Add new 'task_spawn' interface for starting new tasks in the PX4 world

1 files changed, 28 insertions, 3 deletions

diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index 4c7aae83e..3d46a17a8 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -68,10 +68,10 @@ const struct __multiport_info multiport_info = {
  ****************************************************************************/
 
 /****************************************************************************
- * Public Functions
+ * Private Functions
  ****************************************************************************/
 
-void kill_task(FAR _TCB *tcb, FAR void *arg);
+static void kill_task(FAR _TCB *tcb, FAR void *arg);
 
 /****************************************************************************
  * user_start
@@ -116,11 +116,36 @@ void killall()
 	sched_foreach(kill_task, NULL);
 }
 
-void kill_task(FAR _TCB *tcb, FAR void *arg)
+static void kill_task(FAR _TCB *tcb, FAR void *arg)
 {
 	kill(tcb->pid, SIGUSR1);
 }
 
+int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+{
+	int pid;
+
+	sched_lock();
+
+	/* create the task */
+	pid = task_create(name, priority, stack_size, entry, argv);
+
+	if (pid > 0) {
+		
+		/* configure the scheduler */
+		struct sched_param param;
+
+		param.sched_priority = priority;
+		sched_setscheduler(pid, scheduler, &param);
+
+		/* XXX do any other private task accounting here */
+	}
+
+	sched_unlock();
+
+	return pid;
+}
+
 #define PX4_BOARD_ID_FMU (5)
 
 int fmu_get_board_info(struct fmu_board_info_s *info)