Index: include/native/task.h
===================================================================
--- include/native/task.h	(revision 245)
+++ include/native/task.h	(working copy)
@@ -35,18 +35,19 @@
 #define T_CPUMASK  0xff000000
 
 /* Status/mode flags. */
-#define T_BLOCKED XNPEND
-#define T_DELAYED XNDELAY
-#define T_READY   XNREADY
-#define T_DORMANT XNDORMANT
-#define T_STARTED XNSTARTED
-#define T_BOOST   XNBOOST
-#define T_LOCK    XNLOCK
-#define T_RRB     XNRRB
-#define T_NOSIG   XNASDI
-#define T_SHIELD  XNSHIELD
-#define T_WARNSW  XNTRAPSW
-#define T_PRIMARY XNTHREAD_SPARE0
+#define T_BLOCKED  XNPEND
+#define T_DELAYED  XNDELAY
+#define T_READY    XNREADY
+#define T_DORMANT  XNDORMANT
+#define T_STARTED  XNSTARTED
+#define T_BOOST    XNBOOST
+#define T_LOCK     XNLOCK
+#define T_RRB      XNRRB
+#define T_NOSIG    XNASDI
+#define T_SHIELD   XNSHIELD
+#define T_WARNSW   XNTRAPSW
+#define T_PRIMARY  XNTHREAD_SPARE0
+#define T_JOINABLE XNTHREAD_SPARE1
 
 /* Task hook types. */
 #define T_HOOK_START  XNHOOK_THREAD_START
@@ -268,6 +269,8 @@
 int rt_task_slice(RT_TASK *task,
 		  RTIME quantum);
 
+int rt_task_join(RT_TASK *task);
+
 #ifdef CONFIG_XENO_OPT_NATIVE_MPS
 
 ssize_t rt_task_send(RT_TASK *task,
Index: src/skins/native/task.c
===================================================================
--- src/skins/native/task.c	(revision 245)
+++ src/skins/native/task.c	(working copy)
@@ -127,7 +127,8 @@
 	stksize = PTHREAD_STACK_MIN;
 
     pthread_attr_setstacksize(&thattr,stksize);
-    pthread_attr_setdetachstate(&thattr,PTHREAD_CREATE_DETACHED);
+    if (!(mode & T_JOINABLE))
+	pthread_attr_setdetachstate(&thattr,PTHREAD_CREATE_DETACHED);
     pthread_attr_setschedpolicy(&thattr,SCHED_FIFO);
     param.sched_priority = sched_get_priority_max(SCHED_FIFO);
     pthread_attr_setschedparam(&thattr,&param);
@@ -331,6 +332,11 @@
 			     &quantum);
 }
 
+int rt_task_join (RT_TASK *task)
+{
+    return -pthread_join((pthread_t)task->opaque2, NULL);
+}
+
 #ifdef CONFIG_XENO_OPT_NATIVE_MPS
 
 ssize_t rt_task_send (RT_TASK *task,