Fix ISR-safe critical sections and document APIs #72
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The CRITICAL_ENTER/LEAVE macros unconditionally enabled interrupts on leave, which corrupts interrupt state when called from ISR context (where MIE is already 0). Replace with nesting-aware save/restore: CRITICAL_ENTER saves MIE on first entry, CRITICAL_LEAVE restores it on last exit. Add underflow guard to CRITICAL_LEAVE. This fixes mo_logger_enqueue() to use CRITICAL_ENTER instead of mo_mutex_lock so the [ISR-SAFE] contract is actually honored -- mutex blocks, which deadlocks in ISR context. It also fixes realloc() missing CRITICAL_ENTER before fast paths that called CRITICAL_LEAVE, and add defensive CRITICAL_LEAVE before panic() in malloc(). ISR Context Safety Guide is added to hal-interrupt.md with function tables, callback patterns, and ISR-to-task communication examples.
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The CRITICAL_ENTER/LEAVE macros unconditionally enabled interrupts on leave, which corrupts interrupt state when called from ISR context (where MIE is already 0). Replace with nesting-aware save/restore: CRITICAL_ENTER saves MIE on first entry, CRITICAL_LEAVE restores it on last exit. Add underflow guard to CRITICAL_LEAVE.
This fixes mo_logger_enqueue() to use CRITICAL_ENTER instead of mo_mutex_lock so the [ISR-SAFE] contract is actually honored -- mutex blocks, which deadlocks in ISR context.
It also fixes realloc() missing CRITICAL_ENTER before fast paths that called CRITICAL_LEAVE, and add defensive CRITICAL_LEAVE before panic() in malloc().
ISR Context Safety Guide is added to hal-interrupt.md with function tables, callback patterns, and ISR-to-task communication examples.
Summary by cubic
Make critical sections ISR-safe by saving/restoring interrupt state with nesting. Prevents interrupt-state corruption and ISR deadlocks; updates logger/allocator and adds clear ISR safety guidance.
Bug Fixes
New Features
Written for commit 7a89b64. Summary will update on new commits.