From 17800007776ba2b20626e1a925c2916815635e4d Mon Sep 17 00:00:00 2001
From: Gregory Nutt <gnutt@nuttx.org>
Date: Thu, 18 Feb 2016 12:31:21 -0600
Subject: [PATCH] SMP:  Setting bit for wrong CPU.  Assertion has cause false
 alarm crashes..

---
 arch                              |  2 +-
 include/nuttx/sched.h             |  4 +++-
 sched/sched/sched_addreadytorun.c | 13 +++++++------
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/arch b/arch
index bd833ac25f..5a6306b76a 160000
--- a/arch
+++ b/arch
@@ -1 +1 @@
-Subproject commit bd833ac25f0f982a372d8d9df5e1634a6eb21b32
+Subproject commit 5a6306b76aa6656c56f5c19cbf18757a295ee1bc
diff --git a/include/nuttx/sched.h b/include/nuttx/sched.h
index 586c1a81e9..e7a8d5c26f 100644
--- a/include/nuttx/sched.h
+++ b/include/nuttx/sched.h
@@ -216,7 +216,9 @@ enum tstate_e
 };
 typedef enum tstate_e tstate_t;
 
-/* The following definitions are determined by tstate_t */
+/* The following definitions are determined by tstate_t.  Ordering of values
+ * in the enumeration is important!
+ */
 
 #define FIRST_READY_TO_RUN_STATE   TSTATE_TASK_READYTORUN
 #define LAST_READY_TO_RUN_STATE    TSTATE_TASK_RUNNING
diff --git a/sched/sched/sched_addreadytorun.c b/sched/sched/sched_addreadytorun.c
index 2bcc3f9087..82b567856d 100644
--- a/sched/sched/sched_addreadytorun.c
+++ b/sched/sched/sched_addreadytorun.c
@@ -275,7 +275,7 @@ bool sched_addreadytorun(FAR struct tcb_s *btcb)
       switched = sched_addprioritized(btcb, tasklist);
 
       /* If the selected task was the g_assignedtasks[] list, then a context
-       * swith will occur.
+       * switch will occur.
        */
 
       if (switched)
@@ -304,12 +304,12 @@ bool sched_addreadytorun(FAR struct tcb_s *btcb)
 
           if (btcb->lockcount > 0)
             {
-              spin_setbit(&g_cpu_lockset, this_cpu(), &g_cpu_locksetlock,
+              spin_setbit(&g_cpu_lockset, cpu, &g_cpu_locksetlock,
                           &g_cpu_schedlock);
             }
           else
             {
-              spin_clrbit(&g_cpu_lockset, this_cpu(), &g_cpu_locksetlock,
+              spin_clrbit(&g_cpu_lockset, cpu, &g_cpu_locksetlock,
                           &g_cpu_schedlock);
             }
 
@@ -319,12 +319,12 @@ bool sched_addreadytorun(FAR struct tcb_s *btcb)
 
           if (btcb->irqcount > 0)
             {
-              spin_setbit(&g_cpu_irqset, this_cpu(), &g_cpu_irqsetlock,
+              spin_setbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
                           &g_cpu_irqlock);
             }
           else
             {
-              spin_clrbit(&g_cpu_irqset, this_cpu(), &g_cpu_irqsetlock,
+              spin_clrbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
                           &g_cpu_irqlock);
             }
 
@@ -334,11 +334,12 @@ bool sched_addreadytorun(FAR struct tcb_s *btcb)
            * lifting machinery.
            */
 
+          DEBUGASSERT(btcb->flink != NULL);
           next = (FAR struct tcb_s *)btcb->flink;
-          ASSERT(!spin_islocked(&g_cpu_schedlock) && next != NULL);
 
           if ((next->flags & TCB_FLAG_CPU_ASSIGNED) != 0)
             {
+              DEBUGASSERT(next->cpu == cpu);
               next->task_state = TSTATE_TASK_ASSIGNED;
             }
           else