anchao opened a new pull request, #20831: URL: https://github.com/apache/nuttx/pull/20831
## Summary
Avoid calling `nxsched_switch_context()` from the ARMv8-M exception return
path when the exception returns to the same running task.
Previously, `arm_doirq()` always called
`nxsched_switch_context(*running_task, tcb)` after interrupt dispatch, even
when `*running_task == tcb`. This caused scheduler switch bookkeeping to run on
every exception return, including normal IRQs that did not perform a context
switch
This change only runs the scheduler switch bookkeeping when the running task
actually changes.
`regs = tcb->xcp.regs` remains outside the guard so signal delivery can
still update the return context correctly.
## Impact
- Reduces unnecessary work on the common IRQ/SVC return path.
- Avoids fake same-task suspend/resume scheduler instrumentation.
- Keeps real task switch behavior unchanged.
- Preserves signal delivery behavior.
## Testing
Built and ostest successfully with:
- `ek-ra8m1:nsh`
- `mps3-an547:nsh`
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