diff --git a/arch/risc-v/src/common/pgalloc.h b/arch/risc-v/src/common/pgalloc.h
index 40da29805660b..be39da0d3a0d5 100644
--- a/arch/risc-v/src/common/pgalloc.h
+++ b/arch/risc-v/src/common/pgalloc.h
@@ -75,6 +75,10 @@ static inline uintptr_t riscv_pgvaddr(uintptr_t paddr)
     {
       return paddr - CONFIG_ARCH_PGPOOL_PBASE + CONFIG_ARCH_PGPOOL_VBASE;
     }
+  else if (paddr >= CONFIG_RAM_START && paddr < CONFIG_RAM_END)
+    {
+      return paddr - CONFIG_RAM_START + CONFIG_RAM_VSTART;
+    }
 
   return 0;
 }
diff --git a/arch/risc-v/src/common/riscv_addrenv.c b/arch/risc-v/src/common/riscv_addrenv.c
index cb49c1a51daf0..dfdcfb6aea2fb 100644
--- a/arch/risc-v/src/common/riscv_addrenv.c
+++ b/arch/risc-v/src/common/riscv_addrenv.c
@@ -65,6 +65,7 @@
 #include <nuttx/compiler.h>
 #include <nuttx/irq.h>
 #include <nuttx/pgalloc.h>
+#include <nuttx/tls.h>
 
 #include <arch/barriers.h>
 
@@ -421,6 +422,12 @@ int up_addrenv_create(size_t textsize, size_t datasize, size_t heapsize,
 
   heapsize = heapsize + MM_PGALIGNUP(CONFIG_DEFAULT_TASK_STACKSIZE);
 
+#ifdef CONFIG_TLS_ALIGNED
+  /* Need more stack for TLS alignment */
+
+  heapsize += MM_PGALIGNUP(2 * TLS_MAXSTACK);
+#endif
+
   /* Map the reserved area */
 
   ret = create_region(addrenv, resvbase, resvsize, MMU_UDATA_FLAGS);
diff --git a/arch/risc-v/src/common/riscv_addrenv_pgmap.c b/arch/risc-v/src/common/riscv_addrenv_pgmap.c
index 9dbac8592fecc..edf9687649105 100644
--- a/arch/risc-v/src/common/riscv_addrenv_pgmap.c
+++ b/arch/risc-v/src/common/riscv_addrenv_pgmap.c
@@ -202,7 +202,7 @@ int up_addrenv_kmap_pages(void **pages, unsigned int npages, uintptr_t vaddr,
 }
 
 /****************************************************************************
- * Name: riscv_unmap_pages
+ * Name: up_addrenv_kunmap_pages
  *
  * Description:
  *   Unmap a previously mapped virtual memory region.
diff --git a/arch/risc-v/src/common/riscv_addrenv_utils.c b/arch/risc-v/src/common/riscv_addrenv_utils.c
index 810563aedd47a..e13fb89ff9e64 100644
--- a/arch/risc-v/src/common/riscv_addrenv_utils.c
+++ b/arch/risc-v/src/common/riscv_addrenv_utils.c
@@ -63,13 +63,22 @@ uintptr_t riscv_get_pgtable(arch_addrenv_t *addrenv, uintptr_t vaddr)
   uintptr_t paddr;
   uintptr_t ptprev;
   uint32_t  ptlevel;
+  uint32_t  flags;
 
   /* Get the current level MAX_LEVELS-1 entry corresponding to this vaddr */
 
   ptlevel = ARCH_SPGTS;
   ptprev  = riscv_pgvaddr(addrenv->spgtables[ARCH_SPGTS - 1]);
-  paddr   = mmu_pte_to_paddr(mmu_ln_getentry(ptlevel, ptprev, vaddr));
+  if (!ptprev)
+    {
+      /* Something is very wrong */
+
+      return 0;
+    }
+
+  /* Find the physical address of the final level page table */
 
+  paddr = mmu_pte_to_paddr(mmu_ln_getentry(ptlevel, ptprev, vaddr));
   if (!paddr)
     {
       /* No page table has been allocated... allocate one now */
@@ -77,10 +86,21 @@ uintptr_t riscv_get_pgtable(arch_addrenv_t *addrenv, uintptr_t vaddr)
       paddr = mm_pgalloc(1);
       if (paddr)
         {
+          /* Determine page table flags */
+
+          if (riscv_uservaddr(vaddr))
+            {
+              flags = MMU_UPGT_FLAGS;
+            }
+          else
+            {
+              flags = MMU_KPGT_FLAGS;
+            }
+
           /* Wipe the page and assign it */
 
           riscv_pgwipe(paddr);
-          mmu_ln_setentry(ptlevel, ptprev, paddr, vaddr, MMU_UPGT_FLAGS);
+          mmu_ln_setentry(ptlevel, ptprev, paddr, vaddr, flags);
         }
     }
 
diff --git a/arch/risc-v/src/common/riscv_mmu.h b/arch/risc-v/src/common/riscv_mmu.h
index 0c0c6b5373749..6c9d1baebb997 100644
--- a/arch/risc-v/src/common/riscv_mmu.h
+++ b/arch/risc-v/src/common/riscv_mmu.h
@@ -59,6 +59,10 @@
 
 #define MMU_IO_FLAGS            (PTE_R | PTE_W | PTE_G)
 
+/* Flags for kernel page tables */
+
+#define MMU_KPGT_FLAGS          (PTE_G)
+
 /* Kernel FLASH and RAM are mapped globally */
 
 #define MMU_KTEXT_FLAGS         (PTE_R | PTE_X | PTE_G)
diff --git a/include/nuttx/arch.h b/include/nuttx/arch.h
index 4a647afedb2af..9f4bdf78221ad 100644
--- a/include/nuttx/arch.h
+++ b/include/nuttx/arch.h
@@ -1352,7 +1352,7 @@ int up_addrenv_kmap_pages(FAR void **pages, unsigned int npages,
 #endif
 
 /****************************************************************************
- * Name: riscv_unmap_pages
+ * Name: up_addrenv_kunmap_pages
  *
  * Description:
  *   Unmap a previously mapped virtual memory region.
diff --git a/mm/kmap/kmm_map.c b/mm/kmap/kmm_map.c
index 1312e6af0e31c..cb270706f137b 100644
--- a/mm/kmap/kmm_map.c
+++ b/mm/kmap/kmm_map.c
@@ -82,7 +82,7 @@ static int get_user_pages(FAR void **pages, size_t npages, uintptr_t vaddr)
 
   for (i = 0; i < npages; i++, vaddr += MM_PGSIZE)
     {
-      page = up_addrenv_find_page(&tcb->addrenv_own->addrenv, vaddr);
+      page = up_addrenv_find_page(&tcb->addrenv_curr->addrenv, vaddr);
       if (!page)
         {
           /* Something went wrong, get out */
@@ -125,7 +125,7 @@ static FAR void *map_pages(FAR void **pages, size_t npages, int prot)
 
   /* Find a virtual memory area that fits */
 
-  vaddr = gran_alloc(&g_kmm_map_vpages, size);
+  vaddr = gran_alloc(g_kmm_map_vpages, size);
   if (!vaddr)
     {
       return NULL;
@@ -182,7 +182,7 @@ static FAR void *map_single_user_page(uintptr_t vaddr)
 
   /* Find the page associated with this virtual address */
 
-  page = up_addrenv_find_page(&tcb->addrenv_own->addrenv, vaddr);
+  page = up_addrenv_find_page(&tcb->addrenv_curr->addrenv, vaddr);
   if (!page)
     {
       return NULL;
@@ -192,6 +192,47 @@ static FAR void *map_single_user_page(uintptr_t vaddr)
   return (FAR void *)vaddr;
 }
 
+/****************************************************************************
+ * Name: map_single_page
+ *
+ * Description:
+ *   Map (find) a single page from the kernel addressable virtual memory
+ *   pool.
+ *
+ * Input Parameters:
+ *   page - The physical page.
+ *
+ * Returned Value:
+ *   The kernel virtual address for the page, or NULL if page is not kernel
+ *   addressable.
+ *
+ ****************************************************************************/
+
+static FAR void *map_single_page(uintptr_t page)
+{
+  return (FAR void *)up_addrenv_page_vaddr(page);
+}
+
+/****************************************************************************
+ * Name: is_kmap_vaddr
+ *
+ * Description:
+ *   Return true if the virtual address, vaddr, lies in the kmap address
+ *   space.
+ *
+ * Input Parameters:
+ *   vaddr - The kernel virtual address where the mapping begins.
+ *
+ * Returned Value:
+ *   True if vaddr is in the kmap address space; false otherwise.
+ *
+ ****************************************************************************/
+
+static bool is_kmap_vaddr(uintptr_t vaddr)
+{
+  return (vaddr >= CONFIG_ARCH_KMAP_VBASE && vaddr < ARCH_KMAP_VEND);
+}
+
 /****************************************************************************
  * Name: kmm_map_lock
  *
@@ -270,6 +311,13 @@ FAR void *kmm_map(FAR void **pages, size_t npages, int prot)
       return NULL;
     }
 
+  /* A single page can be addressed directly, if it is a kernel page */
+
+  if (npages == 1)
+    {
+      return map_single_page((uintptr_t)pages[0]);
+    }
+
   /* Attempt to map the pages */
 
   vaddr = (uintptr_t)map_pages(pages, npages, prot);
@@ -301,6 +349,15 @@ void kmm_unmap(FAR void *kaddr)
   unsigned int               npages;
   int                        ret;
 
+  /* Speed optimization: check that addr is within kmap area */
+
+  if (!is_kmap_vaddr((uintptr_t)kaddr))
+    {
+      /* Nope: get out */
+
+      return;
+    }
+
   /* Lock the mapping list when we fiddle around with it */
 
   ret = kmm_map_lock();
@@ -348,7 +405,7 @@ void kmm_unmap(FAR void *kaddr)
 
 FAR void *kmm_map_user(FAR void *uaddr, size_t size)
 {
-  FAR void *pages;
+  FAR void **pages;
   uintptr_t vaddr;
   uintptr_t offset;
   size_t    npages;
@@ -385,7 +442,7 @@ FAR void *kmm_map_user(FAR void *uaddr, size_t size)
 
   /* No, the area must be mapped into kernel virtual address space */
 
-  pages = kmm_zalloc(npages * sizeof(FAR void *));
+  pages = (FAR void **)kmm_zalloc(npages * sizeof(FAR void *));
   if (!pages)
     {
       return NULL;
@@ -393,7 +450,7 @@ FAR void *kmm_map_user(FAR void *uaddr, size_t size)
 
   /* Fetch the physical pages for the user virtual address range */
 
-  ret = get_user_pages(&pages, npages, vaddr);
+  ret = get_user_pages(pages, npages, vaddr);
   if (ret < 0)
     {
       goto errout_with_pages;
@@ -401,7 +458,7 @@ FAR void *kmm_map_user(FAR void *uaddr, size_t size)
 
   /* Map the physical pages to kernel memory */
 
-  vaddr = (uintptr_t)map_pages(&pages, npages, PROT_READ | PROT_WRITE);
+  vaddr = (uintptr_t)map_pages(pages, npages, PROT_READ | PROT_WRITE);
   if (!vaddr)
     {
       goto errout_with_pages;
@@ -409,6 +466,7 @@ FAR void *kmm_map_user(FAR void *uaddr, size_t size)
 
   /* Ok, we have a virtual memory area, add the offset back */
 
+  kmm_free(pages);
   return (FAR void *)(vaddr + offset);
 
 errout_with_pages:
diff --git a/sched/misc/assert.c b/sched/misc/assert.c
index 1cbe45aef76b5..95ec7ce5a428a 100644
--- a/sched/misc/assert.c
+++ b/sched/misc/assert.c
@@ -553,11 +553,21 @@ void _assert(FAR const char *filename, int linenum,
              FAR const char *msg, FAR void *regs)
 {
   FAR struct tcb_s *rtcb = running_task();
+#if CONFIG_TASK_NAME_SIZE > 0
+  FAR struct tcb_s *ptcb = NULL;
+#endif
   struct panic_notifier_s notifier_data;
   struct utsname name;
   bool fatal = true;
   int flags;
 
+#if CONFIG_TASK_NAME_SIZE > 0
+  if (rtcb->group && !(rtcb->flags & TCB_FLAG_TTYPE_KERNEL))
+    {
+      ptcb = nxsched_get_tcb(rtcb->group->tg_pid);
+    }
+#endif
+
   flags = enter_critical_section();
 
   sched_lock();
@@ -602,6 +612,7 @@ void _assert(FAR const char *filename, int linenum,
          ": "
 #if CONFIG_TASK_NAME_SIZE > 0
          "%s "
+         "process: %s "
 #endif
          "%p\n",
          msg ? msg : "",
@@ -611,6 +622,7 @@ void _assert(FAR const char *filename, int linenum,
 #endif
 #if CONFIG_TASK_NAME_SIZE > 0
          rtcb->name,
+         ptcb ? ptcb->name : "Kernel",
 #endif
          rtcb->entry.main);