diff --git a/include/nuttx/sched.h b/include/nuttx/sched.h
index 8ac19ec584097..960847b5b46bb 100644
--- a/include/nuttx/sched.h
+++ b/include/nuttx/sched.h
@@ -232,6 +232,8 @@
 #  define get_task_name(tcb)         "<noname>"
 #endif
 
+#define SMP_CALL_INITIALIZER(func, arg) {(func), (arg)}
+
 /* These are macros to access the current CPU and the current task on a CPU.
  * These macros are intended to support a future SMP implementation.
  */
@@ -833,6 +835,15 @@ typedef CODE void (*nxsched_foreach_t)(FAR struct tcb_s *tcb, FAR void *arg);
 
 #ifdef CONFIG_SMP
 typedef CODE int (*nxsched_smp_call_t)(FAR void *arg);
+
+struct smp_call_cookie_s;
+struct smp_call_data_s
+{
+  nxsched_smp_call_t            func;
+  FAR void                     *arg;
+  FAR struct smp_call_cookie_s *cookie;
+  sq_entry_t                    node[CONFIG_SMP_NCPUS];
+};
 #endif
 
 #endif /* __ASSEMBLY__ */
@@ -1698,17 +1709,35 @@ void nxsched_dumponexit(void);
 int nxsched_smp_call_handler(int irq, FAR void *context,
                              FAR void *arg);
 
+/****************************************************************************
+ * Name: nxsched_smp_call_init
+ *
+ * Description:
+ *   Init call_data
+ *
+ * Input Parameters:
+ *   data - Call data
+ *   func - Function
+ *   arg  - Function args
+ *
+ * Returned Value:
+ *   Result
+ *
+ ****************************************************************************/
+
+void nxsched_smp_call_init(FAR struct smp_call_data_s *data,
+                           nxsched_smp_call_t func, FAR void *arg);
+
 /****************************************************************************
  * Name: nxsched_smp_call_single
  *
  * Description:
- *   Call function on single processor
+ *   Call function on single processor, wait function callback
  *
  * Input Parameters:
  *   cpuid - Target cpu id
  *   func  - Function
  *   arg   - Function args
- *   wait  - Wait function callback or not
  *
  * Returned Value:
  *   Result
@@ -1716,19 +1745,18 @@ int nxsched_smp_call_handler(int irq, FAR void *context,
  ****************************************************************************/
 
 int nxsched_smp_call_single(int cpuid, nxsched_smp_call_t func,
-                            FAR void *arg, bool wait);
+                            FAR void *arg);
 
 /****************************************************************************
  * Name: nxsched_smp_call
  *
  * Description:
- *   Call function on multi processors
+ *   Call function on multi processors, wait function callback
  *
  * Input Parameters:
  *   cpuset - Target cpuset
  *   func   - Function
  *   arg    - Function args
- *   wait   - Wait function callback or not
  *
  * Returned Value:
  *   Result
@@ -1736,7 +1764,43 @@ int nxsched_smp_call_single(int cpuid, nxsched_smp_call_t func,
  ****************************************************************************/
 
 int nxsched_smp_call(cpu_set_t cpuset, nxsched_smp_call_t func,
-                     FAR void *arg, bool wait);
+                     FAR void *arg);
+
+/****************************************************************************
+ * Name: nxsched_smp_call_single_async
+ *
+ * Description:
+ *   Call function on single processor async
+ *
+ * Input Parameters:
+ *   cpuset - Target cpuset
+ *   data   - Call data
+ *
+ * Returned Value:
+ *   Result
+ *
+ ****************************************************************************/
+
+int nxsched_smp_call_single_async(int cpuid,
+                                  FAR struct smp_call_data_s *data);
+
+/****************************************************************************
+ * Name: nxsched_smp_call_async
+ *
+ * Description:
+ *   Call function on multi processors async
+ *
+ * Input Parameters:
+ *   cpuset - Target cpuset
+ *   data   - Call data
+ *
+ * Returned Value:
+ *   Result
+ *
+ ****************************************************************************/
+
+int nxsched_smp_call_async(cpu_set_t cpuset,
+                           FAR struct smp_call_data_s *data);
 #endif
 
 #undef EXTERN
diff --git a/libs/libc/gdbstub/lib_gdbstub.c b/libs/libc/gdbstub/lib_gdbstub.c
index a8e4f5689077b..45660591f5cda 100644
--- a/libs/libc/gdbstub/lib_gdbstub.c
+++ b/libs/libc/gdbstub/lib_gdbstub.c
@@ -1879,7 +1879,7 @@ int gdb_debugpoint_add(int type, FAR void *addr, size_t size,
   point.callback = callback;
   point.arg = arg;
   return nxsched_smp_call((1 << CONFIG_SMP_NCPUS) - 1,
-                          gdb_smp_debugpoint_add, &point, true);
+                          gdb_smp_debugpoint_add, &point);
 #else
   return up_debugpoint_add(type, addr, size, callback, arg);
 #endif
@@ -1897,8 +1897,8 @@ int gdb_debugpoint_remove(int type, FAR void *addr, size_t size)
   point.addr = addr;
   point.size = size;
 
-  return nxsched_smp_call((1 << CONFIG_SMP_NCPUS) - 1,
-                          gdb_smp_debugpoint_remove, &point, true);
+  retrun nxsched_smp_call((1 << CONFIG_SMP_NCPUS) - 1,
+                          gdb_smp_debugpoint_remove, &point);
 #else
   return up_debugpoint_remove(type, addr, size);
 #endif
diff --git a/sched/misc/assert.c b/sched/misc/assert.c
index c77d1d617c6ba..0864e60205c32 100644
--- a/sched/misc/assert.c
+++ b/sched/misc/assert.c
@@ -98,6 +98,14 @@
 #  define XCPTCONTEXT_ALIGN 16
 #endif
 
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+#ifdef CONFIG_SMP
+static noreturn_function int pause_cpu_handler(FAR void *arg);
+#endif
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
@@ -124,6 +132,11 @@ static FAR const char * const g_ttypenames[4] =
 };
 #endif
 
+#ifdef CONFIG_SMP
+static struct smp_call_data_s g_call_data =
+SMP_CALL_INITIALIZER(pause_cpu_handler, NULL);
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -610,7 +623,7 @@ static void pause_all_cpu(void)
   int delay = CONFIG_ASSERT_PAUSE_CPU_TIMEOUT;
 
   CPU_CLR(this_cpu(), &cpus);
-  nxsched_smp_call(cpus, pause_cpu_handler, NULL, false);
+  nxsched_smp_call_async(cpus, &g_call_data);
   g_cpu_paused[this_cpu()] = true;
 
   /* Check if all CPUs paused with timeout */
diff --git a/sched/sched/sched_backtrace.c b/sched/sched/sched_backtrace.c
index dec02e4854edf..91ebff8b2571b 100644
--- a/sched/sched/sched_backtrace.c
+++ b/sched/sched/sched_backtrace.c
@@ -140,7 +140,7 @@ int sched_backtrace(pid_t tid, FAR void **buffer, int size, int skip)
               arg.skip = skip;
               ret = nxsched_smp_call_single(tcb->cpu,
                                             sched_backtrace_handler,
-                                            &arg, true);
+                                            &arg);
             }
           else
 #endif
diff --git a/sched/sched/sched_profil.c b/sched/sched/sched_profil.c
index 21294f6205ab7..40c276a0e79a3 100644
--- a/sched/sched/sched_profil.c
+++ b/sched/sched/sched_profil.c
@@ -50,12 +50,21 @@ struct profinfo_s
   spinlock_t lock;             /* Lock for this structure */
 };
 
+#ifdef CONFIG_SMP
+static int profil_timer_handler_cpu(FAR void *arg);
+#endif
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 
 static struct profinfo_s g_prof;
 
+#ifdef CONFIG_SMP
+static struct smp_call_data_s g_call_data =
+SMP_CALL_INITIALIZER(profil_timer_handler_cpu, &g_prof);
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -89,8 +98,7 @@ static void profil_timer_handler(wdparm_t arg)
 #ifdef CONFIG_SMP
   cpu_set_t cpus = (1 << CONFIG_SMP_NCPUS) - 1;
   CPU_CLR(this_cpu(), &cpus);
-  nxsched_smp_call(cpus, profil_timer_handler_cpu,
-                   (FAR void *)arg, false);
+  nxsched_smp_call_async(cpus, &g_call_data);
 #endif
 
   profil_timer_handler_cpu(prof);
diff --git a/sched/sched/sched_roundrobin.c b/sched/sched/sched_roundrobin.c
index 5ebae49859b5f..13b0bc7816a7d 100644
--- a/sched/sched/sched_roundrobin.c
+++ b/sched/sched/sched_roundrobin.c
@@ -40,6 +40,15 @@
 #if CONFIG_RR_INTERVAL > 0
 
 #ifdef CONFIG_SMP
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_SMP
+static struct smp_call_data_s g_call_data;
+#endif
+
 /****************************************************************************
  * Private Type Declarations
  ****************************************************************************/
@@ -55,12 +64,12 @@ struct roundrobin_arg_s
 
 static int nxsched_roundrobin_handler(FAR void *cookie)
 {
-  FAR struct roundrobin_arg_s *arg = cookie;
+  pid_t pid = (uintptr_t)cookie;
   FAR struct tcb_s *tcb;
   irqstate_t flags;
 
   flags = enter_critical_section();
-  tcb = nxsched_get_tcb(arg->pid);
+  tcb = nxsched_get_tcb(pid);
 
   if (!tcb || tcb->task_state == TSTATE_TASK_INVALID ||
       (tcb->flags & TCB_FLAG_EXIT_PROCESSING) != 0)
@@ -185,12 +194,10 @@ uint32_t nxsched_process_roundrobin(FAR struct tcb_s *tcb, uint32_t ticks,
               if (tcb->task_state == TSTATE_TASK_RUNNING &&
                   tcb->cpu != this_cpu())
                 {
-                  struct roundrobin_arg_s arg;
-
-                  arg.pid = tcb->pid;
-                  nxsched_smp_call_single(tcb->cpu,
-                                          nxsched_roundrobin_handler,
-                                          &arg, false);
+                  nxsched_smp_call_init(&g_call_data,
+                                        nxsched_roundrobin_handler,
+                                        (FAR void *)(uintptr_t)tcb->pid);
+                  nxsched_smp_call_single_async(tcb->cpu, &g_call_data);
                 }
               else
 #endif
diff --git a/sched/sched/sched_setpriority.c b/sched/sched/sched_setpriority.c
index 2eabdd1be2001..caa10cfbc37fc 100644
--- a/sched/sched/sched_setpriority.c
+++ b/sched/sched/sched_setpriority.c
@@ -246,8 +246,7 @@ static inline void nxsched_running_setpriority(FAR struct tcb_s *tcb,
                 }
 
               arg.sched_priority = sched_priority;
-              nxsched_smp_call_single(tcb->cpu, reprioritize_handler,
-                                      &arg, true);
+              nxsched_smp_call_single(tcb->cpu, reprioritize_handler, &arg);
             }
           else
 #endif
diff --git a/sched/sched/sched_smp.c b/sched/sched/sched_smp.c
index ff2607964e473..0a035d5e52609 100644
--- a/sched/sched/sched_smp.c
+++ b/sched/sched/sched_smp.c
@@ -46,22 +46,11 @@ struct smp_call_cookie_s
   int         error;
 };
 
-struct smp_call_data_s
-{
-  sq_entry_t                    node[CONFIG_SMP_NCPUS];
-  nxsched_smp_call_t            func;
-  FAR void                     *arg;
-  FAR struct smp_call_cookie_s *cookie;
-  spinlock_t                    lock;
-  volatile int                  refcount;
-};
-
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 
 static sq_queue_t g_smp_call_queue[CONFIG_SMP_NCPUS];
-static struct smp_call_data_s g_smp_call_data;
 static spinlock_t g_smp_call_lock;
 
 /****************************************************************************
@@ -76,7 +65,7 @@ static spinlock_t g_smp_call_lock;
  *
  * Input Parameters:
  *   cpu        - Target cpu id
- *   call_data  - Call data
+ *   data  - Call data
  *
  * Returned Value:
  *   None
@@ -84,12 +73,16 @@ static spinlock_t g_smp_call_lock;
  ****************************************************************************/
 
 static void nxsched_smp_call_add(int cpu,
-                                 FAR struct smp_call_data_s *call_data)
+                                 FAR struct smp_call_data_s *data)
 {
   irqstate_t flags;
 
   flags = spin_lock_irqsave(&g_smp_call_lock);
-  sq_addlast(&call_data->node[cpu], &g_smp_call_queue[cpu]);
+  if (!sq_inqueue(&data->node[cpu], &g_smp_call_queue[cpu]))
+    {
+      sq_addlast(&data->node[cpu], &g_smp_call_queue[cpu]);
+    }
+
   spin_unlock_irqrestore(&g_smp_call_lock, flags);
 }
 
@@ -127,33 +120,26 @@ int nxsched_smp_call_handler(int irq, FAR void *context,
 
   sq_for_every_safe(call_queue, curr, next)
     {
-      FAR struct smp_call_data_s *call_data =
+      FAR struct smp_call_data_s *data =
         container_of(curr, struct smp_call_data_s, node[cpu]);
       int ret;
 
-      sq_rem(&call_data->node[cpu], call_queue);
+      sq_rem(&data->node[cpu], call_queue);
 
       spin_unlock_irqrestore(&g_smp_call_lock, flags);
 
-      ret = call_data->func(call_data->arg);
+      ret = data->func(data->arg);
 
       flags = spin_lock_irqsave(&g_smp_call_lock);
-      if (spin_is_locked(&call_data->lock))
-        {
-          if (--call_data->refcount == 0)
-            {
-              spin_unlock(&call_data->lock);
-            }
-        }
 
-      if (call_data->cookie != NULL)
+      if (data->cookie != NULL)
         {
           if (ret < 0)
             {
-              call_data->cookie->error = ret;
+              data->cookie->error = ret;
             }
 
-          nxsem_post(&call_data->cookie->sem);
+          nxsem_post(&data->cookie->sem);
         }
     }
 
@@ -161,17 +147,42 @@ int nxsched_smp_call_handler(int irq, FAR void *context,
   return OK;
 }
 
+/****************************************************************************
+ * Name: nxsched_smp_call_init
+ *
+ * Description:
+ *   Init call_data
+ *
+ * Input Parameters:
+ *   data - Call data
+ *   func - Function
+ *   arg  - Function args
+ *
+ * Returned Value:
+ *   Result
+ *
+ ****************************************************************************/
+
+void nxsched_smp_call_init(FAR struct smp_call_data_s *data,
+                           nxsched_smp_call_t func, FAR void *arg)
+{
+  DEBUGASSERT(data != NULL && func != NULL);
+
+  memset(data, 0, sizeof(struct smp_call_data_s));
+  data->func = func;
+  data->arg = arg;
+}
+
 /****************************************************************************
  * Name: nxsched_smp_call_single
  *
  * Description:
- *   Call function on single processor
+ *   Call function on single processor, wait function callback
  *
  * Input Parameters:
  *   cpuid - Target cpu id
  *   func  - Function
  *   arg   - Function args
- *   wait  - Wait function callback or not
  *
  * Returned Value:
  *   Result
@@ -179,26 +190,25 @@ int nxsched_smp_call_handler(int irq, FAR void *context,
  ****************************************************************************/
 
 int nxsched_smp_call_single(int cpuid, nxsched_smp_call_t func,
-                            FAR void *arg, bool wait)
+                            FAR void *arg)
 {
   cpu_set_t cpuset;
 
   CPU_ZERO(&cpuset);
   CPU_SET(cpuid, &cpuset);
-  return nxsched_smp_call(cpuset, func, arg, wait);
+  return nxsched_smp_call(cpuset, func, arg);
 }
 
 /****************************************************************************
  * Name: nxsched_smp_call
  *
  * Description:
- *   Call function on multi processors
+ *   Call function on multi processors, wait function callback
  *
  * Input Parameters:
  *   cpuset - Target cpuset
  *   func   - Function
  *   arg    - Function args
- *   wait   - Wait function callback or not
  *
  * Returned Value:
  *   Result
@@ -206,99 +216,124 @@ int nxsched_smp_call_single(int cpuid, nxsched_smp_call_t func,
  ****************************************************************************/
 
 int nxsched_smp_call(cpu_set_t cpuset, nxsched_smp_call_t func,
-                     FAR void *arg, bool wait)
+                     FAR void *arg)
 {
-  struct smp_call_data_s call_data_stack =
-    {
-      0
-    };
-
-  struct smp_call_cookie_s cookie =
-    {
-      0
-    };
-
-  FAR struct smp_call_data_s *call_data;
-  int remote_cpus;
+  struct smp_call_data_s data;
+  struct smp_call_cookie_s cookie;
+  int cpucnt;
   int ret = OK;
   int i;
 
   /* Cannot wait in interrupt context. */
 
-  DEBUGASSERT(!(wait && up_interrupt_context()));
+  DEBUGASSERT(!up_interrupt_context());
+  nxsched_smp_call_init(&data, func, arg);
+  cookie.error = 0;
+  nxsem_init(&cookie.sem, 0, 0);
 
-  /* Prevent reschedule on another processor */
+  data.cookie = &cookie;
+  ret = nxsched_smp_call_async(cpuset, &data);
 
-  if (!up_interrupt_context())
+  if (ret < 0)
     {
-      sched_lock();
+      nxsem_destroy(&cookie.sem);
+      return ret;
     }
 
-  if (CPU_ISSET(this_cpu(), &cpuset))
+  cpucnt = CPU_COUNT(&cpuset);
+  for (i = 0; i < cpucnt; i++)
     {
-      ret = func(arg);
-      if (ret < 0)
+      int rc = nxsem_wait_uninterruptible(&cookie.sem);
+      if (rc < 0)
         {
-          goto out;
+          ret = rc;
         }
-
-      CPU_CLR(this_cpu(), &cpuset);
     }
 
-  remote_cpus = CPU_COUNT(&cpuset);
-  if (remote_cpus == 0)
+  if (cookie.error < 0)
     {
-      goto out;
+      ret = cookie.error;
     }
 
-  /* If waiting is necessary, initialize and wait for the cookie. */
+  nxsem_destroy(&cookie.sem);
 
-  if (wait)
-    {
-      nxsem_init(&cookie.sem, 0, 0);
+  return ret;
+}
 
-      call_data = &call_data_stack;
-      call_data->cookie = &cookie;
-    }
-  else
-    {
-      call_data = &g_smp_call_data;
-      spin_lock(&call_data->lock);
-    }
+/****************************************************************************
+ * Name: nxsched_smp_call_single_async
+ *
+ * Description:
+ *   Call function on single processor async
+ *
+ * Input Parameters:
+ *   cpuset - Target cpuset
+ *   data   - Call data
+ *
+ * Returned Value:
+ *   Result
+ *
+ ****************************************************************************/
+
+int nxsched_smp_call_single_async(int cpuid,
+                                  FAR struct smp_call_data_s *data)
+{
+  cpu_set_t cpuset;
 
-  call_data->func = func;
-  call_data->arg  = arg;
-  call_data->refcount = remote_cpus;
+  CPU_ZERO(&cpuset);
+  CPU_SET(cpuid, &cpuset);
+  return nxsched_smp_call_async(cpuset, data);
+}
 
-  for (i = 0; i < CONFIG_SMP_NCPUS; i++)
+/****************************************************************************
+ * Name: nxsched_smp_call_async
+ *
+ * Description:
+ *   Call function on multi processors async
+ *
+ * Input Parameters:
+ *   cpuset - Target cpuset
+ *   data   - Call data
+ *
+ * Returned Value:
+ *   Result
+ *
+ ****************************************************************************/
+
+int nxsched_smp_call_async(cpu_set_t cpuset,
+                           FAR struct smp_call_data_s *data)
+{
+  int cpucnt;
+  int ret = OK;
+  int i;
+
+  /* Prevent reschedule on another processor */
+
+  if (!up_interrupt_context())
     {
-      if (CPU_ISSET(i, &cpuset))
-        {
-          nxsched_smp_call_add(i, call_data);
-        }
+      sched_lock();
     }
 
-  up_send_smp_call(cpuset);
+  cpucnt = CPU_COUNT(&cpuset);
+  if (cpucnt == 0)
+    {
+      goto out;
+    }
 
-  if (wait)
+  for (i = 0; i < CONFIG_SMP_NCPUS; i++)
     {
-      for (i = 0; i < remote_cpus; i++)
+      if (CPU_ISSET(i, &cpuset))
         {
-          int wait_ret = nxsem_wait_uninterruptible(&cookie.sem);
-          if (wait_ret < 0)
+          nxsched_smp_call_add(i, data);
+          if (--cpucnt == 0)
             {
-              ret = wait_ret;
+              break;
             }
         }
-
-      if (cookie.error < 0)
-        {
-          ret = cookie.error;
-        }
-
-      nxsem_destroy(&cookie.sem);
     }
 
+  up_send_smp_call(cpuset);
+
 out:
   if (!up_interrupt_context())
     {
diff --git a/sched/sched/sched_suspend.c b/sched/sched/sched_suspend.c
index fbd0235f3d38b..c0a3e31a0f073 100644
--- a/sched/sched/sched_suspend.c
+++ b/sched/sched/sched_suspend.c
@@ -166,8 +166,7 @@ void nxsched_suspend(FAR struct tcb_s *tcb)
               CPU_SET(tcb->cpu, &tcb->affinity);
             }
 
-          nxsched_smp_call_single(tcb->cpu, nxsched_suspend_handler,
-                                  &arg, true);
+          nxsched_smp_call_single(tcb->cpu, nxsched_suspend_handler, &arg);
         }
       else
 #endif
diff --git a/sched/signal/sig_dispatch.c b/sched/signal/sig_dispatch.c
index 35cbc7409dd10..9116e711caacb 100644
--- a/sched/signal/sig_dispatch.c
+++ b/sched/signal/sig_dispatch.c
@@ -187,8 +187,7 @@ static int nxsig_queue_action(FAR struct tcb_s *stcb, siginfo_t *info)
                     }
 
                   arg.pid = stcb->pid;
-                  nxsched_smp_call_single(stcb->cpu, sig_handler, &arg,
-                                          true);
+                  nxsched_smp_call_single(stcb->cpu, sig_handler, &arg);
                 }
               else
 #endif
diff --git a/sched/task/task_restart.c b/sched/task/task_restart.c
index f95c9b0d2935e..b4a6f91784811 100644
--- a/sched/task/task_restart.c
+++ b/sched/task/task_restart.c
@@ -246,7 +246,7 @@ static int nxtask_restart(pid_t pid)
           CPU_SET(tcb->cpu, &tcb->affinity);
         }
 
-      nxsched_smp_call_single(tcb->cpu, restart_handler, &arg, true);
+      nxsched_smp_call_single(tcb->cpu, restart_handler, &arg);
 
       tcb = nxsched_get_tcb(pid);
       if (!tcb || tcb->task_state != TSTATE_TASK_INVALID ||
diff --git a/sched/task/task_terminate.c b/sched/task/task_terminate.c
index 8eee41b199922..4e6f334756d9c 100644
--- a/sched/task/task_terminate.c
+++ b/sched/task/task_terminate.c
@@ -147,8 +147,7 @@ int nxtask_terminate(pid_t pid)
       CPU_SET(dtcb->cpu, &dtcb->affinity);
 
       ret = nxsched_smp_call_single(dtcb->cpu, terminat_handler,
-                                    (FAR void *)(uintptr_t)pid,
-                                    true);
+                                    (FAR void *)(uintptr_t)pid);
 
       if (ret < 0)
         {