry Point */
 	/* R14 (LR) (init value will cause fault if ever used)*/
-	*(--mem_stack) = (uint32_t) thread_exit_func;
-	*(--mem_stack) = (uint32_t) 0x12121212L; /* R12*/
-	*(--mem_stack) = (uint32_t) 0x03030303L; /* R3 */
-	*(--mem_stack) = (uint32_t) prg2; /* R2 */
-	*(--mem_stack) = (uint32_t) prg1; /* R1 */
-	*(--mem_stack) = (uint32_t) prg0; /* R0 : argument */
+	*(--mem_stack) = (uint32_t)thread_exit_func;
+	*(--mem_stack) = (uint32_t)0x12121212L; /* R12*/
+	*(--mem_stack) = (uint32_t)0x03030303L; /* R3 */
+	*(--mem_stack) = (uint32_t)prg2;		/* R2 */
+	*(--mem_stack) = (uint32_t)prg1;		/* R1 */
+	*(--mem_stack) = (uint32_t)prg0;		/* R0 : argument */
 	/* Remaining registers saved on process stack */
-	*(--mem_stack) = (uint32_t) 0x11111111L; /* R11 */
-	*(--mem_stack) = (uint32_t) 0x10101010L; /* R10 */
-	*(--mem_stack) = (uint32_t) ram; /* R9 */
-	*(--mem_stack) = (uint32_t) 0x08080808L; /* R8 */
-	*(--mem_stack) = (uint32_t) 0x07070707L; /* R7 */
-	*(--mem_stack) = (uint32_t) 0x06060606L; /* R6 */
-	*(--mem_stack) = (uint32_t) 0x05050505L; /* R5 */
-	*(--mem_stack) = (uint32_t) 0x04040404L; /* R4 */
+	*(--mem_stack) = (uint32_t)0x11111111L; /* R11 */
+	*(--mem_stack) = (uint32_t)0x10101010L; /* R10 */
+	*(--mem_stack) = (uint32_t)ram;			/* R9 */
+	*(--mem_stack) = (uint32_t)0x08080808L; /* R8 */
+	*(--mem_stack) = (uint32_t)0x07070707L; /* R7 */
+	*(--mem_stack) = (uint32_t)0x06060606L; /* R6 */
+	*(--mem_stack) = (uint32_t)0x05050505L; /* R5 */
+	*(--mem_stack) = (uint32_t)0x04040404L; /* R4 */
 #endif
 
 	return mem_stack;
 }
 
-//当要执行用户进程的函数时，先在栈顶放入模拟值
-void* set_into_user_stack(void *callFunc, void *arg0, uint32_t *mem_stack,
-		void *resAddr) {
+// 当要执行用户进程的函数时，先在栈顶放入模拟值
+void *set_into_user_stack(void *callFunc, void *arg0, uint32_t *mem_stack,
+						  void *resAddr)
+{
 	/* Registers stacked as if auto-saved on exception */
-	*(mem_stack) = (uint32_t) 0x01000000L; /* xPSR */
-	*(--mem_stack) = ((uint32_t) callFunc); /* Entry Point */
+	*(mem_stack) = (uint32_t)0x01000000L;  /* xPSR */
+	*(--mem_stack) = ((uint32_t)callFunc); /* Entry Point */
 	/* R14 (LR) (init value will cause fault if ever used)*/
-	*(--mem_stack) = (uint32_t) resAddr;/*LR*/
-	*(--mem_stack) = (uint32_t) 0x12121212L; /* R12*/
-	*(--mem_stack) = (uint32_t) 0x03030303L; /* R3 */
-	*(--mem_stack) = (uint32_t) 0x02020202L; /* R2 */
-	*(--mem_stack) = (uint32_t) 0x01010101L; /* R1 */
-	*(--mem_stack) = (uint32_t) arg0; /* R0 : argument */
+	*(--mem_stack) = (uint32_t)resAddr;		/*LR*/
+	*(--mem_stack) = (uint32_t)0x12121212L; /* R12*/
+	*(--mem_stack) = (uint32_t)0x03030303L; /* R3 */
+	*(--mem_stack) = (uint32_t)0x02020202L; /* R2 */
+	*(--mem_stack) = (uint32_t)0x01010101L; /* R1 */
+	*(--mem_stack) = (uint32_t)arg0;		/* R0 : argument */
 	return mem_stack;
 }
 
-
-void set_psp(void *new_psp) {
+void set_psp(void *new_psp)
+{
 	__asm__ __volatile__(
-			"MSR     PSP, %0\n"
-			:
-			:"r"(new_psp)
-			:
-	);
+		"MSR     PSP, %0\n"
+		:
+		: "r"(new_psp)
+		:);
 }
-uint32_t get_psp(void) {
+uint32_t get_psp(void)
+{
 	uint32_t ret;
 	__asm__ __volatile__(
-			"MRS     %0, PSP\n"
-			:"=r"(ret)
-			:
-			:
-	);
+		"MRS     %0, PSP\n"
+		: "=r"(ret)
+		:
+		:);
 	return ret;
 }
-
+void arch_reboot(void)
+{
+	__asm__ __volatile__(
+		"mov r0,#1\n"
+		"msr FAULTMASK,R0\n"
+		"ldr r0, =0xE000ED0C\n"
+		"ldr r1, =0x05FA0004\n"
+		"str r1,[r0]\n"
+		"b .");
+}
 /**
  * @brief 手动触发PendSv进行任务切换
  */
-void to_schedule(void) {
+void to_schedule(void)
+{
 	__asm__ __volatile__(
-			"LDR R0, =0xE000ED04\n"
-			"LDR R1, =0x10000000\n"
-			"STR R1, [R0]\n"
-			"DSB \n"
-			"ISB \n"
-			:
-			:
-			:
-	);
+		"LDR R0, =0xE000ED04\n"
+		"LDR R1, =0x10000000\n"
+		"STR R1, [R0]\n"
+		"DSB \n"
+		"ISB \n"
+		:
+		:
+		:);
 }
-//只能够在特权模式调用
-//获取中断号
-uint32_t get_isr_num(void) {
+// 只能够在特权模式调用
+// 获取中断号
+uint32_t get_isr_num(void)
+{
 	uint32_t num;
 	__asm__ __volatile__(
-			"mrs %0,IPSR"
-			:"=r"(num)
-			:
-			:
-	);
+		"mrs %0,IPSR"
+		: "=r"(num)
+		:
+		:);
 	return num;
 }
 extern void tasks_check(void);
 extern void task_sche(void);
-//sleep.c
-//extern void do_check_sleep_tim(void);
+// sleep.c
+// extern void do_check_sleep_tim(void);
 #include <ipc/knl_mutex.h>
-//#include <mkrtos/knl_msg.h>
-//#include <mkrtos/knl_sem.h>
-void SysTick_Handler(void) {
-//    check_msg_time();
-//    check_sem_time();
+// #include <mkrtos/knl_msg.h>
+// #include <mkrtos/knl_sem.h>
+void SysTick_Handler(void)
+{
+	//    check_msg_time();
+	//    check_sem_time();
 	// check_mutex_time();
-    do_check_sleep_tim();
+	do_check_sleep_tim();
 	tasks_check();
 	task_sche();
 }
diff --git a/mkrtos_real/knl/sched.c b/mkrtos_real/knl/sched.c
index 2ba7677ac..84f5c34c6 100644
--- a/mkrtos_real/knl/sched.c
+++ b/mkrtos_real/knl/sched.c
@@ -132,13 +132,14 @@ void sche_unlock(void) {
 }
 /**
  * 获取调度器的锁计数
+ * @return 调度器锁，等于零代表解锁
  */
 uint32_t sche_lock_cn_get(void) {
 	return atomic_read(&(sys_tasks_info.sche_lock));
 }
 
 /**
- * @brief 任务调度，如果调度关闭，则调用无效
+ * @brief 任务调度，如果调度关闭，则无法调度
  */
 void task_sche(void) {
 	uint32_t t;
@@ -341,13 +342,14 @@ int32_t add_task(struct task *p_task_block, uint32_t into_all_ls) {
  */
 void tasks_check(void) {
 	struct task *ptb;
+
 	sys_tasks_info.sys_run_count++;
     //检测所有的定时器信号
 	slist_foreach(ptb, &sys_tasks_info.all_tk_list, all_node) {
 		if(ptb->status==TASK_RUNNING
         && ptb->alarm){
             //时间到了
-            if(ptb->alarm<sys_tasks_info.sys_run_count){
+            if(ptb->alarm < sys_tasks_info.sys_run_count){
                 //发送指定信号
                 inner_set_sig(SIGALRM);
                 ptb->alarm = 0;
diff --git a/mkrtos_real/knl/sys.c b/mkrtos_real/knl/sys.c
index 7685da958..3a429d9f9 100644
--- a/mkrtos_real/knl/sys.c
+++ b/mkrtos_real/knl/sys.c
@@ -12,226 +12,270 @@
 #include <sys/times.h>
 #include <sys/resource.h>
 
-char* sys_getenv(char *key) {
+#include <sys/reboot.h>
+
+char *sys_getenv(char *key)
+{
 	return NULL;
 }
-int sys_vhangup(void) {
+int sys_vhangup(void)
+{
 	return -ENOSYS;
 }
-// ������
-int sys_ftime() {
+// 废弃了
+int sys_ftime()
+{
 	return -ENOSYS;
 }
 
-//������
-int sys_break() {
+// 废弃了
+int sys_break()
+{
 	return -ENOSYS;
 }
 
-// ���ڵ�ǰ���̶��ӽ��̽��е���(degugging)��
-int sys_ptrace(int request, int pid, int addr, int data) {
+// 用于当前进程对子进程进行调试(degugging)。
+int sys_ptrace(int request, int pid, int addr, int data)
+{
 	return -ENOSYS;
 }
 
-// �ı䲢��ӡ�ն������á�
-int sys_stty() {
+// 改变并打印终端行设置。
+int sys_stty()
+{
 	return -ENOSYS;
 }
 
-// ȡ�ն���������Ϣ��
-int sys_gtty() {
+// 取终端行设置信息。
+int sys_gtty()
+{
 	return -ENOSYS;
 }
 
-int sys_prof() {
+int sys_prof()
+{
 	return -ENOSYS;
 }
-int sys_setregid(int rgid, int egid) {
+int sys_setregid(int rgid, int egid)
+{
 	return -ENOSYS;
 }
-// ���ý������(gid)���������û�г����û���Ȩ��������ʹ��setgid()������Чgid
-// ��effective gid������Ϊ���䱣��gid(saved gid)����ʵ��gid(real gid)�����������
-// �����û���Ȩ����ʵ��gid����Чgid �ͱ���gid �������óɲ���ָ����gid��
-int sys_setgid(gid_t gid) {
-//	if (get_current_task()->is_s_user) {
-//		get_current_task()->egid = gid;
-//		get_current_task()->rgid = gid;
-//		get_current_task()->sgid = gid;
-//	} else
+// 设置进程组号(gid)。如果任务没有超级用户特权，它可以使用setgid()将其有效gid
+// （effective gid）设置为成其保留gid(saved gid)或其实际gid(real gid)。如果任务有
+// 超级用户特权，则实际gid、有效gid 和保留gid 都被设置成参数指定的gid。
+int sys_setgid(gid_t gid)
+{
+	//	if (get_current_task()->is_s_user) {
+	//		get_current_task()->egid = gid;
+	//		get_current_task()->rgid = gid;
+	//		get_current_task()->sgid = gid;
+	//	} else
 	{
-		if (gid == get_current_task()->rgid
-				|| gid == get_current_task()->sgid) {
+		if (gid == get_current_task()->rgid || gid == get_current_task()->sgid)
+		{
 			get_current_task()->egid = gid;
-		} else {
+		}
+		else
+		{
 			return -EPERM;
 		}
 	}
 	return 0;
 }
 
-// �򿪻�رս��̼��ʹ��ܡ�
-int sys_acct() {
+// 打开或关闭进程计帐功能。
+int sys_acct()
+{
 	return -ENOSYS;
 }
 
-// ӳ�����������ڴ浽���̵������ַ�ռ䡣
-int sys_phys() {
+// 映射任意物理内存到进程的虚拟地址空间。
+int sys_phys()
+{
 	return -ENOSYS;
 }
 
-int sys_lock() {
+int sys_lock()
+{
 	return -ENOSYS;
 }
 
-int sys_mpx() {
+int sys_mpx()
+{
 	return -ENOSYS;
 }
 
-int sys_ulimit() {
+int sys_ulimit()
+{
 	return -ENOSYS;
 }
-//extern uint32_t rtc_set_tick(uint32_t tick);
-//extern uint32_t rtc_get_tick(void);
-//extern uint32_t rtc_get_msofsec(void);
-// ���ش�1970 ��1 ��1 ��00:00:00 GMT ��ʼ��ʱ��ʱ��ֵ���룩�����tloc ��Ϊnull����ʱ��ֵ
-// Ҳ�洢�����
-int sys_time(time_t *tloc) {
+// extern uint32_t rtc_set_tick(uint32_t tick);
+// extern uint32_t rtc_get_tick(void);
+// extern uint32_t rtc_get_msofsec(void);
+//  返回从1970 年1 月1 日00:00:00 GMT 开始计时的时间值（秒）。如果tloc 不为null，则时间值
+//  也存储在那里。
+int sys_time(time_t *tloc)
+{
 	time_t tick = 0;
-	//����Ӧ��ʹ��rtc�����豸����������������rtc.c
+	// 后面应该使用rtc驱动设备，但是这样是最快的rtc.c
 
-//	tick = rtc_get_tick();
-//	if (tloc) {
-//		*tloc = tick;
-//	}
+	//	tick = rtc_get_tick();
+	//	if (tloc) {
+	//		*tloc = tick;
+	//	}
 	return tick;
 }
-int sys_setreuid(uid_t ruid, uid_t euid) {
+int sys_setreuid(uid_t ruid, uid_t euid)
+{
 
-	if (ruid != -1) {
+	if (ruid != -1)
+	{
 		get_current_task()->ruid = ruid;
 	}
-	if (euid != -1) {
+	if (euid != -1)
+	{
 		get_current_task()->euid = euid;
 	}
 
 	return -ENOSYS;
 }
-//�����û�id
-int sys_setuid(uid_t uid) {
-//	if (get_current_task()->is_s_user) {
-//		get_current_task()->euid = uid;
-//		get_current_task()->ruid = uid;
-//		get_current_task()->suid = uid;
-//	} else
+// 设置用户id
+int sys_setuid(uid_t uid)
+{
+	//	if (get_current_task()->is_s_user) {
+	//		get_current_task()->euid = uid;
+	//		get_current_task()->ruid = uid;
+	//		get_current_task()->suid = uid;
+	//	} else
 	{
-		if (uid == get_current_task()->ruid
-				|| uid == get_current_task()->suid) {
+		if (uid == get_current_task()->ruid || uid == get_current_task()->suid)
+		{
 			get_current_task()->euid = uid;
-		} else {
+		}
+		else
+		{
 			return -EPERM;
 		}
 	}
 	return 0;
 }
-int sys_stime(time_t *tptr) {
-	if (!tptr) {
+int sys_stime(time_t *tptr)
+{
+	if (!tptr)
+	{
 		return -EINVAL;
 	}
-//	if (!get_current_task()->is_s_user) {
-//		return -EPERM;
-//	}
-	//rtc.c
-//	extern uint32_t rtc_set_tick(uint32_t tick);
-//	rtc_set_tick(*tptr);
+	//	if (!get_current_task()->is_s_user) {
+	//		return -EPERM;
+	//	}
+	// rtc.c
+	//	extern uint32_t rtc_set_tick(uint32_t tick);
+	//	rtc_set_tick(*tptr);
 	return -ENOSYS;
 }
-// ��ȡ��ǰ����ʱ�䡣tms �ṹ�а����û�ʱ�䡢ϵͳʱ�䡢�ӽ����û�ʱ�䡢�ӽ���ϵͳʱ�䡣
-int sys_times(struct tms *tbuf) {
-	if (!tbuf) {
+// 获取当前任务时间。tms 结构中包括用户时间、系统时间、子进程用户时间、子进程系统时间。
+int sys_times(struct tms *tbuf)
+{
+	if (!tbuf)
+	{
 		return -EINVAL;
 	}
 	tbuf->tms_utime = get_current_task()->run_count;
-	//��������������˵�ɣ����ں���ûɶ��
+	// 下面三个后面再说吧，现在好像没啥用
 	tbuf->tms_cstime = 0;
 	tbuf->tms_cutime = 0;
 	tbuf->tms_stime = 0;
 	return -ENOSYS;
 }
-int sys_settimeofday(struct timeval *tv, struct timezone *tz) {
-	if (!tv) {
+int sys_settimeofday(struct timeval *tv, struct timezone *tz)
+{
+	if (!tv)
+	{
 		return -EINVAL;
 	}
-//	if (!get_current_task()->is_s_user) {
-//		return -EPERM;
-//	}
+	//	if (!get_current_task()->is_s_user) {
+	//		return -EPERM;
+	//	}
 
-//	rtc_set_tick(tv->tv_sec + tv->tv_usec / 1000 / 1000);
+	//	rtc_set_tick(tv->tv_sec + tv->tv_usec / 1000 / 1000);
 
 	return 0;
 }
-int sys_gettimeofday(struct timeval *tv, struct timezone *tz) {
+int sys_gettimeofday(struct timeval *tv, struct timezone *tz)
+{
 
-	if (!tv) {
+	if (!tv)
+	{
 		return -EINVAL;
 	}
-	time_t r_tim = { 0 };
-//	r_tim = rtc_get_tick();
+	time_t r_tim = {0};
+	//	r_tim = rtc_get_tick();
 	tv->tv_sec = r_tim;
-	//tv->tv_usec = rtc_get_msofsec() * 1000;
-//    DST_NONE     /* not on DST */
-//    DST_USA      /* USA style DST */
-//    DST_AUST     /* Australian style DST */
-//    DST_WET      /* Western European DST */
-//    DST_MET      /* Middle European DST */
-//    DST_EET      /* Eastern European DST */
-//    DST_CAN      /* Canada */
-//    DST_GB       /* Great Britain and Eire */
-//    DST_RUM      /* Romania */
-//    DST_TUR      /* Turkey */
-//    DST_AUSTALT  /* Australian style with shift in 1986 */
-	if (tz) {
+	// tv->tv_usec = rtc_get_msofsec() * 1000;
+	//    DST_NONE     /* not on DST */
+	//    DST_USA      /* USA style DST */
+	//    DST_AUST     /* Australian style DST */
+	//    DST_WET      /* Western European DST */
+	//    DST_MET      /* Middle European DST */
+	//    DST_EET      /* Eastern European DST */
+	//    DST_CAN      /* Canada */
+	//    DST_GB       /* Great Britain and Eire */
+	//    DST_RUM      /* Romania */
+	//    DST_TUR      /* Turkey */
+	//    DST_AUSTALT  /* Australian style with shift in 1986 */
+	if (tz)
+	{
 		tz->tz_dsttime = 0;
 		tz->tz_minuteswest = -480;
 	}
 
 	return -ENOSYS;
 }
-// ������end_data_seg ��ֵ����������ϵͳȷʵ���㹻���ڴ棬���ҽ���û�г�Խ��������ݶδ�С
-// ʱ���ú����������ݶ�ĩβΪend_data_seg ָ����ֵ����ֵ������ڴ����β����ҪС�ڶ�ջ
-// ��β16KB������ֵ�����ݶε��½�βֵ���������ֵ��Ҫ��ֵ��ͬ��������д���������
-// �ú����������û�ֱ�ӵ��ã�����libc �⺯�����а�װ�����ҷ���ֵҲ��һ����
-int sys_brk(unsigned long end_data_seg) {
-	//û�������ڴ�ĸ��ֱ�ӷ��سɹ�
+// 当参数end_data_seg 数值合理，并且系统确实有足够的内存，而且进程没有超越其最大数据段大小
+// 时，该函数设置数据段末尾为end_data_seg 指定的值。该值必须大于代码结尾并且要小于堆栈
+// 结尾16KB。返回值是数据段的新结尾值（如果返回值与要求值不同，则表明有错发生）。
+// 该函数并不被用户直接调用，而由libc 库函数进行包装，并且返回值也不一样。
+int sys_brk(unsigned long end_data_seg)
+{
+	// 没有虚拟内存的概念，直接返回成功
 	return 0;
 }
 /**
- * ������ID
+ * 设置组ID
  * @param pid
  * @param pgid
  * @return
  */
-int32_t sys_setpgid(int32_t pid, int32_t pgid) {
+int32_t sys_setpgid(int32_t pid, int32_t pgid)
+{
 	uint32_t t;
 	struct task *md_task;
 	t = dis_cpu_intr();
 	md_task = task_find(pid);
-	if (!pgid) {
+	if (!pgid)
+	{
 		md_task->pgid = md_task->pid;
-	} else {
+	}
+	else
+	{
 		md_task->pgid = pgid;
 	}
 	restore_cpu_intr(t);
 	return -ENOSYS;
 }
-int sys_getpgrp(void) {
+int sys_getpgrp(void)
+{
 	return -ENOSYS;
 }
-int sys_setsid(void) {
+int sys_setsid(void)
+{
 	return -ENOSYS;
 }
 
-int sys_uname(struct utsname *name) {
-	if (!name) {
+int sys_uname(struct utsname *name)
+{
+	if (!name)
+	{
 		return -1;
 	}
 	mkrtos_strncpy(name->sysname, SYS_NAME, _UTSNAME_LENGTH);
@@ -243,78 +287,114 @@ int sys_uname(struct utsname *name) {
 	return -ENOSYS;
 }
 /**
- * �ڽ��̴���һ�����ļ�����Ŀ¼ʱ����һ����ʹ���ļ���ʽ���������� (����3 . 3��3 . 4�ڣ�
- * ����������˵���� o p e n��c r e a t��������������������һ������ m o d e����ָ�������ļ��Ĵ�ȡ
- * ����Ȩλ)�����ǽ���4 . 2 0��˵����δ���һ����Ŀ¼�����ļ���ʽ������������Ϊ 1��λ����
- * �ļ�m o d e�е���Ӧλ��һ����ת��0��
+ * 在进程创建一个新文件或新目录时，就一定会使用文件方式创建屏蔽字 (回忆3 . 3和3 . 4节，
+ * 在那里我们说明了 o p e n和c r e a t函数。这两个函数都有一个参数 m o d e，它指定了新文件的存取
+ * 许可权位)。我们将在4 . 2 0节说明如何创建一个新目录，在文件方式创建屏蔽字中为 1的位，在
+ * 文件m o d e中的相应位则一定被转成0。
  */
-mode_t sys_umask(mode_t mask) {
+mode_t sys_umask(mode_t mask)
+{
 	mode_t old_mask;
 	old_mask = get_current_task()->mask;
 	get_current_task()->mask = mask;
 	return old_mask;
 }
 
-int sys_seteuid(uid_t uid) {
-//	if (get_current_task()->is_s_user) {
-//		get_current_task()->euid = uid;
-//	} else
+int sys_seteuid(uid_t uid)
+{
+	//	if (get_current_task()->is_s_user) {
+	//		get_current_task()->euid = uid;
+	//	} else
 	{
-		if (uid == get_current_task()->ruid
-				|| uid == get_current_task()->suid) {
+		if (uid == get_current_task()->ruid || uid == get_current_task()->suid)
+		{
 			get_current_task()->euid = uid;
-		} else {
+		}
+		else
+		{
 			return -EPERM;
 		}
 	}
 	return 0;
 }
-int sys_setegid(gid_t gid) {
-//	if (get_current_task()->is_s_user) {
-//		get_current_task()->egid = gid;
-//	} else
+int sys_setegid(gid_t gid)
+{
+	//	if (get_current_task()->is_s_user) {
+	//		get_current_task()->egid = gid;
+	//	} else
 	{
-		if (gid == get_current_task()->ruid
-				|| gid == get_current_task()->egid) {
+		if (gid == get_current_task()->ruid || gid == get_current_task()->egid)
+		{
 			get_current_task()->euid = gid;
-		} else {
+		}
+		else
+		{
 			return -EPERM;
 		}
 	}
 	return 0;
 }
 
-// ȡ��ǰ���̺�pid��
-int32_t sys_getpid(void) {
+// 取当前进程号pid。
+int32_t sys_getpid(void)
+{
 	return get_current_task()->pid;
 }
 
-// ȡ�����̺�ppid��
-int32_t sys_getppid(void) {
-	if (get_current_task()->parent_task) {
+// 取父进程号ppid。
+int32_t sys_getppid(void)
+{
+	if (get_current_task()->parent_task)
+	{
 		return get_current_task()->parent_task->pid;
-	} else {
+	}
+	else
+	{
 		return -1;
 	}
 }
 
-// ȡ�û���uid��
-int32_t sys_getuid(void) {
+// 取用户号uid。
+int32_t sys_getuid(void)
+{
 	return get_current_task()->ruid;
 }
 
-// ȡeuid��
-int32_t sys_geteuid(void) {
+// 取euid。
+int32_t sys_geteuid(void)
+{
 	return get_current_task()->euid;
 }
 
-// ȡ���gid��
-int32_t sys_getgid(void) {
+// 取组号gid。
+int32_t sys_getgid(void)
+{
 	return get_current_task()->rgid;
 }
 
-// ȡegid��
-int32_t sys_getegid(void) {
+// 取egid。
+int32_t sys_getegid(void)
+{
 	return get_current_task()->egid;
 }
-
+int32_t sys_reboot(uint32_t magic1, uint32_t magic2, uint32_t cmd)
+{
+	int32_t ret = -EINVAL;
+	if (magic1 != LINUX_REBOOT_MAGIC1 || magic2 != LINUX_REBOOT_MAGIC2)
+	{
+		goto end;
+	}
+	switch (cmd)
+	{
+	case LINUX_REBOOT_CMD_RESTART:
+		kprint("reboot sys\n");
+		arch_reboot();
+		ret = 0;
+		break;
+	default:
+		ret = -ENOSYS;
+		break;
+	}
+end:
+	return ret;
+}
diff --git a/mkrtos_real/knl/syscall.c b/mkrtos_real/knl/syscall.c
index ae1626b8f..4f668d5c5 100644
--- a/mkrtos_real/knl/syscall.c
+++ b/mkrtos_real/knl/syscall.c
@@ -32,23 +32,32 @@
 /**
  * 吧父进程地址指针映射到子进程
  */
-int sys_p2c_addr(void *addr) {
+int sys_p2c_addr(void *addr)
+{
 	struct task *curr_task = get_current_task();
 
 	return ((uint32_t)addr) + curr_task->parent_ram_offset;
 }
 
-int syscall_none(void){
+int syscall_none(void)
+{
 	return -ENOSYS;
 }
 
-static const int syscall_func_number=sizeof(sys_call_table)/sizeof(sys_call_func);
+static const int syscall_func_number = sizeof(sys_call_table) / sizeof(sys_call_func);
 
-void* get_syscall_handler(void* sp,int32_t call_num){
-	if(call_num<0 || call_num >= syscall_func_number){
-		return (void*)syscall_none;
-	}else{
-		MKRTOS_ASSERT(sys_call_table[call_num]);
+void *get_syscall_handler(void *sp, int32_t call_num)
+{
+	if (call_num < 0 || call_num >= syscall_func_number)
+	{
+		return (void *)syscall_none;
+	}
+	else if (sys_call_table[call_num])
+	{
 		return sys_call_table[call_num];
 	}
+	else
+	{
+		return syscall_none;
+	}
 }
diff --git a/mkrtos_reboot/CMakeLists.txt b/mkrtos_reboot/CMakeLists.txt
new file mode 100644
index 000000000..0c9284579
--- /dev/null
+++ b/mkrtos_reboot/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.13)
+
+include(setting.cmake)
+project(mkrtos_reboot)
+
+# if (BOARD STREQUAL "stm32f103rc")
+#     set(CMAKE_C_FLAGS "${GLOBAL_C_FLAG} -fPIC -n -pie -fpie -fPIC -fpic\
+#     -msingle-pic-base -mno-pic-data-is-text-relative \
+#     -fmessage-length=0 -Wall -Xlinker --cref \
+#     -D__dietlibc__ -D__arm__ \
+#     " )
+# elseif (BOARD STREQUAL "stm32f205rft6")
+    set(CMAKE_C_FLAGS "${GLOBAL_C_FLAG} -fPIC -n -pie -fpie -fPIC -fpic\
+    -msingle-pic-base -mno-pic-data-is-text-relative \
+    -fmessage-length=0 -Wall -Xlinker --cref \
+    -D__dietlibc__ -D__arm__ \
+    " )
+# endif()
+
+set(CMAKE_CXX_FLAGS CMAKE_C_FLAGS)
+set(CMAKE_ASM_FLAGS ${CMAKE_C_FLAGS})
+
+message("mkrtos-shell CMAKE_CFLAGS:${CMAKE_C_FLAGS}")
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
+include_directories(${CMAKE_SOURCE_DIR}/mkrtos_sdk/src/dietlibc-0.34/include)
+
+set(CMAKE_GEN_ELF ${CMAKE_PROJECT_NAME}_reboot.elf)
+file(GLOB_RECURSE deps **/*.c **/*.S *.c *.S)
+
+add_executable(${CMAKE_GEN_ELF}
+    ${deps}
+)
+target_link_libraries(${CMAKE_GEN_ELF} ${CMAKE_SOURCE_DIR}/build/mkrtos/mkrtos_sdk/libmkrtos_sdk.a)
+set_target_properties(${CMAKE_GEN_ELF} PROPERTIES LINK_FLAGS "-T ${CMAKE_CURRENT_SOURCE_DIR}/link.lds -pie")
+
+message("link: ${CMAKE_C_LINK_EXECUTABLE}")
+ 
\ No newline at end of file
diff --git a/mkrtos_reboot/link.lds b/mkrtos_reboot/link.lds
new file mode 100644
index 000000000..04212be3b
--- /dev/null
+++ b/mkrtos_reboot/link.lds
@@ -0,0 +1,119 @@
+ENTRY(_start_)
+_system_stack_size = 0x100;
+SECTIONS
+{
+    .text : {
+        . = ALIGN(4);
+        __text_start__ = .;
+        KEEP(*(.first))
+        *(.text)
+        *(.text.*)
+
+        KEEP(*(.init))
+        KEEP(*(.fini))
+
+        /* .ctors */
+        *crtbegin.o(.ctors)
+        *crtbegin?.o(.ctors)
+        *(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
+        *(SORT(.ctors.*))
+        *(.ctors)
+
+        /* .dtors */
+        *crtbegin.o(.dtors)
+        *crtbegin?.o(.dtors)
+        *(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
+        *(SORT(.dtors.*))
+        *(.dtors)
+
+        *(SORT(.rodata.*))
+        *(.rodata)
+
+        KEEP(*(.eh_frame*))
+
+        . = ALIGN(4);
+        __rel_start__ = .;
+        *(.rel.data .rel.data.* .rel.gnu.linkonce.d.*)
+        __rel_end__ = .;
+    }
+    .ARM.exidx : {
+        . = ALIGN(4);
+        __exdix_start = .;
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+        /* This is used by the startup in order to initialize the .data secion */
+        __exdix_end = .;
+    }
+
+    .permissions_table : {
+        . = ALIGN(4);
+        __permissions_table_start__ = .;
+        KEEP(*(.permissions_table))
+        __permissions_table_end__ = .;
+    }
+
+
+    PROVIDE(__ram_size__ = __bss_end__ - __data_start__);
+    .data : {
+        . = ALIGN(4);
+        __data_start__ = .;
+        __got_start__ = .;
+        *(.got)
+        __got_end__ = .;
+        . = ALIGN(4);
+        *(.data)
+        *(.data.*)
+    
+        *(vtable)
+        *(.data*)
+    
+        . = ALIGN(4);
+        /* preinit data */
+        PROVIDE_HIDDEN (__preinit_array_start = .);
+        KEEP(*(.preinit_array))
+        PROVIDE_HIDDEN (__preinit_array_end = .);
+    
+        . = ALIGN(4);
+        /* init data */
+        PROVIDE_HIDDEN (__init_array_start = .);
+        KEEP(*(SORT(.init_array.*)))
+        KEEP(*(.init_array))
+        PROVIDE_HIDDEN (__init_array_end = .);
+    
+        . = ALIGN(4);
+        /* finit data */
+        PROVIDE_HIDDEN (__fini_array_start = .);
+        KEEP(*(SORT(.fini_array.*)))
+        KEEP(*(.fini_array))
+        PROVIDE_HIDDEN (__fini_array_end = .);
+    
+        . = ALIGN(4);
+        /* All data end */
+        __data_end__ = .;
+    }
+
+    PROVIDE(__heap_size__ = __heap_end__ - __heap_start__);
+    PROVIDE(__stack_size__ = __stack_end__ - __stack_start__);
+    .bss : {
+        . = ALIGN(4);
+        /* This is used by the startup in order to initialize the .bss secion */
+        __bss_start__ = .;
+        *(.bss)
+        *(COMMON)
+    
+        . = ALIGN(4);
+        __heap_start__ = .;
+        KEEP(*(.bss.heap))
+        __heap_end__ = .;
+    
+        . = ALIGN(4);
+        __stack_start__ = .;
+        KEEP(*(.bss.stack))
+        __stack_end__ = .;
+    
+        *(.bss.*)
+        /* This is used by the startup in order to initialize the .bss secion */
+        . = ALIGN(4);
+        __bss_end__ = .;
+    }
+    _end = .;
+}
diff --git a/mkrtos_reboot/setting.cmake b/mkrtos_reboot/setting.cmake
new file mode 100644
index 000000000..e69de29bb
diff --git a/mkrtos_reboot/src/heap_stack.c b/mkrtos_reboot/src/heap_stack.c
new file mode 100644
index 000000000..8a948202a
--- /dev/null
+++ b/mkrtos_reboot/src/heap_stack.c
@@ -0,0 +1,17 @@
+
+#define HEAP_SIZE  1024*2
+#define STACK_SIZE 1024*2
+
+#if defined(__CC_ARM)
+#define HEAP_ATTR SECTION("HEAP") __attribute__((zero_init)) 
+#define STACK_ATTR SECTION("STACK") __attribute__((zero_init))
+#elif defined(__GNUC__)
+#define HEAP_ATTR
+#define STACK_ATTR
+#elif defined(__IAR_SYSTEMS_ICC__)
+#define HEAP_ATTR
+#define STACK_ATTR
+#endif
+
+__attribute__((used)) HEAP_ATTR static char heap[HEAP_SIZE];
+__attribute__((used)) STACK_ATTR static char stack[STACK_SIZE];
diff --git a/mkrtos_reboot/src/main.c b/mkrtos_reboot/src/main.c
new file mode 100644
index 000000000..b8abd8a68
--- /dev/null
+++ b/mkrtos_reboot/src/main.c
@@ -0,0 +1,44 @@
+#include <unistd.h>
+#include <sys/reboot.h>
+#include <stdlib.h>
+#include <string.h>
+// #include "str.h"
+
+#define ABORTMSG "hard-reboot: Aborted.\n"
+#define USAGE "Say \"hard-reboot (RESTART|HALT|POWER_OFF)\" if you really mean it.\n"
+
+void usage(void)
+{
+    write(2, ABORTMSG, strlen(ABORTMSG));
+    write(2, USAGE, strlen(USAGE));
+    exit(1);
+}
+
+int main(int argc, char *argv[])
+{
+    if (argc != 2)
+        usage();
+
+    sync();
+    sync();
+    sync();
+    if (strcmp(argv[1], "RESTART") == 0)
+    {
+        reboot(RB_AUTOBOOT);
+    }
+    else if (strcmp(argv[1], "HALT") == 0)
+    {
+        reboot(RB_HALT_SYSTEM);
+    }
+    else if (strcmp(argv[1], "POWER_OFF") == 0)
+    {
+        reboot(RB_POWER_OFF);
+    }
+    else
+    {
+        usage();
+    }
+
+    while (1)
+        sleep(10);
+}
diff --git a/stm32f205rft6_build.sh b/stm32f205rft6_build.sh
index 0fe27f993..554ee5cd9 100755
--- a/stm32f205rft6_build.sh
+++ b/stm32f205rft6_build.sh
@@ -36,13 +36,18 @@ $CMAKE_SIZE build/mkrtos/$TEST_NAME/$TEST_NAME.elf
 $CMAKE_OBJCOPY -O binary build/mkrtos/$TEST_NAME/$TEST_NAME.elf build/mkrtos/$TEST_NAME/test
 sudo cp build/mkrtos/$TEST_NAME/test build/bin/
 
+export REBOOT_NAME=reboot
+$CMAKE_SIZE build/mkrtos/mkrtos_$REBOOT_NAME/mkrtos_$REBOOT_NAME.elf
+$CMAKE_OBJCOPY -O binary build/mkrtos/mkrtos_$REBOOT_NAME/mkrtos_$REBOOT_NAME.elf build/mkrtos/mkrtos_$REBOOT_NAME/$REBOOT_NAME
+sudo cp build/mkrtos/mkrtos_$REBOOT_NAME/$REBOOT_NAME build/bin/
+
 $CMAKE_SIZE build/mkrtos/mkrtos_real/mkrtos_real.elf
 $CMAKE_OBJCOPY -O binary build/mkrtos/mkrtos_real/mkrtos_real.elf build/mkrtos/mkrtos_real/kernel.bin
 sudo cp build/mkrtos/mkrtos_real/kernel.bin build/bin
 
 cd build/bin
 # cpio的文件名长度必须要是n*4+2，文件的长度必须是4的整数倍
-ls zh ls ym test | cpio -H newc -o > rootfs.cpio
+ls zh ls ym test reboot | cpio -H newc -o > rootfs.cpio
 srec_cat -output  kernel.img -binary \
         mkrtos_bootstrap.bin -binary\
         kernel.bin -binary -offset 0x00004000\