diff --git a/.vscode/launch.json b/.vscode/launch.json
index 04fe2fa5f..461e21b5a 100755
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -45,9 +45,9 @@
             "environment": [],
             "externalConsole": false,
             // "miDebuggerPath": "/opt/homebrew/bin/arm-none-eabi-gdb",
-            "miDebuggerPath": "/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gdb",
-            // "miDebuggerPath": "/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-gdb",
-            "miDebuggerServerAddress": "127.0.0.1:3333",
+            // "miDebuggerPath": "/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gdb",
+            "miDebuggerPath": "/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-gdb",
+            "miDebuggerServerAddress": "127.0.0.1:3334",
             "MIMode": "gdb",
             "setupCommands": [
                 {
diff --git a/install.sh b/install.sh
new file mode 100644
index 000000000..419b85bef
--- /dev/null
+++ b/install.sh
@@ -0,0 +1,496 @@
+#!/bin/bash
+PATH=/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin:~/bin
+export PATH
+LANG=en_US.UTF-8
+
+
+echo "
++----------------------------------------------------------------------
+| Bt-WebPanel 5.x FOR Ubuntu/Debian
++----------------------------------------------------------------------
+| Copyright © 2015-2018 BT-SOFT(http://www.bt.cn) All rights reserved.
++----------------------------------------------------------------------
+| The WebPanel URL will be http://SERVER_IP:8888 when installed.
++----------------------------------------------------------------------
+"
+deepinSys=`cat /etc/issue`
+if [[ "${deepinSys}" =~ eepin ]]; then
+	isroot=''
+	if [ `whoami` != "root" ];then
+		isroot='sudo '
+	fi
+	if [ -f "/etc/init.d/bt" ]; then
+		password=`${isroot}cat /www/server/panel/default.pl`
+		port=`${isroot}cat /www/server/panel/data/port.pl`
+		echo -e "=================================================================="
+		echo -e "Bt-Panel: http://localhost:$port"
+		echo -e "默认账户: admin"
+		echo -e "默认密码: $password"
+		echo -e "=================================================================="
+		echo -e "正在尝试打开浏览器..."
+		if [ -f "/opt/google/chrome/chrome" ]; then
+			${isroot}/opt/google/chrome/chrome --no-sandbox http://localhost:$port
+			exit;
+		fi
+		if [ -f "/usr/lib/firefox/firefox" ]; then
+			/usr/lib/firefox/firefox http://localhost:$port
+			exit;
+		fi
+		echo -e "找不到chrome/firefox浏览器，请自行打开浏览器访问宝塔面板: http://loshost:$port"
+		exit;
+
+	fi
+fi
+if [ `whoami` != "root" ];then
+	echo -e "\033[31mError: Please run the script with root privileges on Ubuntu, for example: sudo bash install.sh\033[0m";
+	exit;
+fi
+
+#自动选择下载节点
+get_node_url(){
+	nodes=(http://125.88.182.172:5880 http://103.224.251.67 http://128.1.164.196 http://download.bt.cn);
+	i=1;
+	if [ ! -f /bin/curl ];then
+		if [ -f /usr/local/curl/bin/curl ];then
+			ln -sf /usr/local/curl/bin/curl /bin/curl
+		else
+			yum install curl -y
+		fi
+	fi
+	for node in ${nodes[@]};
+	do
+		start=`date +%s.%N`
+		result=`curl -sS --connect-timeout 3 -m 60 $node/check.txt`
+		if [ $result = 'True' ];then
+			end=`date +%s.%N`
+			start_s=`echo $start | cut -d '.' -f 1`
+			start_ns=`echo $start | cut -d '.' -f 2`
+			end_s=`echo $end | cut -d '.' -f 1`
+			end_ns=`echo $end | cut -d '.' -f 2`
+			time_micro=$(( (10#$end_s-10#$start_s)*1000000 + (10#$end_ns/1000 - 10#$start_ns/1000) ))
+			time_ms=$(($time_micro/1000))
+			values[$i]=$time_ms;
+			urls[$time_ms]=$node
+			i=$(($i+1))
+		fi
+	done
+	j=5000
+	for n in ${values[@]};
+	do
+		if [ $j -gt $n ];then
+			j=$n
+		fi
+	done
+	if [ $j = 5000 ];then
+		NODE_URL='http://download.bt.cn';
+	else
+		NODE_URL=${urls[$j]}
+	fi
+	
+}
+
+echo '---------------------------------------------';
+echo "Selected download node...";
+get_node_url
+download_Url=$NODE_URL
+echo "Download node: $download_Url";
+echo '---------------------------------------------';
+setup_path=/www
+port='8888'
+if [ -f $setup_path/server/panel/data/port.pl ];then
+	port=`cat $setup_path/server/panel/data/port.pl`
+fi
+
+while [ "$go" != 'y' ] && [ "$go" != 'n' ]
+do
+	read -p "Do you want to install Bt-Panel to the $setup_path directory now?(y/n): " go;
+done
+
+if [ "$go" = 'n' ];then
+	exit;
+fi
+startTime=`date +%s`
+
+#数据盘自动分区
+fdiskP(){
+	
+	for i in `cat /proc/partitions|grep -v name|grep -v ram|awk '{print $4}'|grep -v '^$'|grep -v '[0-9]$'|grep -e 'vd' -e 'sd' -e 'xv'`;
+	do
+		#判断/www是否被挂载
+		isR=`df -P|grep $setup_path`
+		if [ "$isR" != "" ];then
+			echo 'Warning: The /www directory has been mounted.'
+			return;
+		fi
+		#判断是否存在未分区磁盘
+		isP=`fdisk -l /dev/$i |grep -v 'bytes'|grep "$i[1-9]*"`
+		if [ "$isP" = "" ];then
+				#开始分区
+				fdisk -S 56 /dev/$i << EOF
+n
+p
+1
+
+
+wq
+EOF
+
+			sleep 5
+			#检查是否分区成功
+			checkP=`fdisk -l /dev/$i|grep "/dev/${i}1"`
+			if [ "$checkP" != "" ];then
+				#格式化分区
+				mkfs.ext4 /dev/${i}1
+				mkdir $setup_path
+				#挂载分区
+				sed -i "/\/dev\/${i}1/d" /etc/fstab
+				echo "/dev/${i}1    $setup_path    ext4    defaults    0 0" >> /etc/fstab
+				mount -a
+				df -h
+			fi
+		else
+			#判断是否存在Windows磁盘分区
+			isN=`fdisk -l /dev/$i|grep -v 'bytes'|grep -v "NTFS"|grep -v "FAT32"`
+			if [ "$isN" = "" ];then
+				echo 'Warning: The Windows partition was detected. For your data security, Mount manually.';
+				return;
+			fi
+			
+			#挂载已有分区
+			checkR=`df -P|grep "/dev/$i"`
+			if [ "$checkR" = "" ];then
+					mkdir $setup_path
+					sed -i "/\/dev\/${i}1/d" /etc/fstab
+					echo "/dev/${i}1    $setup_path    ext4    defaults    0 0" >> /etc/fstab
+					mount -a
+					df -h
+			fi
+			
+			#清理不可写分区
+			echo 'True' > $setup_path/checkD.pl
+			if [ ! -f $setup_path/checkD.pl ];then
+					sed -i "/\/dev\/${i}1/d" /etc/fstab
+					mount -a
+					df -h
+			else
+					rm -f $setup_path/checkD.pl
+			fi
+		fi
+	done
+}
+#fdiskP
+
+ln -sf bash /bin/sh
+apt-get install ruby -y
+apt-get update -y
+apt-get install lsb-release -y
+#apt-get install ntp ntpdate -y
+#/etc/init.d/ntp stop
+#update-rc.d ntp remove
+#cat >>~/.profile<<EOF
+#TZ='Asia/Shanghai'; export TZ
+#EOF
+#rm -rf /etc/localtime
+#cp /usr/share/zoneinfo/Asia/Shanghai /etc/localtime
+#echo 'Synchronizing system time...'
+#ntpdate 0.asia.pool.ntp.org
+#apt-get upgrade -y
+for pace in wget curl python python-dev python-imaging zip unzip openssl libssl-dev gcc libxml2 libxml2-dev libxslt zlib1g zlib1g-dev libjpeg-dev libpng-dev lsof libpcre3 libpcre3-dev cron;
+do apt-get -y install $pace --force-yes; done
+apt-get -y install python-pip python-dev
+
+tmp=$(python -V 2>&1|awk '{print $2}')
+pVersion=${tmp:0:3}
+
+Install_setuptools()
+{
+	if [ ! -f "/usr/bin/easy_install" ];then
+		wget -O setuptools-33.1.1.zip $download_Url/install/src/setuptools-33.1.1.zip -T 10
+		unzip setuptools-33.1.1.zip
+		rm -f setuptools-33.1.1.zip
+		cd setuptools-33.1.1
+		python setup.py install
+		cd ..
+		rm -rf setuptools-33.1.1
+	fi
+	
+	if [ ! -f "/usr/bin/easy_install" ];then
+		echo '=================================================';
+		echo -e "\033[31msetuptools installation failed. \033[0m";
+		exit;
+	fi
+}
+Install_Pillow()
+{
+	isSetup=`python -m PIL 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		wget -O Pillow-3.2.0.zip $download_Url/install/src/Pillow-3.2.0.zip -T 10
+		unzip Pillow-3.2.0.zip
+		rm -f Pillow-3.2.0.zip
+		cd Pillow-3.2.0
+		python setup.py install
+		cd ..
+		rm -rf Pillow-3.2.0
+	fi
+	isSetup=`python -m PIL 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		echo '=================================================';
+		echo -e "\033[31mPillow installation failed. \033[0m";
+		exit;
+	fi
+}
+
+Install_psutil()
+{
+	isSetup=`python -m psutil 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		wget -O psutil-5.2.2.tar.gz $download_Url/install/src/psutil-5.2.2.tar.gz -T 10
+		tar xvf psutil-5.2.2.tar.gz
+		rm -f psutil-5.2.2.tar.gz
+		cd psutil-5.2.2
+		python setup.py install
+		cd ..
+		rm -rf psutil-5.2.2
+	fi
+	isSetup=`python -m psutil 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		echo '=================================================';
+		echo -e "\033[31mpsutil installation failed. \033[0m";
+		exit;
+	fi
+}
+
+Install_mysqldb()
+{
+	isSetup=`python -m MySQLdb 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		wget -O MySQL-python-1.2.5.zip $download_Url/install/src/MySQL-python-1.2.5.zip -T 10
+		unzip MySQL-python-1.2.5.zip
+		rm -f MySQL-python-1.2.5.zip
+		cd MySQL-python-1.2.5
+		python setup.py install
+		cd ..
+		rm -rf MySQL-python-1.2.5
+	fi
+	
+}
+
+Install_chardet()
+{
+	isSetup=`python -m chardet 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		wget -O chardet-2.3.0.tar.gz $download_Url/install/src/chardet-2.3.0.tar.gz -T 10
+		tar xvf chardet-2.3.0.tar.gz
+		rm -f chardet-2.3.0.tar.gz
+		cd chardet-2.3.0
+		python setup.py install
+		cd ..
+		rm -rf chardet-2.3.0
+	fi
+	isSetup=`python -m chardet 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		echo '=================================================';
+		echo -e "\033[31mchardet installation failed. \033[0m";
+		exit;
+	fi
+}
+
+Install_webpy()
+{
+	isSetup=`python -m web 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		wget -O web.py-0.38.tar.gz $download_Url/install/src/web.py-0.38.tar.gz -T 10
+		tar xvf web.py-0.38.tar.gz
+		rm -f web.py-0.38.tar.gz
+		cd web.py-0.38
+		python setup.py install
+		cd ..
+		rm -rf web.py-0.38
+	fi
+	
+	isSetup=`python -m web 2>&1|grep package`
+	if [ "$isSetup" = "" ];then
+		echo '=================================================';
+		echo -e "\033[31mweb.py installation failed. \033[0m";
+		exit;
+	fi
+}
+pipArg=''
+
+
+pip install setuptools
+#pip install --upgrade pip $pipArg
+pip install psutil chardet web.py virtualenv Pillow $pipArg
+
+
+Install_Pillow
+Install_psutil
+if [  -f /www/server/mysql/bin/mysql ]; then
+	pip install mysql-python
+	Install_mysqldb
+fi
+Install_chardet
+Install_webpy
+
+mkdir -p $setup_path/server/panel/logs
+mkdir -p $setup_path/server/panel/vhost/apache
+mkdir -p $setup_path/server/panel/vhost/nginx
+mkdir -p $setup_path/server/panel/vhost/rewrite
+wget -O $setup_path/server/panel/certbot-auto $download_Url/install/certbot-auto.init -T 5
+chmod +x $setup_path/server/panel/certbot-auto
+
+
+if [ -f '/etc/init.d/bt' ];then
+	/etc/init.d/bt stop
+fi
+
+mkdir -p /www/server
+mkdir -p /www/wwwroot
+mkdir -p /www/wwwlogs
+mkdir -p /www/backup/database
+mkdir -p /www/backup/site
+
+wget -O panel.zip $download_Url/install/src/panel.zip -T 10
+wget -O /etc/init.d/bt $download_Url/install/src/bt.init -T 10
+if [ -f "$setup_path/server/panel/data/default.db" ];then
+	if [ -d "/$setup_path/server/panel/old_data" ];then
+		rm -rf $setup_path/server/panel/old_data
+	fi
+	mkdir -p $setup_path/server/panel/old_data
+	mv -f $setup_path/server/panel/data/default.db $setup_path/server/panel/old_data/default.db
+	mv -f $setup_path/server/panel/data/system.db $setup_path/server/panel/old_data/system.db
+	mv -f $setup_path/server/panel/data/aliossAs.conf $setup_path/server/panel/old_data/aliossAs.conf
+	mv -f $setup_path/server/panel/data/qiniuAs.conf $setup_path/server/panel/old_data/qiniuAs.conf
+	mv -f $setup_path/server/panel/data/iplist.txt $setup_path/server/panel/old_data/iplist.txt
+	mv -f $setup_path/server/panel/data/port.pl $setup_path/server/panel/old_data/port.pl
+fi
+
+unzip -o panel.zip -d $setup_path/server/ > /dev/null
+
+if [ -d "$setup_path/server/panel/old_data" ];then
+	mv -f $setup_path/server/panel/old_data/default.db $setup_path/server/panel/data/default.db
+	mv -f $setup_path/server/panel/old_data/system.db $setup_path/server/panel/data/system.db
+	mv -f $setup_path/server/panel/old_data/aliossAs.conf $setup_path/server/panel/data/aliossAs.conf
+	mv -f $setup_path/server/panel/old_data/qiniuAs.conf $setup_path/server/panel/data/qiniuAs.conf
+	mv -f $setup_path/server/panel/old_data/iplist.txt $setup_path/server/panel/data/iplist.txt
+	mv -f $setup_path/server/panel/old_data/port.pl $setup_path/server/panel/data/port.pl
+	
+	if [ -d "/$setup_path/server/panel/old_data" ];then
+		rm -rf $setup_path/server/panel/old_data
+	fi
+fi
+
+rm -f panel.zip
+
+if [ ! -f $setup_path/server/panel/tools.py ];then
+	echo -e "\033[31mERROR: Failed to download, please try again!\033[0m";
+	echo '============================================'
+	exit;
+fi
+
+rm -f $setup_path/server/panel/class/*.pyc
+rm -f $setup_path/server/panel/*.pyc
+python -m compileall $setup_path/server/panel
+#rm -f $setup_path/server/panel/class/*.py
+#rm -f $setup_path/server/panel/*.py
+
+chmod 777 /tmp
+chmod +x /etc/init.d/bt
+update-rc.d bt defaults
+chmod -R 600 $setup_path/server/panel
+chmod +x $setup_path/server/panel/certbot-auto
+chmod -R +x $setup_path/server/panel/script
+echo "$port" > $setup_path/server/panel/data/port.pl
+/etc/init.d/bt start
+password=`cat /dev/urandom | head -n 16 | md5sum | head -c 8`
+cd $setup_path/server/panel/
+python tools.py username
+username=`python tools.pyc panel $password`
+cd ~
+echo "$password" > $setup_path/server/panel/default.pl
+chmod 600 $setup_path/server/panel/default.pl
+
+isStart=`ps aux |grep 'python main.pyc'|grep -v grep|awk '{print $2}'`
+if [ "$isStart" == '' ];then
+	echo -e "\033[31mERROR: The BT-Panel service startup failed.\033[0m";
+	echo '============================================'
+	exit;
+fi
+
+if [ ! -f "/usr/bin/ufw" ];then
+	apt-get install -y ufw
+fi
+
+if [ -f "/usr/sbin/ufw" ];then
+	ufw allow 888,20,21,22,80,$port/tcp
+	ufw allow 39000:40000/tcp
+	ufw_status=`ufw status`
+	echo y|ufw enable
+	ufw default deny
+	ufw reload
+fi
+pip install web.py==0.39
+pip install psutil chardet psutil virtualenv $pipArg
+if [ ! -d '/etc/letsencrypt' ];then
+
+	mkdir -p /var/spool/cron
+	if [ ! -f '/var/spool/cron/crontabs/root' ];then
+		echo '' > /var/spool/cron/crontabs/root
+		chmod 600 /var/spool/cron/crontabs/root
+	fi
+	isCron=`cat /var/spool/cron/crontabs/root|grep certbot.log`
+	if [ "${isCron}" == "" ];then
+		echo "30 2 * * * $setup_path/server/panel/certbot-auto renew >> $setup_path/server/panel/logs/certbot.log" >>  /var/spool/cron/crontabs/root
+		chown 600 /var/spool/cron/crontabs/root
+	fi
+	service cron restart
+	nohup $setup_path/server/panel/certbot-auto -n > /tmp/certbot-auto.log 2>&1 &
+fi
+if [[ "${deepinSys}" =~ eepin ]]; then
+	address="localhost"
+else
+	address=`curl -sS --connect-timeout 10 -m 60 https://www.bt.cn/Api/getIpAddress`
+	
+	if [ "$address" == '0.0.0.0' ] || [ "$address" == '' ];then
+		isHosts=`cat /etc/hosts|grep 'www.bt.cn'`
+		if [ "$isHosts" == '' ];then
+			echo "" >> /etc/hosts
+			echo "125.88.182.170 www.bt.cn" >> /etc/hosts
+			address=`curl -sS --connect-timeout 10 -m 60 https://www.bt.cn/Api/getIpAddress`
+			if [ "$address" == '' ];then
+				sed -i "/bt.cn/d" /etc/hosts
+			fi
+		fi
+	fi
+	
+	ipCheck=`python -c "import re; print re.match('^(?:[0-9]{1,3}\.){3}[0-9]{1,3}$','$address')"`
+	if [ "$address" == "None" ];then
+		address="SERVER_IP"
+	fi
+	if [ "$address" != "SERVER_IP" ];then
+		echo "$address" > $setup_path/server/panel/data/iplist.txt
+	fi
+fi
+
+curl -sS --connect-timeout 10 -m 60 https://www.bt.cn/Api/SetupCount?type=Linux\&o=$1 > /dev/null 2>&1
+if [ $1 != "" ];then
+	echo $1 > /www/server/panel/data/o.pl
+	cd /www/server/panel
+	python tools.py o
+fi
+
+echo -e "=================================================================="
+echo -e "\033[32mCongratulations! Install succeeded!\033[0m"
+echo -e "=================================================================="
+echo -e "Bt-Panel: http://$address:$port"
+echo -e "username: $username"
+echo -e "password: $password"
+echo -e "\033[33mWarning:\033[0m"
+echo -e "\033[33mIf you cannot access the panel, \033[0m"
+echo -e "\033[33mrelease the following port (8888|888|80|443|20|21) in the security group\033[0m"
+echo -e "=================================================================="
+
+endTime=`date +%s`
+((outTime=($endTime-$startTime)/60))
+echo -e "Time consumed:\033[32m $outTime \033[0mMinute!"
+rm -f install.sh
diff --git a/kconfig.cmake b/kconfig.cmake
index 5eecee5a3..6fdf7213f 100644
--- a/kconfig.cmake
+++ b/kconfig.cmake
@@ -10,6 +10,7 @@ message(
   ${CMAKE_SOURCE_DIR}/build/log.txt "\n"
   ${CMAKE_SOURCE_DIR}/build/.config "\n"
   )
+
 execute_process(
   COMMAND
   ${PYTHON_EXECUTABLE} 
diff --git a/mkrtos_knl/drivers/stm32f1x/systick/systick.c b/mkrtos_knl/drivers/stm32f1x/systick/systick.c
index 14e89f6f0..7d7b97e1d 100755
--- a/mkrtos_knl/drivers/stm32f1x/systick/systick.c
+++ b/mkrtos_knl/drivers/stm32f1x/systick/systick.c
@@ -12,9 +12,9 @@ umword_t sys_tick_cnt_get(void)
 
 void SysTick_Handler(void)
 {
-
     // 进行上下文切换
     thread_sched();
-    timeout_times_tick();
     sys_tick_cnt++;
+    timeout_times_tick();
+    futex_timeout_times_tick();
 }
diff --git a/mkrtos_knl/drivers/stm32f2x/systick/systick.c b/mkrtos_knl/drivers/stm32f2x/systick/systick.c
index e0a3e5eb9..89d65a32e 100755
--- a/mkrtos_knl/drivers/stm32f2x/systick/systick.c
+++ b/mkrtos_knl/drivers/stm32f2x/systick/systick.c
@@ -2,7 +2,7 @@
 #include "arch.h"
 #include "thread.h"
 #include "ipc.h"
-
+#include "futex.h"
 static umword_t sys_tick_cnt;
 
 umword_t sys_tick_cnt_get(void)
@@ -14,6 +14,7 @@ void SysTick_Handler(void)
 {
     // 进行上下文切换
     thread_sched();
-    timeout_times_tick();
     sys_tick_cnt++;
+    timeout_times_tick();
+    futex_timeout_times_tick();
 }
diff --git a/mkrtos_knl/inc/knl/access.h b/mkrtos_knl/inc/knl/access.h
new file mode 100644
index 000000000..5937082a4
--- /dev/null
+++ b/mkrtos_knl/inc/knl/access.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include <types.h>
+
+bool_t is_rw_access(void *addr, size_t size, bool_t ignore_null);
diff --git a/mkrtos_knl/inc/knl/futex.h b/mkrtos_knl/inc/knl/futex.h
index 45dcbb04b..4df4eb6e9 100644
--- a/mkrtos_knl/inc/knl/futex.h
+++ b/mkrtos_knl/inc/knl/futex.h
@@ -1,3 +1,3 @@
 #pragma once
 
-
+void futex_timeout_times_tick(void);
diff --git a/mkrtos_knl/knl/access.c b/mkrtos_knl/knl/access.c
new file mode 100644
index 000000000..c073442b0
--- /dev/null
+++ b/mkrtos_knl/knl/access.c
@@ -0,0 +1,32 @@
+
+#include "types.h"
+#include <task.h>
+#include <mm_space.h>
+#include <thread.h>
+
+/**
+ * @brief 检测内存是否可访问
+ *
+ * @param addr
+ * @param size
+ * @return bool_t
+ */
+bool_t is_rw_access(void *addr, size_t size, bool_t ignore_null)
+{
+    if (addr == NULL && ignore_null)
+    {
+        return TRUE;
+    }
+
+    void *mem;
+    size_t mem_size;
+    task_t *cur_task = thread_get_current_task();
+
+    mm_space_get_ram_block(&cur_task->mm_space, &mem, &mem_size);
+    if (mem >= addr && ((char *)addr + size) < (char *)mem + mem_size)
+    {
+        return TRUE;
+    }
+
+    return FALSE;
+}
diff --git a/mkrtos_knl/knl/futex.c b/mkrtos_knl/knl/futex.c
index a6dbd7586..dc4823dda 100644
--- a/mkrtos_knl/knl/futex.c
+++ b/mkrtos_knl/knl/futex.c
@@ -1,4 +1,14 @@
-
+/**
+ * @file futex.c
+ * @author zhangzheng (1358745329@qq.com)
+ * @brief futex在内核中实现
+ * @note TODO: 可以使用hashmap优化
+ * @version 0.1
+ * @date 2023-11-20
+ *
+ * @copyright Copyright (c) 2023
+ *
+ */
 #include "types.h"
 #include "init.h"
 #include "prot.h"
@@ -13,10 +23,13 @@
 #include "globals.h"
 #include "string.h"
 #include "ipc.h"
+#include "err.h"
+#include <access.h>
 
 #define INT_MAX 0x7fffffff
 
 #define FT_ADDR_NR 16 //!< 最多加锁的对象
+
 #define FUTEX_WAIT 0
 #define FUTEX_WAKE 1
 #define FUTEX_FD 2
@@ -58,6 +71,50 @@ typedef struct futex
 } futex_t;
 static futex_t futex_obj;
 static void futex_init(futex_t *ft);
+typedef struct futex_wait_item
+{
+    slist_head_t node;
+    thread_t *th;
+    umword_t sleep_times;
+} futex_wait_item_t;
+static slist_head_t wait_list;
+
+/**
+ * @brief 初始化一个超时等待队列
+ *
+ */
+static void futex_wait_list_init(void)
+{
+    slist_init(&wait_list);
+}
+INIT_KOBJ(futex_wait_list_init);
+/**
+ * @brief 检查超时队列
+ *
+ */
+void futex_timeout_times_tick(void)
+{
+    futex_wait_item_t *item;
+
+    slist_foreach(item, &wait_list, node) //!< 第一次循环等待的ipc
+    {
+        if (item->sleep_times > 0)
+        {
+            if ((--item->sleep_times) == 0)
+            {
+                //!< 超时时间满后直接唤醒等待者
+                thread_ready(item->th, TRUE);
+            }
+        }
+        else
+        {
+            if (item->th->status == THREAD_SUSPEND)
+            {
+                thread_ready(item->th, TRUE);
+            }
+        }
+    }
+}
 static void futex_reg(void)
 {
     futex_init(&futex_obj);
@@ -130,8 +187,9 @@ static futex_lock_t *futex_find(futex_t *fst, void *uaddr)
     }
     return NULL;
 }
+
 static int futex_dispose(futex_t *fst, uint32_t *uaddr, int futex_op, uint32_t val,
-                         const struct timespec *timeout, uint32_t uaddr2, uint32_t val3, int tid)
+                         umword_t timeout /*val2*/, uint32_t uaddr2, uint32_t val3, int tid)
 
 {
     thread_t *cur_th = thread_get_current();
@@ -143,6 +201,11 @@ static int futex_dispose(futex_t *fst, uint32_t *uaddr, int futex_op, uint32_t v
     {
     case FUTEX_REQUEUE:
     {
+        if (!is_rw_access(uaddr, sizeof(*uaddr), FALSE))
+        {
+            spinlock_set(&fst->lock, status);
+            return -EACCES;
+        }
         if (val3 == *uaddr)
         {
             futex_lock_t *flt = futex_find(fst, uaddr);
@@ -198,6 +261,11 @@ static int futex_dispose(futex_t *fst, uint32_t *uaddr, int futex_op, uint32_t v
     break;
     case FUTEX_WAIT:
     {
+        if (!is_rw_access(uaddr, sizeof(*uaddr), FALSE))
+        {
+            spinlock_set(&fst->lock, status);
+            return -EACCES;
+        }
         if (val == *uaddr)
         {
             ref_counter_inc(&cur_th->ref);
@@ -207,8 +275,33 @@ static int futex_dispose(futex_t *fst, uint32_t *uaddr, int futex_op, uint32_t v
                 spinlock_set(&fst->lock, status);
                 return -ENOMEM;
             }
-            thread_suspend(cur_th); // TODO:考虑超时时间
-            preemption();
+            if (timeout != 0)
+            {
+                //! 加入到等待队列中
+                futex_wait_item_t item = {
+                    .th = cur_th,
+                    .sleep_times = timeout,
+                };
+
+                slist_init(&item.node);
+                slist_add_append(&wait_list, &item.node);
+                thread_suspend(cur_th);
+                preemption();
+                slist_del(&item.node);
+                if (timeout <= 0)
+                {
+                    ref_counter_dec_and_release(&cur_th->ref, &cur_th->kobj);
+                    spinlock_set(&fst->lock, status);
+                    return -ETIMEDOUT;
+                }
+            }
+            else
+            {
+                // 一直等待
+                thread_suspend(cur_th);
+                preemption();
+            }
+
             ref_counter_dec_and_release(&cur_th->ref, &cur_th->kobj);
         }
         else
@@ -249,6 +342,11 @@ static int futex_dispose(futex_t *fst, uint32_t *uaddr, int futex_op, uint32_t v
     case FUTEX_UNLOCK_PI:
     case FUTEX_WAKE_CLEAR:
     {
+        if (!is_rw_access(uaddr, sizeof(*uaddr), FALSE))
+        {
+            spinlock_set(&fst->lock, status);
+            return -EACCES;
+        }
         futex_lock_t *flt = futex_find(fst, uaddr);
         int rel_cnt = 0;
 
@@ -277,6 +375,11 @@ static int futex_dispose(futex_t *fst, uint32_t *uaddr, int futex_op, uint32_t v
     }
     case FUTEX_LOCK_PI:
     {
+        if (!is_rw_access(uaddr, sizeof(*uaddr), FALSE))
+        {
+            spinlock_set(&fst->lock, status);
+            return -EACCES;
+        }
         if (*uaddr = 0)
         {
             *uaddr = tid;
@@ -320,7 +423,7 @@ static void futex_syscall(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t in_ta
         uint32_t *uaddr = (uint32_t *)(msg->msg_buf[0]);
         int futex_op = msg->msg_buf[1];
         uint32_t val = msg->msg_buf[2];
-        const struct timespec *timeout = (const struct timespec *)(msg->msg_buf[3]);
+        umword_t timeout = msg->msg_buf[3];
         uint32_t uaddr2 = msg->msg_buf[4];
         uint32_t val3 = msg->msg_buf[5];
         int tid = msg->msg_buf[6];
@@ -334,16 +437,10 @@ static void futex_syscall(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t in_ta
 }
 static void futex_release_stage1(kobject_t *kobj)
 {
-    // futex_t *futex = container_of(kobj, futex_t, kobj);
-
-    // kobject_invalidate(kobj);
-    /*TODO:唤醒所有挂起的线程*/
+    /*TODO:删除task所占用的futex资源*/
 }
 static void futex_release_stage2(kobject_t *kobj)
 {
-    // futex_t *ipc = container_of(kobj, futex_t, kobj);
-
-    // mm_limit_free(ipc->lim, kobj);
     printk("futex don't release.\n");
 }
 static void futex_init(futex_t *ft)
@@ -354,29 +451,3 @@ static void futex_init(futex_t *ft)
     ft->kobj.stage_1_func = futex_release_stage1;
     ft->kobj.stage_2_func = futex_release_stage2;
 }
-// static futex_t *futex_create(ram_limit_t *lim)
-// {
-//     futex_t *ft = mm_limit_alloc(lim, sizeof(futex_t));
-
-//     if (!ft)
-//     {
-//         return NULL;
-//     }
-//     memset(ft, 0, sizeof(futex_t));
-//     futex_init(ft, lim);
-//     return ft;
-// }
-// static kobject_t *futex_create_func(ram_limit_t *lim, umword_t arg0, umword_t arg1,
-//                                     umword_t arg2, umword_t arg3)
-// {
-//     return &futex_create(lim)->kobj;
-// }
-/**
- * @brief 工厂注册函数
- *
- */
-// static void futex_factory_register(void)
-// {
-//     factory_register(futex_create_func, FUTEX_PROT);
-// }
-// INIT_KOBJ(futex_factory_register);
diff --git a/mkrtos_knl/knl/ipc.c b/mkrtos_knl/knl/ipc.c
index 26ae66e18..bece3f8a9 100755
--- a/mkrtos_knl/knl/ipc.c
+++ b/mkrtos_knl/knl/ipc.c
@@ -63,7 +63,7 @@ static slist_head_t wait_list;
  * @brief 初始化一个超时等待队列
  *
  */
-void timeout_wait_list_init(void)
+static void timeout_wait_list_init(void)
 {
     slist_init(&wait_list);
 }
diff --git a/mkrtos_script/build.sh b/mkrtos_script/build.sh
index d87fbefe7..b9d98b338 100755
--- a/mkrtos_script/build.sh
+++ b/mkrtos_script/build.sh
@@ -1,9 +1,9 @@
 #!/bin/bash
 
-# export TOOLCHAIN=/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/bin/
-# export TOOLCHAIN_LIB=/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/lib/gcc/arm-none-eabi/5.4.1/armv7-m
-export TOOLCHAIN=/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/bin/
-export TOOLCHAIN_LIB=/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/thumb/v7-m/nofp
+export TOOLCHAIN=/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/bin/
+export TOOLCHAIN_LIB=/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/lib/gcc/arm-none-eabi/5.4.1/armv7-m
+# export TOOLCHAIN=/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/bin/
+# export TOOLCHAIN_LIB=/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/thumb/v7-m/nofp
 export KEN_OFFSET=0x2000
 export INIT_OFFSET=0x10000
 export BOOTFS_ADDR_OFFSET=0x20000
@@ -12,7 +12,6 @@ export KNL_DATA=0x20000000
 export KNL_DATA_SIZE=64K
 export BOARD=STM32F2x
 
-
 export PYTHON_EXECUTABLE=python3
 
 set -e
diff --git a/mkrtos_tool/kconfig/__pycache__/kconfigfunctions.cpython-38.pyc b/mkrtos_tool/kconfig/__pycache__/kconfigfunctions.cpython-38.pyc
new file mode 100644
index 000000000..03368ce9f
Binary files /dev/null and b/mkrtos_tool/kconfig/__pycache__/kconfigfunctions.cpython-38.pyc differ
diff --git a/mkrtos_tool/kconfig/__pycache__/kconfiglib.cpython-38.pyc b/mkrtos_tool/kconfig/__pycache__/kconfiglib.cpython-38.pyc
new file mode 100644
index 000000000..4e23e594f
Binary files /dev/null and b/mkrtos_tool/kconfig/__pycache__/kconfiglib.cpython-38.pyc differ
diff --git a/mkrtos_user/lib/libc_backend/src/futex_backend.c b/mkrtos_user/lib/libc_backend/src/futex_backend.c
index b315e42cd..a738a83ee 100644
--- a/mkrtos_user/lib/libc_backend/src/futex_backend.c
+++ b/mkrtos_user/lib/libc_backend/src/futex_backend.c
@@ -30,20 +30,20 @@ int be_futex(uint32_t *uaddr, int futex_op, uint32_t val,
     struct pthread *pt = __pthread_self();
     ipc_timeout_t to = ipc_timeout_create2(0, 0);
     umword_t total = 0;
+    umword_t st_val;
     sys_info_t sys_info;
+    msg_tag_t tag;
 
     if (timeout && !(futex_op & FUTEX_REQUEUE))
     {
         to = ipc_timeout_create2(timeout->tv_sec * 1000 + timeout->tv_nsec / 1000 / 1000, 0);
         total = timeout->tv_sec * 1000 + timeout->tv_nsec / 1000 / 1000;
     }
-    umword_t st_val;
 
 _try_again:
-
     sys_read_info(SYS_PROT, &sys_info);
     st_val = sys_info.sys_tick;
-    msg_tag_t tag = futex_ctrl(FUTEX_PROT, uaddr, futex_op, val, (void *)timeout, uaddr2, val3, pt->tid);
+    tag = futex_ctrl(FUTEX_PROT, uaddr, futex_op, val, total, uaddr2, val3, pt->tid);
     if (msg_tag_get_val(tag) == -EWTIMEDOUT)
     {
         umword_t en_val;
diff --git a/mkrtos_user/lib/libc_backend/src/sys_backend.c b/mkrtos_user/lib/libc_backend/src/sys_backend.c
index 0877dd9bf..b50a12d21 100644
--- a/mkrtos_user/lib/libc_backend/src/sys_backend.c
+++ b/mkrtos_user/lib/libc_backend/src/sys_backend.c
@@ -42,7 +42,6 @@ int be_clone(int (*func)(void *), void *stack, int flags, void *args, pid_t *pti
 
     ph = (struct pthread *)((char *)tls - sizeof(struct pthread));
 
-
     th1_hd = handler_alloc();
     if (th1_hd == HANDLER_INVALID)
     {
@@ -64,8 +63,9 @@ int be_clone(int (*func)(void *), void *stack, int flags, void *args, pid_t *pti
     stack = (char *)stack - MSG_BUG_LEN;
     umword_t *stack_tmp = (umword_t *)stack;
 
+    // 设置调用参数等
     *(--stack_tmp) = (umword_t)args;
-    *(--stack_tmp) = (umword_t)0;
+    *(--stack_tmp) = (umword_t)0; // 保留
     *(--stack_tmp) = (umword_t)func;
 
     tag = thread_exec_regs(th1_hd, (umword_t)__pthread_new_thread_entry__, (umword_t)stack_tmp, RAM_BASE(), 0);
@@ -80,7 +80,10 @@ int be_clone(int (*func)(void *), void *stack, int flags, void *args, pid_t *pti
         handler_free_umap(th1_hd);
         return msg_tag_get_prot(tag);
     }
-    thread_run(th1_hd, 2);
+    ph->hd = th1_hd;
+    ph->ctid = (umword_t)ctid;
+    *ptid = th1_hd;
+    thread_run(th1_hd, 2); // 优先级默认为2
 
     return 0;
 }
diff --git a/mkrtos_user/lib/sys/inc/u_futex.h b/mkrtos_user/lib/sys/inc/u_futex.h
index 1ed8cbc58..d817f9a6b 100644
--- a/mkrtos_user/lib/sys/inc/u_futex.h
+++ b/mkrtos_user/lib/sys/inc/u_futex.h
@@ -3,4 +3,4 @@
 #include <u_types.h>
 
 msg_tag_t futex_ctrl(obj_handler_t obj, uint32_t *uaddr, int futex_op, uint32_t val,
-                     void *timeout, uint32_t uaddr2, uint32_t val3, int tid);
+                     umword_t timeout, uint32_t uaddr2, uint32_t val3, int tid);
diff --git a/mkrtos_user/lib/sys/src/u_futex.c b/mkrtos_user/lib/sys/src/u_futex.c
index 691685271..ad7f25a8b 100644
--- a/mkrtos_user/lib/sys/src/u_futex.c
+++ b/mkrtos_user/lib/sys/src/u_futex.c
@@ -10,7 +10,7 @@ enum futex_op
     FUTEX_CTRL,
 };
 msg_tag_t futex_ctrl(obj_handler_t obj, uint32_t *uaddr, int futex_op, uint32_t val,
-                     void *timeout, uint32_t uaddr2, uint32_t val3, int tid)
+                     umword_t timeout, uint32_t uaddr2, uint32_t val3, int tid)
 {
     ipc_msg_t *msg;
 
diff --git a/mkrtos_user/server/init/src/test/pthread_lock_test.c b/mkrtos_user/server/init/src/test/pthread_lock_test.c
index e08c54bfa..83d9d09ed 100644
--- a/mkrtos_user/server/init/src/test/pthread_lock_test.c
+++ b/mkrtos_user/server/init/src/test/pthread_lock_test.c
@@ -14,68 +14,53 @@
 #include <string.h>
 #define DEBUG_IPC_CALL 1
 
-static umword_t th1_hd = 0;
-static umword_t th2_hd = 0;
-static umword_t ipc_hd = 0;
 static pthread_mutex_t lock;
+static pthread_t pth;
+static pthread_t pth2;
 
-static char msg_buf0[MSG_BUG_LEN];
-static char msg_buf1[MSG_BUG_LEN];
 #define STACK_SIZE 2048
 static __attribute__((aligned(8))) uint8_t stack0[STACK_SIZE];
 static __attribute__((aligned(8))) uint8_t stack1[STACK_SIZE];
 
 static void hard_sleep(void)
 {
-
     for (volatile int i; i < 10000000; i++)
         ;
 }
-static void thread_test_func(void)
+static void *thread_test_func(void* arg)
 {
-    char *buf;
-    umword_t len;
-    thread_msg_buf_get(th1_hd, (umword_t *)(&buf), NULL);
     while (1)
     {
         pthread_mutex_lock(&lock);
         printf("thread 1 ..\n");
         pthread_mutex_unlock(&lock);
     }
-    printf("thread_test_func.\n");
-    task_unmap(TASK_PROT, vpage_create_raw3(KOBJ_DELETE_RIGHT, 0, th1_hd));
-    printf("Error\n");
+    return NULL;
 }
-static void thread_test_func2(void)
+static void *thread_test_func2(void* arg)
 {
-    char *buf;
-    umword_t len;
-    thread_msg_buf_get(th2_hd, (umword_t *)(&buf), NULL);
     while (1)
     {
         pthread_mutex_lock(&lock);
         printf("thread 2 ..\n");
         pthread_mutex_unlock(&lock);
     }
-    printf("thread_test_func2.\n");
-    task_unmap(TASK_PROT, vpage_create_raw3(KOBJ_DELETE_RIGHT, 0, th2_hd));
-    printf("Error\n");
-}
-static pthread_t pth;
-static void *func_test(void *arg)
-{
     return NULL;
 }
+
 /**
  *
  */
 void pthread_lock_test(void)
 {
-    pthread_mutex_init(&lock, NULL);
     pthread_attr_t attr;
+
+    pthread_mutex_init(&lock, NULL);
     pthread_attr_init(&attr);
     pthread_attr_setstack(&attr, stack0, STACK_SIZE);
-    pthread_create(&pth, &attr, func_test, NULL);
+    pthread_create(&pth, &attr, thread_test_func, NULL);
+    pthread_attr_setstack(&attr, stack1, STACK_SIZE);
+    pthread_create(&pth2, &attr, thread_test_func2, NULL);
 
     // th1_hd = handler_alloc();
     // assert(th1_hd != HANDLER_INVALID);