Interrupts And Exceptions Baremetal

Interrupts and exceptions on bare metal

Contract

Inputs

• Target core (Cortex-M0+, M3, M4, M7, M33) and the vendor CMSIS device header.
• The interrupt: NVIC number (*_IRQn), the peripheral flag that raises it, and how that flag clears.
• Priority relationships with other interrupts and with the scheduler tick, if any.
• For faults: whether a debugger is attached and which registers are readable.

Procedure

1. State the exception flow. The NVIC compares the pending priority with the current one and with PRIMASK and BASEPRI; on entry the hardware stacks r0 to r3, r12, lr, pc, and xPSR; it branches through the vector table; on return it unstacks, or tail-chains directly into the next pending exception without unstacking. Done when: the flow is stated as an ordered list.

2. Set the priority, then enable the interrupt. Lower numeric value means higher urgency on every Cortex-M. The number of implemented priority bits is vendor-specific (STM32 implements 4), and NVIC_SetPriorityGrouping splits them into preempt and sub-priority fields. Done when: the priority is written with NVIC_SetPriority before NVIC_EnableIRQ, and the relation to other interrupts is recorded.

   #include "stm32f4xx.h"
   
   void uart_irq_init(void)
   {
       uint32_t group = NVIC_GetPriorityGrouping();
       NVIC_SetPriority(USART2_IRQn, NVIC_EncodePriority(group, 2, 0));
       NVIC_EnableIRQ(USART2_IRQn);
   }
   

3. Write the ISR to do the minimum and clear the source. Read the status register once, handle each flag that is set, and clear each flag the way the manual states: some clear on a data-register read, some clear on writing 1, some on writing 0. Hand data to the main loop through a ring buffer or a flag. No blocking calls, no printf, no malloc, no waiting loops. Done when: every flag the ISR handles has its clearing action in the body, and the ISR calls nothing that can block.

   void USART2_IRQHandler(void)
   {
       uint32_t sr = USART2->SR;
       if (sr & USART_SR_RXNE) {
           ringbuf_push((uint8_t)USART2->DR);   /* reading DR clears RXNE */
       }
       if (sr & USART_SR_ORE) {
           (void)USART2->DR;                    /* SR read then DR read clears ORE */
       }
   }
   

4. Protect shared data with a critical section that restores the previous mask, so nesting works. Where only some interrupts must be held off, raise BASEPRI instead of PRIMASK (not available on Cortex-M0 and M0+). Keep the window short; a long masked window is the usual cause of missed deadlines elsewhere. Done when: every access to data the ISR also touches is inside a section, or the data structure is single-producer single-consumer with atomic indices.

   uint32_t primask = __get_PRIMASK();
   __disable_irq();
   /* shared update */
   __set_PRIMASK(primask);
   

5. Install a HardFault handler that captures the faulting frame. The handler must be naked, because a compiler prologue would overwrite the stacked registers before they are read. Bit 2 of lr selects the main or process stack; the stacked PC is at index 6 and xPSR at index 7. Done when: a deliberate fault (a read from an unmapped address) stops in hard_fault_c with the PC of the faulting instruction.

   __attribute__((naked)) void HardFault_Handler(void)
   {
       __asm volatile(
           "tst lr, #4\n"
           "ite eq\n"
           "mrseq r0, msp\n"
           "mrsne r0, psp\n"
           "b hard_fault_c\n");
   }
   
   void hard_fault_c(uint32_t *frame)
   {
       volatile uint32_t pc  = frame[6];
       volatile uint32_t psr = frame[7];
       volatile uint32_t cfsr = SCB->CFSR;   /* ARMv7-M and later; absent on M0/M0+ */
       volatile uint32_t hfsr = SCB->HFSR;
       volatile uint32_t bfar = SCB->BFAR;   /* valid only when CFSR.BFARVALID is set */
       (void)pc; (void)psr; (void)cfsr; (void)hfsr; (void)bfar;
       for (;;) { }
   }
   

   Decode CFSR by its three bytes: memory management, bus fault, and usage fault. HFSR.FORCED means a lower-priority fault escalated. On Cortex-M0 and M0+ these registers do not exist; only the stacked PC is available.

6. Reduce latency where it matters. Done when: each row that applies has been acted on.

   Factor	Effect	Action
   Long ISR	Delays every lower and equal priority interrupt	Move work to the main loop through a buffer
   Long critical section	Delays every interrupt	Shorten the masked window; use BASEPRI
   Lazy FPU stacking (M4F, M7)	Extra stacking cycles when the ISR uses float	Keep float out of ISRs or accept the cost
   Priority order	A slow high-priority ISR starves the rest	Give the tightest deadline the highest priority
   Tail-chaining	Back-to-back exceptions skip unstack and restack	Free; no action, but do not rely on a gap between them

7. Measure latency instead of estimating it. Toggle a GPIO at the top of the ISR and compare with the trigger on a scope, or read the DWT cycle counter. DWT->CYCCNT exists on ARMv7-M cores and needs CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk and DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk first. Done when: a latency number with its measurement method is recorded.

Failure and recovery

Output

For the target interrupt: the priority and enable sequence, an ISR body with the correct flag clearing and a hand-off buffer, a critical-section pattern, a HardFault handler with the frame and fault-register decode available on the core, and a latency measurement method.