diff --git a/APP_Framework/Applications/control_app/lwip_demo/lwip_ping_demo.c b/APP_Framework/Applications/control_app/lwip_demo/lwip_ping_demo.c
index ac9b81e9d..332c342f8 100755
--- a/APP_Framework/Applications/control_app/lwip_demo/lwip_ping_demo.c
+++ b/APP_Framework/Applications/control_app/lwip_demo/lwip_ping_demo.c
@@ -32,11 +32,13 @@
  * Includes
  ******************************************************************************/
 
-//#if LWIP_IPV4 && LWIP_RAW
-#if 1
+#include <transform.h>
+#include "lwip/opt.h"
+
+#if LWIP_IPV4 && LWIP_RAW
+
 #include "ping.h"
 
-#include "lwip/opt.h"
 #include "lwip/timeouts.h"
 #include "lwip/init.h"
 #include "netif/ethernet.h"
@@ -88,6 +90,8 @@
  * Variables
  ******************************************************************************/
 
+static pthread_t ping_demo_id = 0;
+
 /*******************************************************************************
  * Code
  ******************************************************************************/
@@ -95,7 +99,7 @@
 /*!
  * @brief Main function.
  */
-int lwip_ping_test(void)
+static void *lwip_ping_test(void *param)
 {
     struct netif fsl_netif0;
 #if defined(FSL_FEATURE_SOC_LPC_ENET_COUNT) && (FSL_FEATURE_SOC_LPC_ENET_COUNT > 0)
@@ -127,8 +131,6 @@ int lwip_ping_test(void)
     netif_set_default(&fsl_netif0);
     netif_set_up(&fsl_netif0);
 
-    ping_init(&fsl_netif0_gw);
-
     lw_print("\r\n************************************************\r\n");
     lw_print(" PING example\r\n");
     lw_print("************************************************\r\n");
@@ -140,6 +142,8 @@ int lwip_ping_test(void)
            ((u8_t *)&fsl_netif0_gw)[2], ((u8_t *)&fsl_netif0_gw)[3]);
     lw_print("************************************************\r\n");
 
+    ping_init(&fsl_netif0_gw);
+
     while (1)
     {
         /* Poll the driver, get any outstanding frames */
@@ -148,8 +152,25 @@ int lwip_ping_test(void)
     }
 }
 
+void lwip_ping_thread(void)
+{
+    int result = 0;
+
+    pthread_attr_t attr;
+
+    attr.schedparam.sched_priority = 15;
+    attr.stacksize = 4096;
+
+    result = pthread_create(&ping_demo_id, &attr, lwip_ping_test, NULL);
+    if (0 == result) {
+        lw_print("lwip_ping_test successfully!\n");
+    } else {
+        lw_print("lwip_ping_test failed! error code is %d\n", result);
+    }
+}
+
 
 SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(0),
-                 LwPingTest, lwip_ping_test, lwip_ping_test);
+                 LwPingTest, lwip_ping_thread, lwip_ping_thread);
 
 #endif
diff --git a/APP_Framework/Applications/control_app/lwip_demo/lwip_udp_demo.c b/APP_Framework/Applications/control_app/lwip_demo/lwip_udp_demo.c
index 35cc98eff..60a17792e 100644
--- a/APP_Framework/Applications/control_app/lwip_demo/lwip_udp_demo.c
+++ b/APP_Framework/Applications/control_app/lwip_demo/lwip_udp_demo.c
@@ -63,4 +63,3 @@ int LwipUdpDemo(int argc, char *argv[])
 SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0)|SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN),
     UdpTest, LwipUdpDemo,  UDP socket demo function);
 #endif
-
diff --git a/APP_Framework/Applications/control_app/lwip_demo/ping.c b/APP_Framework/Applications/control_app/lwip_demo/ping.c
index 3fe6bbda1..0366e10f8 100755
--- a/APP_Framework/Applications/control_app/lwip_demo/ping.c
+++ b/APP_Framework/Applications/control_app/lwip_demo/ping.c
@@ -102,6 +102,9 @@ static u32_t ping_time;
 static struct raw_pcb *ping_pcb;
 #endif /* PING_USE_SOCKETS */
 
+#define PING_THREAD_STACKSIZE 4096
+#define PING_THREAD_PRIO 15
+
 
 /** Prepare a echo ICMP request */
 static void
@@ -354,8 +357,6 @@ ping_send(struct raw_pcb *raw, const ip_addr_t *addr)
 #endif /* LWIP_DEBUG */
   }
   pbuf_free(p);
-
-//  lw_print("lw: [%s] send %d\n", __func__, ping_size);
 }
 
 static void
@@ -390,9 +391,6 @@ ping_send_now(void)
 
 #endif /* PING_USE_SOCKETS */
 
-#define PING_THREAD_STACKSIZE 4096
-#define PING_THREAD_PRIO 0
-
 void
 ping_init(const ip_addr_t* ping_addr)
 {
@@ -402,7 +400,7 @@ ping_init(const ip_addr_t* ping_addr)
 
 #if PING_USE_SOCKETS
   th = sys_thread_new("ping_thread", ping_thread, NULL, PING_THREAD_STACKSIZE, PING_THREAD_PRIO);
-  lw_print("lw: [%s] sys %d addr %#x\n", __func__, th, (*ping_addr).addr);
+  lw_print("lw: [%s] new thread %d addr %#x\n", __func__, th, (*ping_addr).addr);
 #else /* PING_USE_SOCKETS */
   ping_raw_init();
 #endif /* PING_USE_SOCKETS */
diff --git a/APP_Framework/Applications/control_app/lwip_demo/ping.h b/APP_Framework/Applications/control_app/lwip_demo/ping.h
index aec20c2a2..1f21c7b09 100755
--- a/APP_Framework/Applications/control_app/lwip_demo/ping.h
+++ b/APP_Framework/Applications/control_app/lwip_demo/ping.h
@@ -7,7 +7,7 @@
  * PING_USE_SOCKETS: Set to 1 to use sockets, otherwise the raw api is used
  */
 #ifndef PING_USE_SOCKETS
-#define PING_USE_SOCKETS    0//LWIP_SOCKET
+#define PING_USE_SOCKETS    LWIP_SOCKET
 #endif
 
 void ping_init(const ip_addr_t* ping_addr);
diff --git a/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.h b/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.h
index c41b4c4fb..815134013 100755
--- a/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.h
+++ b/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.h
@@ -326,7 +326,7 @@ int gethostname_lwip(char* name, size_t len);
  *    Copyright 2017-2018 (c) Stefan Profanter, fortiss GmbH
  *    Copyright 2018 (c) Jose Cabral, fortiss GmbH
  */
-// tst by wly
+
 #define UA_ARCHITECTURE_FREERTOSLWIP 1
 
 #ifdef UA_ARCHITECTURE_FREERTOSLWIP
diff --git a/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/lwipopts.h b/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/lwipopts.h
index c563d7083..c6169a97e 100644
--- a/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/lwipopts.h
+++ b/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/lwipopts.h
@@ -207,16 +207,18 @@ The STM32F4x7 allows computing and verifying the IP, UDP, TCP and ICMP checksums
    ---------------------------------
 */
 
+#define DEFAULT_RAW_RECVMBOX_SIZE       10
 #define DEFAULT_UDP_RECVMBOX_SIZE       10
 #define DEFAULT_TCP_RECVMBOX_SIZE       10
 #define DEFAULT_ACCEPTMBOX_SIZE         10
+
+#define DEFAULT_THREAD_PRIO             25
 #define DEFAULT_THREAD_STACKSIZE        1024
 
-
-#define TCPIP_THREAD_NAME              "lwip"
-#define TCPIP_THREAD_STACKSIZE          2048
+#define TCPIP_THREAD_NAME               "tcp"
+#define TCPIP_THREAD_STACKSIZE          4096
 #define TCPIP_MBOX_SIZE                 8
-#define TCPIP_THREAD_PRIO               3
+#define TCPIP_THREAD_PRIO               25
 
 //#define IPERF_SERVER_THREAD_NAME            "iperf_server"
 //#define IPERF_SERVER_THREAD_STACKSIZE        1024
@@ -234,8 +236,12 @@ The STM32F4x7 allows computing and verifying the IP, UDP, TCP and ICMP checksums
 
 #define LWIP_IPV4                       1
 #define LWIP_RAW                        1
+
 #define FSL_FEATURE_PHYKSZ8081_USE_RMII50M_MODE
 
+#define MEMP_LIB_MALLOC                 1
+#define MEMP_MEM_MALLOC                 1
+
 #define lw_print KPrintf
 
 #endif /* __LWIPOPTS_H__ */
diff --git a/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/sys_arch.c b/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/sys_arch.c
index 4d6bc2e3a..00e96ac16 100644
--- a/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/sys_arch.c
+++ b/Ubiquitous/XiUOS/resources/ethernet/LwIP/arch/sys_arch.c
@@ -269,12 +269,13 @@ sys_thread_t sys_thread_new(const char *name, lwip_thread_fn function, void *arg
                          arg,
                          (uint32)stacksize,
                          (uint8)prio);
-
   if (handle >= 0)
   {
     StartupKTask(handle);
+    lw_print("lw: [%s] create %s handle %x\n", __func__, name, handle);
     return handle;
   }
+  lw_print("lw: [%s] create %s failed\n", __func__, name);
   return -ERROR;
 }
 
diff --git a/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/opt.h b/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/opt.h
index f0d2abb95..0d427d229 100644
--- a/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/opt.h
+++ b/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/opt.h
@@ -1754,7 +1754,7 @@
  * sys_thread_new() when the thread is created.
  */
 #if !defined TCPIP_THREAD_STACKSIZE || defined __DOXYGEN__
-#define TCPIP_THREAD_STACKSIZE          0
+#define TCPIP_THREAD_STACKSIZE          4096
 #endif
 
 /**
@@ -1763,7 +1763,7 @@
  * sys_thread_new() when the thread is created.
  */
 #if !defined TCPIP_THREAD_PRIO || defined __DOXYGEN__
-#define TCPIP_THREAD_PRIO               1
+#define TCPIP_THREAD_PRIO               25
 #endif
 
 /**
@@ -1772,7 +1772,7 @@
  * sys_mbox_new() when tcpip_init is called.
  */
 #if !defined TCPIP_MBOX_SIZE || defined __DOXYGEN__
-#define TCPIP_MBOX_SIZE                 0
+#define TCPIP_MBOX_SIZE                 10
 #endif
 
 /**
@@ -1821,7 +1821,7 @@
  * sys_thread_new() when the thread is created.
  */
 #if !defined DEFAULT_THREAD_STACKSIZE || defined __DOXYGEN__
-#define DEFAULT_THREAD_STACKSIZE        0
+#define DEFAULT_THREAD_STACKSIZE        4096
 #endif
 
 /**
@@ -1830,7 +1830,7 @@
  * sys_thread_new() when the thread is created.
  */
 #if !defined DEFAULT_THREAD_PRIO || defined __DOXYGEN__
-#define DEFAULT_THREAD_PRIO             1
+#define DEFAULT_THREAD_PRIO             25
 #endif
 
 /**
@@ -1839,7 +1839,7 @@
  * to sys_mbox_new() when the recvmbox is created.
  */
 #if !defined DEFAULT_RAW_RECVMBOX_SIZE || defined __DOXYGEN__
-#define DEFAULT_RAW_RECVMBOX_SIZE       0
+#define DEFAULT_RAW_RECVMBOX_SIZE       10
 #endif
 
 /**
@@ -1848,7 +1848,7 @@
  * to sys_mbox_new() when the recvmbox is created.
  */
 #if !defined DEFAULT_UDP_RECVMBOX_SIZE || defined __DOXYGEN__
-#define DEFAULT_UDP_RECVMBOX_SIZE       0
+#define DEFAULT_UDP_RECVMBOX_SIZE       10
 #endif
 
 /**
@@ -1857,7 +1857,7 @@
  * to sys_mbox_new() when the recvmbox is created.
  */
 #if !defined DEFAULT_TCP_RECVMBOX_SIZE || defined __DOXYGEN__
-#define DEFAULT_TCP_RECVMBOX_SIZE       0
+#define DEFAULT_TCP_RECVMBOX_SIZE       10
 #endif
 
 /**
@@ -1866,7 +1866,7 @@
  * sys_mbox_new() when the acceptmbox is created.
  */
 #if !defined DEFAULT_ACCEPTMBOX_SIZE || defined __DOXYGEN__
-#define DEFAULT_ACCEPTMBOX_SIZE         0
+#define DEFAULT_ACCEPTMBOX_SIZE         10
 #endif
 /**
  * @}
diff --git a/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/sys.h b/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/sys.h
index 168e465ba..cf13e1dcc 100644
--- a/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/sys.h
+++ b/Ubiquitous/XiUOS/resources/ethernet/LwIP/include/lwip/sys.h
@@ -130,7 +130,7 @@ typedef void (*lwip_thread_fn)(void *arg);
  * If the mutex has been created, ERR_OK should be returned. Returning any
  * other error will provide a hint what went wrong, but except for assertions,
  * no real error handling is implemented.
- * 
+ *
  * @param mutex pointer to the mutex to create
  * @return ERR_OK if successful, another err_t otherwise
  */
@@ -205,13 +205,13 @@ void sys_sem_signal(sys_sem_t *sem);
  * "timeout" argument is non-zero, the thread should only be blocked for the
  * specified time (measured in milliseconds). If the "timeout" argument is zero,
  * the thread should be blocked until the semaphore is signalled.
- * 
+ *
  * The return value is SYS_ARCH_TIMEOUT if the semaphore wasn't signaled within
  * the specified time or any other value if it was signaled (with or without
  * waiting).
  * Notice that lwIP implements a function with a similar name,
  * sys_sem_wait(), that uses the sys_arch_sem_wait() function.
- * 
+ *
  * @param sem the semaphore to wait for
  * @param timeout timeout in milliseconds to wait (0 = wait forever)
  * @return SYS_ARCH_TIMEOUT on timeout, any other value on success
@@ -277,7 +277,7 @@ void sys_msleep(u32_t ms); /* only has a (close to) 1 ms resolution. */
  * If the mailbox has been created, ERR_OK should be returned. Returning any
  * other error will provide a hint what went wrong, but except for assertions,
  * no real error handling is implemented.
- * 
+ *
  * @param mbox pointer to the mbox to create
  * @param size (minimum) number of messages in this mbox
  * @return ERR_OK if successful, another err_t otherwise
@@ -287,7 +287,7 @@ err_t sys_mbox_new(sys_mbox_t *mbox, int size);
  * @ingroup sys_mbox
  * Post a message to an mbox - may not fail
  * -> blocks if full, only to be used from tasks NOT from ISR!
- * 
+ *
  * @param mbox mbox to posts the message
  * @param msg message to post (ATTENTION: can be NULL)
  */
@@ -297,7 +297,7 @@ void sys_mbox_post(sys_mbox_t *mbox, void *msg);
  * Try to post a message to an mbox - may fail if full.
  * Can be used from ISR (if the sys arch layer allows this).
  * Returns ERR_MEM if it is full, else, ERR_OK if the "msg" is posted.
- * 
+ *
  * @param mbox mbox to posts the message
  * @param msg message to post (ATTENTION: can be NULL)
  */
@@ -307,7 +307,7 @@ err_t sys_mbox_trypost(sys_mbox_t *mbox, void *msg);
  * Try to post a message to an mbox - may fail if full.
  * To be be used from ISR.
  * Returns ERR_MEM if it is full, else, ERR_OK if the "msg" is posted.
- * 
+ *
  * @param mbox mbox to posts the message
  * @param msg message to post (ATTENTION: can be NULL)
  */
@@ -324,10 +324,10 @@ err_t sys_mbox_trypost_fromisr(sys_mbox_t *mbox, void *msg);
  * The return values are the same as for the sys_arch_sem_wait() function:
  * SYS_ARCH_TIMEOUT if there was a timeout, any other value if a messages
  * is received.
- * 
+ *
  * Note that a function with a similar name, sys_mbox_fetch(), is
- * implemented by lwIP. 
- * 
+ * implemented by lwIP.
+ *
  * @param mbox mbox to get a message from
  * @param msg pointer where the message is stored
  * @param timeout maximum time (in milliseconds) to wait for a message (0 = wait forever)
@@ -346,7 +346,7 @@ u32_t sys_arch_mbox_fetch(sys_mbox_t *mbox, void **msg, u32_t timeout);
  * example, a naive implementation could be:
  * \#define sys_arch_mbox_tryfetch(mbox,msg) sys_arch_mbox_fetch(mbox,msg,1)
  * although this would introduce unnecessary delays.
- * 
+ *
  * @param mbox mbox to get a message from
  * @param msg pointer where the message is stored
  * @return 0 (milliseconds) if a message has been received
@@ -363,7 +363,7 @@ u32_t sys_arch_mbox_tryfetch(sys_mbox_t *mbox, void **msg);
  * Deallocates a mailbox. If there are messages still present in the
  * mailbox when the mailbox is deallocated, it is an indication of a
  * programming error in lwIP and the developer should be notified.
- * 
+ *
  * @param mbox mbox to delete
  */
 void sys_mbox_free(sys_mbox_t *mbox);
@@ -411,7 +411,7 @@ void sys_mbox_set_invalid(sys_mbox_t *mbox);
  * the "stacksize" parameter. The id of the new thread is returned. Both the id
  * and the priority are system dependent.
  * ATTENTION: although this function returns a value, it MUST NOT FAIL (ports have to assert this!)
- * 
+ *
  * @param name human-readable name for the thread (used for debugging purposes)
  * @param thread thread-function
  * @param arg parameter passed to 'thread'