diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index 488f31f3e..ab8724cc5 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -784,5 +784,11 @@
 	  CONFIG_FDCLONE_DISABLE, CONFIG_FDCLONE_STDIO, CONFIG_SDCLONE_DISABLE.
 	* Use of C++ reserved word 'private' in C header files causes problems
 	  for C++ that include them.
+	* Added 'binfmt' support to allow execution of programs in a file system,
+	  binding to NuttX symbols. A custom format call NXFLAT is used; this
+	  derives from http://xflat.sourceforge.net.  At present is supports on
+	  XIP execution from ROMFS file systems.  Initial check-in is untested
+	  and probably breaks many builds.
+
 
 
diff --git a/nuttx/Documentation/NuttX.html b/nuttx/Documentation/NuttX.html
index 1343756eb..68b3d4d81 100644
--- a/nuttx/Documentation/NuttX.html
+++ b/nuttx/Documentation/NuttX.html
@@ -8,7 +8,7 @@
   <tr align="center" bgcolor="#e4e4e4">
     <td>
       <h1><big><font color="#3c34ec"><i>NuttX RTOS</i></font></big></h1>
-      <p>Last Updated: June 16, 2009</p>
+      <p>Last Updated: June 17, 2009</p>
     </td>
   </tr>
 </table>
@@ -1476,6 +1476,11 @@ nuttx-0.4.9 2009-xx-xx Gregory Nutt &lt;spudmonkey@racsa.co.cr&gt;
 	  via task_create().
 	* Use of C++ reserved word 'private' in C header files causes problems
 	  for C++ that include them.
+	* Added 'binfmt' support to allow execution of programs in a file system,
+	  binding to NuttX symbols. A custom format call NXFLAT is used; this
+	  derives from http://xflat.sourceforge.net.  At present is supports on
+	  XIP execution from ROMFS file systems.  Initial check-in is untested
+	  and probably breaks many builds.
 
 pascal-0.1.3 2009-xx-xx Gregory Nutt &lt;spudmonkey@racsa.co.cr&gt;
 
diff --git a/nuttx/binfmt/Makefile b/nuttx/binfmt/Makefile
index 4b3905e06..015981d4e 100644
--- a/nuttx/binfmt/Makefile
+++ b/nuttx/binfmt/Makefile
@@ -35,6 +35,8 @@
 
 -include $(TOPDIR)/Make.defs
 
+CFLAGS		+= -I$(TOPDIR)/sched
+
 ifeq ($(CONFIG_NXFLAT),y)
 include libnxflat/Make.defs
 LIBNXFLAT_CSRCS	+= nxflat.c 
@@ -42,7 +44,8 @@ endif
 
 BINFMT_ASRCS	=
 BINFMT_CSRCS	= binfmt_globals.c binfmt_register.c binfmt_unregister.c \
-		  binfmt_loadmodule.c binfmt_unloadmodule.c binfmt_dumpmodule.c
+		  binfmt_loadmodule.c binfmt_unloadmodule.c binfmt_execmodule.c \
+		  binfmt_dumpmodule.c
 
 SUBDIRS		= libnxflat
 
diff --git a/nuttx/binfmt/binfmt_dumpmodule.c b/nuttx/binfmt/binfmt_dumpmodule.c
index 5b7bd1fe9..190889d64 100644
--- a/nuttx/binfmt/binfmt_dumpmodule.c
+++ b/nuttx/binfmt/binfmt_dumpmodule.c
@@ -76,6 +76,11 @@
  * Description:
  *   Load a module into memory and prep it for execution.
  *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
  ***********************************************************************/
 
 int dump_module(FAR const struct binary_s *bin)
diff --git a/nuttx/binfmt/binfmt_execmodule.c b/nuttx/binfmt/binfmt_execmodule.c
new file mode 100644
index 000000000..21c1bf6ac
--- /dev/null
+++ b/nuttx/binfmt/binfmt_execmodule.c
@@ -0,0 +1,184 @@
+/****************************************************************************
+ * binfmt/binfmt_execmodule.c
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+
+#include <stdlib.h>
+#include <sched.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/binfmt.h>
+
+#include "os_internal.h"
+#include "binfmt_internal.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: exec_module
+ *
+ * Description:
+ *   Execute a module that has been loaded into memory by load_module().
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns the PID of the exec'ed module.  On failure, it.returns
+ *   -1 (ERROR) and sets errno appropriately.
+ *
+ ****************************************************************************/
+
+int exec_module(FAR const struct binary_s *bin, int priority)
+{
+  FAR _TCB   *tcb;
+#ifndef CONFIG_CUSTOM_STACK
+  FAR uint32 *stack;
+#endif
+  pid_t       pid;
+  int         err;
+  int         ret;
+
+  /* Sanity checking */
+
+#ifdef CONFIG_DEBUG
+  if (!bin || !bin->ispace || !bin->entrypt || bin->stacksize <= 0)
+    {
+      err = EINVAL;
+      goto errout;
+    }
+#endif
+
+  bdbg("Executing %s\n", bin->filename);
+
+  /* Allocate a TCB for the new task. */
+
+  tcb = (FAR _TCB*)zalloc(sizeof(_TCB));
+  if (!tcb)
+    {
+      err = ENOMEM;
+      goto errout;
+    }
+
+  /* Allocate the stack for the new task */
+
+#ifndef CONFIG_CUSTOM_STACK
+  stack = (FAR uint32*)malloc(bin->stacksize);
+  if (!tcb)
+    {
+      err = ENOMEM;
+      goto errout_with_tcb;
+    }
+
+  /* Initialize the task */
+
+  ret = task_init(tcb, bin->filename, priority, stack, bin->stacksize, bin->entrypt, bin->argv);
+#else
+  /* Initialize the task */
+
+  ret = task_init(tcb, bin->filename, priority, stack, bin->entrypt, bin->argv);
+#endif
+  if (ret < 0)
+    {
+      err = errno;
+      dbg("task_init() failed: %d\n", err);
+      goto errout_with_stack;
+    }
+
+  /* Add the DSpace address as the PIC base address */
+
+  tcb->picbase = bin->dspace;
+
+  /* Re-initialize the task's initial state to account for the new PIC base */
+
+  up_initial_state(tcb);
+
+  /* Get the assigned pid before we start the task */
+
+  pid = tcb->pid;
+
+  /* Then activate the task at the provided priority */
+
+  ret = task_activate(tcb);
+  if (ret < 0)
+    {
+      err = errno;
+      dbg("task_activate() failed: %d\n", err);
+      goto errout_with_stack;
+    }
+  return (int)pid;
+
+errout_with_stack:
+#ifndef CONFIG_CUSTOM_STACK
+  tcb->stack_alloc_ptr = NULL;
+  sched_releasetcb(tcb);
+  free(stack);
+#else
+  sched_releasetcb(tcb);
+#endif
+  goto errout;
+
+errout_with_tcb:
+  free(tcb);
+errout:
+  errno = err;
+  dbg("returning errno: %d\n", err);
+  return ERROR;
+}
+
+
diff --git a/nuttx/binfmt/binfmt_loadmodule.c b/nuttx/binfmt/binfmt_loadmodule.c
index 37910ae7c..b73b6223e 100644
--- a/nuttx/binfmt/binfmt_loadmodule.c
+++ b/nuttx/binfmt/binfmt_loadmodule.c
@@ -64,17 +64,22 @@
  * Private Functions
  ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Public Functions
- ***********************************************************************/
+ ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Name: load_module
  *
  * Description:
  *   Load a module into memory and prep it for execution.
  *
- ***********************************************************************/
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns 0 (OK) on success.  On failure, it returns -1 (ERROR) with
+ *   errno set appropriately.
+ *
+ ****************************************************************************/
 
 int load_module(const char *filename, FAR struct binary_s *bin)
 {
@@ -120,8 +125,15 @@ int load_module(const char *filename, FAR struct binary_s *bin)
       sched_unlock();
     }
 
-  if (ret < 0) bdbg("Returning %d\n", ret);
-  return ret;
+  /* This is an end-user function.  Return failures via errno */
+
+  if (ret < 0)
+    {
+      bdbg("Returning errno %d\n", -ret);
+      errno = -ret;
+      return ERROR;
+    }
+  return OK;
 }
 
 
diff --git a/nuttx/binfmt/binfmt_register.c b/nuttx/binfmt/binfmt_register.c
index 309c081e6..2323062ec 100644
--- a/nuttx/binfmt/binfmt_register.c
+++ b/nuttx/binfmt/binfmt_register.c
@@ -65,17 +65,22 @@
  * Private Functions
  ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Public Functions
- ***********************************************************************/
+ ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Name: register_binfmt
  *
  * Description:
  *   Register a loader for a binary format
  *
- ***********************************************************************/
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
 
 int register_binfmt(FAR struct binfmt_s *binfmt)
 {
diff --git a/nuttx/binfmt/binfmt_unloadmodule.c b/nuttx/binfmt/binfmt_unloadmodule.c
index f5d7ec92c..ff745171a 100644
--- a/nuttx/binfmt/binfmt_unloadmodule.c
+++ b/nuttx/binfmt/binfmt_unloadmodule.c
@@ -66,18 +66,23 @@
  * Private Functions
  ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Public Functions
- ***********************************************************************/
+ ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Name: unload_module
  *
  * Description:
  *   Unload a (non-executing) module from memory.  If the module has
  *   been started (via exec_module), calling this will be fatal.
  *
- ***********************************************************************/
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
 
 int unload_module(FAR const struct binary_s *bin)
 {
diff --git a/nuttx/binfmt/binfmt_unregister.c b/nuttx/binfmt/binfmt_unregister.c
index 1eedffcfc..62c156a61 100644
--- a/nuttx/binfmt/binfmt_unregister.c
+++ b/nuttx/binfmt/binfmt_unregister.c
@@ -65,17 +65,22 @@
  * Private Functions
  ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Public Functions
- ***********************************************************************/
+ ****************************************************************************/
 
-/***********************************************************************
+/****************************************************************************
  * Name: unregister_binfmt
  *
  * Description:
  *   Register a loader for a binary format
  *
- ***********************************************************************/
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
 
 int unregister_binfmt(FAR struct binfmt_s *binfmt)
 {
@@ -124,6 +129,7 @@ int unregister_binfmt(FAR struct binfmt_s *binfmt)
 
       sched_unlock();
     }
+
   return ret;
 }
 
diff --git a/nuttx/binfmt/nxflat.c b/nuttx/binfmt/nxflat.c
index 711be9353..94b15a32c 100644
--- a/nuttx/binfmt/nxflat.c
+++ b/nuttx/binfmt/nxflat.c
@@ -197,6 +197,11 @@ static int nxflat_loadbinary(struct binary_s *binp)
  *   use this binary format, this function must be called during system
  *   format in order to register the NXFLAT binary format.
  *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
  ***********************************************************************/
 
 int nxflat_initialize(void)
@@ -216,6 +221,13 @@ int nxflat_initialize(void)
 
 /****************************************************************************
  * Name: nxflat_uninitialize
+ *
+ * Description:
+ *   Unregister the NXFLAT binary loader
+ *
+ * Returned Value:
+ *   None
+ *
  ****************************************************************************/
 
 void nxflat_uninitialize(void)
diff --git a/nuttx/include/nuttx/binfmt.h b/nuttx/include/nuttx/binfmt.h
index 4f9e0884a..855cc3359 100644
--- a/nuttx/include/nuttx/binfmt.h
+++ b/nuttx/include/nuttx/binfmt.h
@@ -90,25 +90,81 @@ extern "C" {
 #define EXTERN extern
 #endif
 
-/* Register a binary format handler */
+/****************************************************************************
+ * Name: register_binfmt
+ *
+ * Description:
+ *   Register a loader for a binary format
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
 
 EXTERN int register_binfmt(FAR struct binfmt_s *binfmt);
 
-/* Unregister a binary format handler */
+/****************************************************************************
+ * Name: unregister_binfmt
+ *
+ * Description:
+ *   Register a loader for a binary format
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
 
 EXTERN int unregister_binfmt(FAR struct binfmt_s *binfmt);
 
-/* Load a module into memory */
+/****************************************************************************
+ * Name: load_module
+ *
+ * Description:
+ *   Load a module into memory and prep it for execution.
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns 0 (OK) on success.  On failure, it returns -1 (ERROR) with
+ *   errno set appropriately.
+ *
+ ****************************************************************************/
 
 EXTERN int load_module(const char *filename, FAR struct binary_s *bin);
 
-/* Unload a (non-running) module from memory */
+/****************************************************************************
+ * Name: unload_module
+ *
+ * Description:
+ *   Unload a (non-executing) module from memory.  If the module has
+ *   been started (via exec_module), calling this will be fatal.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
 
 EXTERN int unload_module(FAR const struct binary_s *bin);
 
-/* Execute a module that has been loaded into memory */
+/****************************************************************************
+ * Name: exec_module
+ *
+ * Description:
+ *   Execute a module that has been loaded into memory by load_module().
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns the PID of the exec'ed module.  On failure, it.returns
+ *   -1 (ERROR) and sets errno appropriately.
+ *
+ ****************************************************************************/
 
-EXTERN int exec_module(FAR const struct binary_s *bin);
+EXTERN int exec_module(FAR const struct binary_s *bin, int priority);
 
 #undef EXTERN
 #if defined(__cplusplus)
diff --git a/nuttx/include/nuttx/nxflat.h b/nuttx/include/nuttx/nxflat.h
index 17f6d9f03..f78c79dcd 100644
--- a/nuttx/include/nuttx/nxflat.h
+++ b/nuttx/include/nuttx/nxflat.h
@@ -100,43 +100,134 @@ extern "C" {
 #define EXTERN extern
 #endif
 
-/* Given the header from a possible NXFLAT executable, verify that it
- * is an NXFLAT executable.
- */
+/****************************************************************************
+ * These are APIs exported by libnxflat (and may be used outside of NuttX):
+ ****************************************************************************/
+
+/***********************************************************************
+ * Name: 
+ *
+ * Description:
+ *   Given the header from a possible NXFLAT executable, verify that it
+ *   is an NXFLAT executable.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ***********************************************************************/
 
 EXTERN int nxflat_verifyheader(const struct nxflat_hdr_s *header);
 
-/* This function is called to configure the library to process an NXFLAT
- * program binary.
- */
+/***********************************************************************
+ * Name: 
+ *
+ * Description:
+ *   This function is called to configure the library to process an NXFLAT
+ *   program binary.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ***********************************************************************/
 
-EXTERN int nxflat_init(const char *filename,
-                       struct nxflat_hdr_s *header,
+EXTERN int nxflat_init(const char *filename, struct nxflat_hdr_s *header,
 	               struct nxflat_loadinfo_s *loadinfo);
 
-/* Releases any resources committed by nxflat_init().  This essentially
- * undoes the actions of nxflat_init.
- */
+/***********************************************************************
+ * Name: 
+ *
+ * Description:
+ *   Releases any resources committed by nxflat_init().  This essentially
+ *   undoes the actions of nxflat_init.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ***********************************************************************/
 
 EXTERN int nxflat_uninit(struct nxflat_loadinfo_s *loadinfo);
 
-/* Loads the binary specified by nxflat_init into memory,
- * Completes all relocations, and clears BSS.
- */
+/***********************************************************************
+ * Name: 
+ *
+ * Description:
+ *   Loads the binary specified by nxflat_init into memory,
+ *   Completes all relocations, and clears BSS.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ***********************************************************************/
 
 EXTERN int nxflat_load(struct nxflat_loadinfo_s *loadinfo);
 
-/* Read 'readsize' bytes from the object file at 'offset' */
+/***********************************************************************
+ * Name: 
+ *
+ * Description:
+ *   Read 'readsize' bytes from the object file at 'offset'
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ***********************************************************************/
 
 EXTERN int nxflat_read(struct nxflat_loadinfo_s *loadinfo, char *buffer,
                        int readsize, int offset);
 
-/* This function unloads the object from memory. This essentially
- * undoes the actions of nxflat_load.
- */
+/***********************************************************************
+ * Name: 
+ *
+ * Description:
+ *   This function unloads the object from memory. This essentially
+ *   undoes the actions of nxflat_load.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ***********************************************************************/
 
 EXTERN int nxflat_unload(struct nxflat_loadinfo_s *loadinfo);
 
+/****************************************************************************
+ * These are APIs used internally only by NuttX:
+ ****************************************************************************/
+/***********************************************************************
+ * Name: nxflat_initialize
+ *
+ * Description:
+ *   NXFLAT support is built unconditionally.  However, it order to
+ *   use this binary format, this function must be called during system
+ *   format in order to register the NXFLAT binary format.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ***********************************************************************/
+
+EXTERN int nxflat_initialize(void);
+
+/****************************************************************************
+ * Name: nxflat_uninitialize
+ *
+ * Description:
+ *   Unregister the NXFLAT binary loader
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+EXTERN void nxflat_uninitialize(void);
+
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/nuttx/sched/task_create.c b/nuttx/sched/task_create.c
index 31b50da0a..5d7a5872b 100644
--- a/nuttx/sched/task_create.c
+++ b/nuttx/sched/task_create.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * task_create.c
  *
- *   Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
diff --git a/nuttx/sched/task_init.c b/nuttx/sched/task_init.c
index 0b4a3a54d..6d5395594 100644
--- a/nuttx/sched/task_init.c
+++ b/nuttx/sched/task_init.c
@@ -1,7 +1,7 @@
-/************************************************************
+/****************************************************************************
  * task_init.c
  *
- *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -14,7 +14,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ * 3. Neither the name NuttX nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -31,56 +31,60 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************/
+ ****************************************************************************/
 
 #include <nuttx/config.h>
 #include <sys/types.h>
 #include <sched.h>
 #include <nuttx/arch.h>
+
 #include "os_internal.h"
+#include "env_internal.h"
 
-/************************************************************
+/****************************************************************************
  * Definitions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Type Declarations
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Global Variables
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Variables
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Function Prototypes
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Functions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Public Functions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Name: task_init
  *
  * Description:
- *   This function initializes a Task Control Block (TCB)
- *   in preparation for starting a new thread.  It performs a
- *   subset of the functionality of task_create()
+ *   This function initializes a Task Control Block (TCB) in preparation for
+ *   starting a new thread.  It performs a subset of the functionality of
+ *   task_create()
  *
- *   Unlike task_create(), task_init() does not activate the
- *   task. This must be done by calling task_activate().
+ *   Unlike task_create():
+ *     1. Allocate the TCB.  The pre-allocated TCB is passed in the arguments.
+ *     2. Allocate the stack.  The pre-allocated stack is passed in the arguments.
+ *     3. Activate the task. This must be done by calling task_activate().
  *
  * Input Parameters:
  *   tcb        - Address of the new task's TCB
@@ -89,19 +93,19 @@
  *   stack      - Start of the pre-allocated stack
  *   stack_size - Size (in bytes) of the stack allocated
  *   entry      - Application start point of the new task
- *   arg        - A pointer to an array of input parameters.
- *                Up to  CONFIG_MAX_TASK_ARG parameters may
- *                be provided.  If fewer than CONFIG_MAX_TASK_ARG
- *                parameters are passed, the list should be
- *                terminated with a NULL argv[] value.
- *                If no parameters are required, argv may be
- *                NULL.
+ *   arg        - A pointer to an array of input parameters. Up to
+ *                CONFIG_MAX_TASK_ARG parameters may be provided.  If fewer
+ *                than CONFIG_MAX_TASK_ARG parameters are passed, the list
+ *                should be terminated with a NULL argv[] value. If no
+ *                parameters are required, argv may be NULL.
  *
  * Return Value:
- *   OK on success; ERROR on failure.  (See task_schedsetup()
- *   for possible failure conditions).
+ *   OK on success; ERROR on failure.  (See task_schedsetup() for possible
+ *   failure conditions).  On failure, the caller is responsible for freeing
+ *   the stack memory and for calling  sched_releasetcb() to free the TCB
+ *   (which could be in most any state).
  *
- ************************************************************/
+ ****************************************************************************/
 
 #ifndef CONFIG_CUSTOM_STACK
 STATUS task_init(FAR _TCB *tcb, const char *name, int priority,
@@ -114,6 +118,19 @@ STATUS task_init(FAR _TCB *tcb, const char *name, int priority,
 {
   STATUS ret;
 
+ /* Associate file descriptors with the new task */
+
+#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
+  if (sched_setuptaskfiles(tcb) != OK)
+    {
+      return ERROR;
+    }
+#endif
+
+  /* Clone the parent's task environment */
+
+  (void)env_dup(tcb);
+
   /* Configure the user provided stack region */
 
 #ifndef CONFIG_CUSTOM_STACK
@@ -130,4 +147,5 @@ STATUS task_init(FAR _TCB *tcb, const char *name, int priority,
       (void)task_argsetup(tcb, name, argv);
     }
   return ret;
- }
+}
+