diff --git a/arch/Kconfig b/arch/Kconfig
index cba3ce3e1cd..f242466e4df 100644
--- a/arch/Kconfig
+++ b/arch/Kconfig
@@ -344,6 +344,10 @@ config ARCH_HAVE_SYSCALL_HOOKS
 		required if CONFIG_SCHED_INSTRUMENTATION_SYSCALL is enabled.  Refer
 		to sched/Kconfig for additional information.
 
+config ARCH_HAVE_BACKTRACE
+	bool
+	default n
+
 config ARCH_FPU
 	bool "FPU support"
 	default y
diff --git a/include/execinfo.h b/include/execinfo.h
index 9ada133433a..0f7df0780ce 100644
--- a/include/execinfo.h
+++ b/include/execinfo.h
@@ -21,6 +21,31 @@
 #ifndef __INCLUDE_EXECINFO_H
 #define __INCLUDE_EXECINFO_H
 
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <sched.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#if defined(CONFIG_SCHED_BACKTRACE)
+
+/* Store up to SIZE return address of the current back trace in
+ * ARRAY and return the exact number of values stored.
+ */
+
+#define backtrace(buffer, size) sched_backtrace(gettid(), buffer, size)
+#define dump_stack()            sched_dumpstack(gettid())
+
+#else
+# define backtrace(buffer, size) 0
+# define dump_stack()
+#endif
+
 /****************************************************************************
  * Public Function Prototypes
  ****************************************************************************/
@@ -34,18 +59,6 @@ extern "C"
 #define EXTERN extern
 #endif
 
-#if defined(CONFIG_SCHED_BACKTRACE)
-
-/* Store up to SIZE return address of the current program state in
- * ARRAY and return the exact number of values stored.
- */
-
-extern int  backtrace(FAR void **buffer, int size);
-extern void dump_stack(void);
-#else
-# define dump_stack()
-#endif
-
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/include/sched.h b/include/sched.h
index 306d88abc22..842ce4d3c13 100644
--- a/include/sched.h
+++ b/include/sched.h
@@ -262,6 +262,11 @@ int    sched_lockcount(void);
 
 bool   sched_idletask(void);
 
+/* Task Backtrace */
+
+int    sched_backtrace(pid_t tid, FAR void **buffer, int size);
+void   sched_dumpstack(pid_t tid);
+
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/include/sys/syscall_lookup.h b/include/sys/syscall_lookup.h
index 17268a549a1..022c8d33fd3 100644
--- a/include/sys/syscall_lookup.h
+++ b/include/sys/syscall_lookup.h
@@ -44,6 +44,10 @@ SYSCALL_LOOKUP(sched_unlock,               0)
 SYSCALL_LOOKUP(sched_yield,                0)
 SYSCALL_LOOKUP(nxsched_get_stackinfo,      2)
 
+#ifdef CONFIG_SCHED_BACKTRACE
+  SYSCALL_LOOKUP(sched_backtrace,          3)
+#endif
+
 #ifdef CONFIG_SMP
   SYSCALL_LOOKUP(sched_getaffinity,        3)
   SYSCALL_LOOKUP(sched_getcpu,             0)
diff --git a/libs/libc/sched/Make.defs b/libs/libc/sched/Make.defs
index ea9efa914a9..690d871ec77 100644
--- a/libs/libc/sched/Make.defs
+++ b/libs/libc/sched/Make.defs
@@ -35,7 +35,7 @@ CSRCS += task_startup.c
 endif
 
 ifeq ($(CONFIG_SCHED_BACKTRACE),y)
-CSRCS += lib_dumpstack.c lib_backtrace.c
+CSRCS += sched_dumpstack.c sched_backtrace.c
 endif
 
 # Add the sched directory to the build
diff --git a/libs/libc/sched/sched_backtrace.c b/libs/libc/sched/sched_backtrace.c
index 7b8671bf958..bc318cd02d3 100644
--- a/libs/libc/sched/sched_backtrace.c
+++ b/libs/libc/sched/sched_backtrace.c
@@ -28,6 +28,10 @@
 #include <execinfo.h>
 #include <unwind.h>
 
+#include <nuttx/irq.h>
+
+#if !defined(CONFIG_ARCH_HAVE_BACKTRACE)
+
 /****************************************************************************
  * Private Data Types
  ****************************************************************************/
@@ -95,14 +99,23 @@ backtrace_helper(FAR struct _Unwind_Context *ctx, FAR void *a)
  * Public Functions
  ****************************************************************************/
 
-/* Store up to SIZE return address of the current program state in
- * ARRAY and return the exact number of values stored.
- */
+/****************************************************************************
+ * Name: sched_backtrace
+ *
+ * Description:
+ *  Get thread backtrace from specified tid.
+ *
+ ****************************************************************************/
 
-int backtrace(FAR void **buffer, int size)
+int sched_backtrace(pid_t tid, FAR void **buffer, int size)
 {
   struct trace_arg arg;
 
+  if (tid != gettid())
+    {
+      return 0;
+    }
+
   arg.array = buffer;
   arg.cfa = 0;
   arg.size = size;
@@ -126,3 +139,5 @@ int backtrace(FAR void **buffer, int size)
 
   return arg.cnt != -1 ? arg.cnt : 0;
 }
+
+#endif /* !CONFIG_ARCH_HAVE_BACKTRACE */
diff --git a/libs/libc/sched/sched_dumpstack.c b/libs/libc/sched/sched_dumpstack.c
index ca7f02df183..ad8355bfb95 100644
--- a/libs/libc/sched/sched_dumpstack.c
+++ b/libs/libc/sched/sched_dumpstack.c
@@ -41,7 +41,15 @@
  * Public Functions
  ****************************************************************************/
 
-void dump_stack(void)
+/****************************************************************************
+ * Name: sched_dumpstack
+ *
+ * Description:
+ *  Dump thread backtrace from specified tid.
+ *
+ ****************************************************************************/
+
+void sched_dumpstack(pid_t tid)
 {
   FAR void *address[DUMP_DEPTH];
   char line[DUMP_LINESIZE + 1];
@@ -49,7 +57,7 @@ void dump_stack(void)
   int size;
   int i;
 
-  size = backtrace(address, DUMP_DEPTH);
+  size = sched_backtrace(tid, address, DUMP_DEPTH);
   if (size <= 0)
     {
       return;
@@ -61,7 +69,8 @@ void dump_stack(void)
                       DUMP_FORMAT, DUMP_WIDTH, address[i]);
       if (i == size - 1 || ret % DUMP_LINESIZE == 0)
         {
-          syslog(LOG_INFO, "[CallStack %d]: %s\n", i / DUMP_NITEM, line);
+          syslog(LOG_INFO, "[BackTrace|%2d|%d]: %s\n",
+                           tid, i / DUMP_NITEM, line);
           ret = 0;
         }
     }
diff --git a/sched/sched/Make.defs b/sched/sched/Make.defs
index d42d37985e8..6477f639632 100644
--- a/sched/sched/Make.defs
+++ b/sched/sched/Make.defs
@@ -98,6 +98,10 @@ ifeq ($(CONFIG_SCHED_CRITMONITOR),y)
 CSRCS += sched_critmonitor.c
 endif
 
+ifeq ($(CONFIG_ARCH_HAVE_BACKTRACE),y)
+CSRCS += sched_backtrace.c
+endif
+
 # Include sched build support
 
 DEPPATH += --dep-path sched
diff --git a/sched/sched/sched_backtrace.c b/sched/sched/sched_backtrace.c
new file mode 100644
index 00000000000..a887b7805b9
--- /dev/null
+++ b/sched/sched/sched_backtrace.c
@@ -0,0 +1,62 @@
+/****************************************************************************
+ * sched/sched/sched_backtrace.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "sched.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: sched_backtrace
+ *
+ * Description:
+ *  Get thread backtrace from specified tid.
+ *  Store up to SIZE return address of the current program state in
+ *  ARRAY and return the exact number of values stored.
+ *
+ ****************************************************************************/
+
+int sched_backtrace(pid_t tid, FAR void **buffer, int size)
+{
+  FAR struct tcb_s *rtcb;
+
+  if (tid < 0)
+    {
+      rtcb = running_task();
+    }
+  else
+    {
+      rtcb = nxsched_get_tcb(tid);
+    }
+
+  if (rtcb == NULL)
+    {
+      return 0;
+    }
+
+  return up_backtrace(rtcb, buffer, size);
+}
diff --git a/syscall/syscall.csv b/syscall/syscall.csv
index fdd1b98d1ee..282f6aeb202 100644
--- a/syscall/syscall.csv
+++ b/syscall/syscall.csv
@@ -134,6 +134,7 @@
 "sched_setscheduler","sched.h","","int","pid_t","int","const struct sched_param *"
 "sched_unlock","sched.h","","int"
 "sched_yield","sched.h","","int"
+"sched_backtrace","sched.h","defined(CONFIG_SCHED_BACKTRACE)","int","pid_t","FAR void **","int"
 "seekdir","dirent.h","","void","FAR DIR *","off_t"
 "select","sys/select.h","","int","int","FAR fd_set *","FAR fd_set *","FAR fd_set *","FAR struct timeval *"
 "sem_clockwait","semaphore.h","","int","FAR sem_t *","clockid_t","FAR const struct timespec *"