leave_critical_section: Fix text of whether spinlock should be released or not

configs

@@ -1 +1 @@
-Subproject commit ebc3a719168c1e7524a64498cd6d9312f26d36b0
+Subproject commit ff5400544e8ab499fcf20a1a88ebec05c9cbd2e9

sched/irq/irq_csection.c

@@ -181,22 +181,36 @@ void leave_critical_section(irqstate_t flags)
 
           sched_note_csection(rtcb, false);
 #endif
-          /* Release the spinlock to allow other access. */
+          /* Decrement our count on the lock.  If all CPUs have released,
-
+           * then unlock the spinlock.
-          g_cpu_irqset  &= ~(1 << this_cpu());
-          rtcb->irqcount = 0;
-          spin_unlock(g_cpu_irqlock);
-
-          /* Release any ready-to-run tasks that have collected in
-           * g_pendingtasks if the scheduler is not locked.
-           *
-           * NOTE: This operation has a very high likelihood of causing
-           * this task to be switched out!
            */
 
-          if (g_pendingtasks.head != NULL && rtcb->lockcount <= 0)
+          rtcb->irqcount = 0;
+          g_cpu_irqset  &= ~(1 << this_cpu());
+
+          /* Have all CPUs release the lock? */
+
+          if (g_cpu_irqset == 0)
             {
-              up_release_pending();
+              /* Unlock the IRQ spinlock */
+
+              spin_unlock(g_cpu_irqlock);
+
+              /* Check if there are pending tasks and that pre-emption is
+               * also enabled.
+               */
+
+              if (g_pendingtasks.head != NULL && !spin_islocked(&g_cpu_schedlock))
+                {
+                  /* Release any ready-to-run tasks that have collected in
+                   * g_pendingtasks if the scheduler is not locked.
+                   *
+                   * NOTE: This operation has a very high likelihood of causing
+                   * this task to be switched out!
+                   */
+
+                  up_release_pending();
+                }
             }
         }
 

sched/sched/sched_addreadytorun.c

@@ -113,7 +113,7 @@ bool sched_addreadytorun(FAR struct tcb_s *btcb)
        * is now the new active task!
        */
 
-      ASSERT(rtcb->lockcount == 0 && btcb->flink != NULL);
+      ASSERT(!spin_islocked(&g_cpu_schedlock) && btcb->flink != NULL);
 
       btcb->task_state = TSTATE_TASK_RUNNING;
       btcb->flink->task_state = TSTATE_TASK_READYTORUN;
@@ -341,7 +341,7 @@ bool sched_addreadytorun(FAR struct tcb_s *btcb)
            */
 
           next = (FAR struct tcb_s *)btcb->flink;
-          ASSERT(!rtcb->lockcount && next != NULL);
+          ASSERT(!spin_islocked(&g_cpu_schedlock) && next != NULL);
 
           if ((next->flags & TCB_FLAG_CPU_ASSIGNED) != 0)
             {