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+/************************************************************************
+ * up_releasepending.c
+ *
+ * Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
+ * Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sched.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+
+#include "sched/sched.h"
+#include "up_internal.h"
+
+/************************************************************************
+ * Private Definitions
+ ************************************************************************/
+
+/************************************************************************
+ * Private Data
+ ************************************************************************/
+
+/************************************************************************
+ * Private Funtions
+ ************************************************************************/
+
+/************************************************************************
+ * Public Funtions
+ ************************************************************************/
+
+/************************************************************************
+ * Name: up_release_pending
+ *
+ * Description:
+ * Release and ready-to-run tasks that have
+ * collected in the pending task list. This can call a
+ * context switch if a new task is placed at the head of
+ * the ready to run list.
+ *
+ ************************************************************************/
+
+void up_release_pending(void)
+{
+ FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
+
+ dbg("From TCB=%p\n", rtcb);
+
+ /* Merge the g_pendingtasks list into the g_readytorun task list */
+
+ /* sched_lock(); */
+ if (sched_mergepending())
+ {
+ /* The currently active task has changed! We will need to
+ * switch contexts. First check if we are operating in
+ * interrupt context:
+ */
+
+ if (g_irqtos)
+ {
+ /* Yes, then we have to do things differently.
+ * Just copy the current registers into the OLD rtcb.
+ */
+
+ up_saveirqcontext(&rtcb->xcp);
+
+ /* Restore the exception context of the rtcb at the (new) head
+ * of the g_readytorun task list.
+ */
+
+ rtcb = (FAR struct tcb_s*)g_readytorun.head;
+ dbg("New Active Task TCB=%p\n", rtcb);
+
+ /* Then setup so that the context will be performed on exit
+ * from the interrupt.
+ */
+
+ g_irqcontext = &rtcb->xcp;
+ }
+
+ /* Copy the exception context into the TCB of the task that
+ * was currently active. if up_savecontext returns a non-zero
+ * value, then this is really the previously running task
+ * restarting!
+ */
+
+ else if (!up_savecontext(&rtcb->xcp))
+ {
+ /* Restore the exception context of the rtcb at the (new) head
+ * of the g_readytorun task list.
+ */
+
+ rtcb = (FAR struct tcb_s*)g_readytorun.head;
+ dbg("New Active Task TCB=%p\n", rtcb);
+
+ /* Then switch contexts */
+
+ up_restorecontext(&rtcb->xcp);
+ }
+ }
+}