SAMA5D4-EK kernel configurations needs support for task termination clean-up

configs/sama5d4-ek/README.txt

@@ -3733,8 +3733,6 @@ Configurations
 
     NOTES:
 
-    NOTES:
-
     1. This configuration uses the the USART3 for the serial console
        which is available at the "DBGU" RS-232 connector (J24).  That
        is easily changed by reconfiguring to (1) enable a different
@@ -3765,10 +3763,15 @@ Configurations
        RTOS Features -> Tasks and Scheduling
          CONFIG_INIT_FILEPATH=y                 : Start-up is via an ELF file
          CONFIG_USER_INITPATH="/bin/init"       : The location of the startup
+         CONFIG_SCHED_HAVE_PARENT=y             : Needed to handle task exit
 
        RTOS Features -> System call support
          CONFIG_SYS_RESERVED=5                  : More reserved SYSCALLs
 
+       RTOS Features -> RTOS hooks
+         CONFIG_SCHED_ONEXIT=y                 : Needed to handle task exit
+         CONFIG_SCHED_ONEXIT_MAX=2
+
        Memory Management
         CONFIG_MM_KERNEL_HEAP=y                : Enable a kernel heap
         CONFIG_MM_KERNEL_HEAPSIZE=8192         : (temporary.. will change)

configs/sama5d4-ek/kernel/defconfig

@@ -390,7 +390,8 @@ CONFIG_RR_INTERVAL=200
 CONFIG_TASK_NAME_SIZE=32
 CONFIG_MAX_TASK_ARGS=4
 CONFIG_MAX_TASKS=16
-# CONFIG_SCHED_HAVE_PARENT is not set
+CONFIG_SCHED_HAVE_PARENT=y
+# CONFIG_SCHED_CHILD_STATUS is not set
 CONFIG_SCHED_WAITPID=y
 
 #
@@ -426,7 +427,8 @@ CONFIG_BOARD_INITTHREAD_STACKSIZE=2048
 CONFIG_BOARD_INITTHREAD_PRIORITY=240
 # CONFIG_SCHED_STARTHOOK is not set
 # CONFIG_SCHED_ATEXIT is not set
-# CONFIG_SCHED_ONEXIT is not set
+CONFIG_SCHED_ONEXIT=y
+CONFIG_SCHED_ONEXIT_MAX=2
 
 #
 # Signal Numbers
@@ -434,6 +436,7 @@ CONFIG_BOARD_INITTHREAD_PRIORITY=240
 CONFIG_SIG_SIGUSR1=1
 CONFIG_SIG_SIGUSR2=2
 CONFIG_SIG_SIGALARM=3
+CONFIG_SIG_SIGCHLD=4
 CONFIG_SIG_SIGCONDTIMEDOUT=16
 CONFIG_SIG_SIGWORK=17