An Empirical Study on Concurrency Bugs in Interrupt-Driven Embedded Software

Interrupt-driven embedded software is widely used in aerospace, automotive electronics, medical equipment, IoT, and other industrial fields. This type of software is usually programmed with interrupts to interact with hardware and respond to external stimuli on time. However, uncertain interleaving execution of interrupts may cause concurrency bugs, resulting in task failure or serious safety issues. A deep understanding of real-world concurrency bugs in embedded software will significantly improve the ability of techniques in combating concurrency bugs, such as bug detection, testing and fixing.