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1d99f4f758
Using `sched_switch()` in `mutex_unlock()` can result in crashes when `mutex_unlock()` is called from IRQ context. This however is a common pattern in RIOT to wake up a thread from IRQ. The reason for the crash is that `sched_switch()` assumes `thread_get_active()` to always return a non-`NULL` value. But when thread-less idle is used, no thread may be active after the last runnable thread exited. Using `thread_yield_higher()` instead solves the issue, as `thread_yield_higher()` is safe to call from IRQ context without an active thread. This fixes https://github.com/RIOT-OS/RIOT/issues/20812