diff --git a/commonLibs/livoxProto1/device.cpp b/commonLibs/livoxProto1/device.cpp
index 028f150..4a613c6 100644
--- a/commonLibs/livoxProto1/device.cpp
+++ b/commonLibs/livoxProto1/device.cpp
@@ -1042,6 +1042,8 @@ void Device::startHeartbeat()
 	}
 
 	// Register heartbeat ACK handler (cmd_set=0x00, cmd_id=0x03)
+	smo::SpinLock::Guard lock(heartbeatActiveLock);
+
 	registerUdpCommandHandler(
 		0x00, 0x03, discardHeartbeatAck, discoveredDevice.ipAddr);
 
@@ -1057,15 +1059,17 @@ void Device::startHeartbeat()
 
 void Device::stopHeartbeat()
 {
-	if (heartbeatActive.load())
 	{
-		heartbeatActive.store(false);
-		if (heartbeatTimer) {
-			heartbeatTimer->cancel();
-		}
+		smo::SpinLock::Guard lock(heartbeatActiveLock);
 
+		heartbeatActive.store(false);
 		unregisterUdpCommandHandler(0x00, 0x03, discoveredDevice.ipAddr);
 	}
+
+	if (heartbeatTimer) {
+		heartbeatTimer->cancel();
+		heartbeatTimer.reset();
+	}
 }
 
 void Device::sendHeartbeat()
@@ -1140,7 +1144,6 @@ void Device::sendHeartbeat()
 	}
 	catch (const std::exception& e)
 	{
-		heartbeatActive.store(false);
 		std::cerr << __func__ << ": Heartbeat send failed for device "
 			<< discoveredDevice.deviceIdentifier
 			<< ": " << e.what() << std::endl;
@@ -1156,15 +1159,21 @@ void Device::onHeartbeatTimer(const boost::system::error_code& error)
 
 	if (error)
 	{
-		heartbeatActive.store(false);
 		std::cerr << "[" << __func__ << "] Heartbeat timer error for device "
 			<< discoveredDevice.deviceIdentifier
 			<< ": " << error.message() << std::endl;
+
 		return;
 	}
 
 	// Send next heartbeat
-	sendHeartbeat();
+	{
+		smo::SpinLock::Guard lock(heartbeatActiveLock);
+		if (!heartbeatActive.load())
+			{ return; }
+
+		sendHeartbeat();
+	}
 }
 
 uint32_t Device::getSubnetMaskFor(uint8_t nbits)
diff --git a/commonLibs/livoxProto1/device.h b/commonLibs/livoxProto1/device.h
index 563e79c..a066eb9 100644
--- a/commonLibs/livoxProto1/device.h
+++ b/commonLibs/livoxProto1/device.h
@@ -17,6 +17,7 @@
 #include <boost/asio/posix/stream_descriptor.hpp>
 #include "protocol.h"
 #include <callback.h>
+#include <spinLock.h>
 
 // Custom hash function for std::pair<uint8_t, uint8_t>
 namespace std {
@@ -162,6 +163,7 @@ public:
 	// Heartbeat state
 	std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;
 	std::atomic<bool> heartbeatActive;
+	smo::SpinLock heartbeatActiveLock;
 
 	// Point cloud data state
 	std::atomic<bool> pcloudDataActive;