diff --git a/components/esp_system/include/esp_private/panic_internal.h b/components/esp_system/include/esp_private/panic_internal.h
index d9fadc3360..3cb356f54c 100644
--- a/components/esp_system/include/esp_private/panic_internal.h
+++ b/components/esp_system/include/esp_private/panic_internal.h
@@ -88,6 +88,8 @@ uint32_t panic_get_cause(const void* frame);
 
 void panic_prepare_frame_from_ctx(void* frame);
 
+void panic_clear_active_interrupts(const void* frame);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_system/panic.c b/components/esp_system/panic.c
index e9defe2006..4e0afbe5c9 100644
--- a/components/esp_system/panic.c
+++ b/components/esp_system/panic.c
@@ -391,6 +391,9 @@ void esp_panic_handler(panic_info_t *info)
     PANIC_INFO_DUMP(info, state);
     panic_print_str("\r\n");
 
+    // Now, after all panic info was printed we can clear active interrupts
+    panic_clear_active_interrupts(info->frame);
+
     /* No matter if we come here from abort or an exception, this variable must be reset.
      * Else, any exception/error occurring during the current panic handler would considered
      * an abort. Do this after PANIC_INFO_DUMP(info, state) as it also checks this variable.
diff --git a/components/esp_system/port/arch/riscv/panic_arch.c b/components/esp_system/port/arch/riscv/panic_arch.c
index 78040cffe4..e76942d93a 100644
--- a/components/esp_system/port/arch/riscv/panic_arch.c
+++ b/components/esp_system/port/arch/riscv/panic_arch.c
@@ -374,3 +374,10 @@ void panic_prepare_frame_from_ctx(void* frame)
 
     ((RvExcFrame *)frame)->mhartid = RV_READ_CSR(mhartid);
 }
+
+void panic_clear_active_interrupts(const void *frame)
+{
+    if (((RvExcFrame *)frame)->mcause == ETS_CACHEERR_INUM) {
+        esp_cache_err_clear_active_err();
+    }
+}
diff --git a/components/esp_system/port/arch/xtensa/panic_arch.c b/components/esp_system/port/arch/xtensa/panic_arch.c
index 89656c284d..078e1609a2 100644
--- a/components/esp_system/port/arch/xtensa/panic_arch.c
+++ b/components/esp_system/port/arch/xtensa/panic_arch.c
@@ -343,3 +343,9 @@ void panic_prepare_frame_from_ctx(void* frame)
     /* Nothing to cleanup on xtensa */
     (void)frame;
 }
+
+void panic_clear_active_interrupts(const void *frame)
+{
+    /* Nothing to cleanup on xtensa */
+    (void)frame;
+}
diff --git a/components/esp_system/port/include/private/esp_private/cache_err_int.h b/components/esp_system/port/include/private/esp_private/cache_err_int.h
index c359ea7d5a..a1c1acfe5a 100644
--- a/components/esp_system/port/include/private/esp_private/cache_err_int.h
+++ b/components/esp_system/port/include/private/esp_private/cache_err_int.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -58,6 +58,12 @@ void esp_cache_err_get_panic_info(esp_cache_err_info_t *err_info);
  */
 bool esp_cache_err_has_active_err(void);
 
+/**
+ * @brief Clear any cache errors interrupt
+ *
+ */
+void esp_cache_err_clear_active_err(void);
+
 #if SOC_CACHE_ACS_INVALID_STATE_ON_PANIC
 /**
  * @brief Saves and clears active access errors
diff --git a/components/esp_system/port/soc/esp32c2/cache_err_int.c b/components/esp_system/port/soc/esp32c2/cache_err_int.c
index 24f264eef1..a674d40a4a 100644
--- a/components/esp_system/port/soc/esp32c2/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32c2/cache_err_int.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -134,6 +134,12 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK) || cache_ll_l1_get_illegal_error_intr_status(0, CACHE_LL_L1_ILG_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+    cache_ll_l1_clear_illegal_error_intr(0, CACHE_LL_L1_ILG_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32c3/cache_err_int.c b/components/esp_system/port/soc/esp32c3/cache_err_int.c
index 2c8e560804..befe0fe4f2 100644
--- a/components/esp_system/port/soc/esp32c3/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32c3/cache_err_int.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -134,6 +134,12 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK) || cache_ll_l1_get_illegal_error_intr_status(0, CACHE_LL_L1_ILG_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+    cache_ll_l1_clear_illegal_error_intr(0, CACHE_LL_L1_ILG_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32c5/cache_err_int.c b/components/esp_system/port/soc/esp32c5/cache_err_int.c
index 10f0cdd45a..96b8447a04 100644
--- a/components/esp_system/port/soc/esp32c5/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32c5/cache_err_int.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -40,6 +40,11 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32c6/cache_err_int.c b/components/esp_system/port/soc/esp32c6/cache_err_int.c
index 5cc77ed1ac..b254e34bfe 100644
--- a/components/esp_system/port/soc/esp32c6/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32c6/cache_err_int.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -39,6 +39,11 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32c61/cache_err_int.c b/components/esp_system/port/soc/esp32c61/cache_err_int.c
index 7dd5661632..b180395065 100644
--- a/components/esp_system/port/soc/esp32c61/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32c61/cache_err_int.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -39,6 +39,11 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32h2/cache_err_int.c b/components/esp_system/port/soc/esp32h2/cache_err_int.c
index e4b0b03d4f..e9758a320e 100644
--- a/components/esp_system/port/soc/esp32h2/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32h2/cache_err_int.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -39,6 +39,11 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32h21/cache_err_int.c b/components/esp_system/port/soc/esp32h21/cache_err_int.c
index 4b9d86e859..75e0b5b512 100644
--- a/components/esp_system/port/soc/esp32h21/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32h21/cache_err_int.c
@@ -39,6 +39,11 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32h4/cache_err_int.c b/components/esp_system/port/soc/esp32h4/cache_err_int.c
index 7a598319e9..827b9cff64 100644
--- a/components/esp_system/port/soc/esp32h4/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32h4/cache_err_int.c
@@ -39,6 +39,11 @@ bool esp_cache_err_has_active_err(void)
     return cache_ll_l1_get_access_error_intr_status(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_system/port/soc/esp32p4/cache_err_int.c b/components/esp_system/port/soc/esp32p4/cache_err_int.c
index 8bd4960f5f..3abe9015fb 100644
--- a/components/esp_system/port/soc/esp32p4/cache_err_int.c
+++ b/components/esp_system/port/soc/esp32p4/cache_err_int.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -41,6 +41,12 @@ bool esp_cache_err_has_active_err(void)
     return has_active_err;
 }
 
+void esp_cache_err_clear_active_err(void)
+{
+    cache_ll_l1_clear_access_error_intr(0, CACHE_LL_L1_ACCESS_EVENT_MASK);
+    cache_ll_l2_clear_access_error_intr(0, CACHE_LL_L2_ACCESS_EVENT_MASK);
+}
+
 void esp_cache_err_int_init(void)
 {
     const uint32_t core_id = 0;
diff --git a/components/esp_tee/CMakeLists.txt b/components/esp_tee/CMakeLists.txt
index fd39d792bf..bd104f5911 100644
--- a/components/esp_tee/CMakeLists.txt
+++ b/components/esp_tee/CMakeLists.txt
@@ -15,7 +15,6 @@ endif()
 
 if(BOOTLOADER_BUILD)
     idf_component_register()
-    return()
 elseif(esp_tee_build)
     # TEE build currently only uses the shared headers.
     idf_component_register(INCLUDE_DIRS include)
@@ -86,6 +85,20 @@ else()
     endif()
 endif()
 
+# TODO: IDF-14145
+if((CONFIG_SECURE_ENABLE_TEE OR esp_tee_build) AND CMAKE_C_COMPILER_ID MATCHES "GNU")
+    if(CONFIG_IDF_TARGET_ESP32C5 OR CONFIG_IDF_TARGET_ESP32C61)
+        # Disable zcmp extension to avoid hardware issue with interrupts (DIG-661)
+        set(march_option "-march=rv32imac_zicsr_zifencei_zaamo_zalrsc")
+        idf_build_set_property(COMPILE_OPTIONS "${march_option}" APPEND)
+        idf_build_set_property(LINK_OPTIONS "${march_option}" APPEND)
+    endif()
+endif()
+
+if(BOOTLOADER_BUILD)
+    return()
+endif()
+
 set(secure_service_yml
     ${COMPONENT_DIR}/scripts/${IDF_TARGET}/sec_srv_tbl_default.yml ${custom_secure_service_yaml}
 )
diff --git a/components/esp_wifi/test_apps/bin_size_apsta/pytest_bin_size_apsta.py b/components/esp_wifi/test_apps/bin_size_apsta/pytest_bin_size_apsta.py
index 51e16ecac6..0aafd1c7eb 100644
--- a/components/esp_wifi/test_apps/bin_size_apsta/pytest_bin_size_apsta.py
+++ b/components/esp_wifi/test_apps/bin_size_apsta/pytest_bin_size_apsta.py
@@ -1,8 +1,7 @@
 # SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
 import os
-from typing import Callable
-from typing import Tuple
+from collections.abc import Callable
 
 import pytest
 from pytest_embedded import Dut
@@ -14,17 +13,17 @@ SAVE_BIN_SIZE_TH = {
         'esp32': 16600,
         'esp32c2': 19700,
         'esp32c3': 19600,
-        'esp32c5': 19650,
+        'esp32c5': 17800,
         'esp32c6': 19650,
-        'esp32c61': 19700,
+        'esp32c61': 17800,
         'esp32s2': 16600,
         'esp32s3': 16550,
         'default': 16000,
     },
     'disable_nan': {
         'esp32': 29600,
-        'esp32c5': 32000,
-        'esp32c61': 32000,
+        'esp32c5': 31700,
+        'esp32c61': 31600,
         'esp32s2': 28000,
         # other chips does not support nan
         'default': 0,
@@ -56,8 +55,8 @@ def _get_diff_th(
     indirect=['target'],
 )
 def test_wifi_bin_size_apsta(
-    dut: Tuple[Dut, Dut],
-    config: Tuple[str, str],
+    dut: tuple[Dut, Dut],
+    config: tuple[str, str],
     log_performance: Callable[[str, object], None],
 ) -> None:
     # dut logs are not needed
diff --git a/components/hal/test_apps/tee/main/CMakeLists.txt b/components/hal/test_apps/tee/main/CMakeLists.txt
index 4e96a101a4..a701218c2c 100644
--- a/components/hal/test_apps/tee/main/CMakeLists.txt
+++ b/components/hal/test_apps/tee/main/CMakeLists.txt
@@ -7,3 +7,11 @@ idf_component_register(SRCS "${srcs}"
                        INCLUDE_DIRS ""
                        PRIV_REQUIRES pms_and_cpu_intr esp_psram
                        WHOLE_ARCHIVE)
+
+# TODO: IDF-14145
+if(CONFIG_IDF_TARGET_ESP32C5 OR CONFIG_IDF_TARGET_ESP32C61)
+    # Disable zcmp extension to avoid hardware issue with interrupts (DIG-661)
+    set(march_option "-march=rv32imac_zicsr_zifencei_zaamo_zalrsc")
+    idf_build_set_property(COMPILE_OPTIONS "${march_option}" APPEND)
+    idf_build_set_property(LINK_OPTIONS "${march_option}" APPEND)
+endif()
diff --git a/components/riscv/include/esp_private/interrupt_clic.h b/components/riscv/include/esp_private/interrupt_clic.h
index e5aed509e6..89fee96c5d 100644
--- a/components/riscv/include/esp_private/interrupt_clic.h
+++ b/components/riscv/include/esp_private/interrupt_clic.h
@@ -12,6 +12,7 @@
 #include "soc/soc_caps.h"
 #include "esp_attr.h"
 #include "riscv/csr.h"
+#include "riscv/csr_clic.h"
 
 #if SOC_INT_CLIC_SUPPORTED
 
@@ -21,102 +22,6 @@
 extern "C" {
 #endif
 
-/**
- * @brief Set global masking level. When using the CLIC, all interrupt priority levels less than or equal to the threshold
- * level are masked. Since the default priority for the interrupt is 1, set this macro to 0 to enable them all.
- */
-#define RVHAL_INTR_ENABLE_THRESH    0
-
-/**
- * @brief Bitmask to enable the vector mode when writing MTVEC CSR.
- * Setting mode field to 3 treats `MTVT + 4 * interrupt_id` as the service entry address for HW vectored interrupts.
- */
-#define MTVEC_MODE_CSR          3
-
-/**
- * If the target is using the CLIC as the interrupt controller, we have 32 external interrupt lines and 16 internal
- * lines. Let's consider the internal ones reserved and not mappable to any handler.
- */
-#define RV_EXTERNAL_INT_COUNT   32
-#define RV_EXTERNAL_INT_OFFSET  16
-
-/**
- * @brief CSR to set the interrupt jump table address is MTVT.
- */
-#define MTVT_CSR    0x307
-#define UTVT_CSR    0x007
-
-
-#if CONFIG_IDF_TARGET_ESP32P4 && CONFIG_ESP32P4_SELECTS_REV_LESS_V3
-
-/**
- * The ESP32-P4 and the beta version of the ESP32-C5 implement a non-standard version of the CLIC:
- *  - The interrupt threshold is configured via a memory-mapped register instead of a CSR
- *  - The mintstatus CSR is at 0x346 instead of 0xFB1 as per the official specification
- */
-#define INTTHRESH_STANDARD  0
-#define MINTSTATUS_CSR      0x346
-
-#elif CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61 || CONFIG_IDF_TARGET_ESP32H4 || !CONFIG_ESP32P4_SELECTS_REV_LESS_V3
-
-/* The ESP32-C5 (MP), C61, H4 and P4 (since REV2) use the standard CLIC specification, for example, it defines the mintthresh CSR */
-#define INTTHRESH_STANDARD  1
-#define MINTSTATUS_CSR      0xFB1
-#define UINTSTATUS_CSR      0xCB1
-#define MINTTHRESH_CSR      0x347
-#define UINTTHRESH_CSR      0x047
-
-#else
-    #error "Check the implementation of the CLIC on this target."
-#endif
-
-/**
- * @brief Convert a priority level from 8-bit to NLBITS and NLBITS to 8-bit
- *
- * On CLIC, the interrupt threshold is stored in the upper (NLBITS) of the mintthresh register, with the other (8 - NLBITS)
- * defaulted to 1. We form the interrupt level bits here to avoid doing this at run time
- */
-#define NLBITS_SHIFT            (8 - NLBITS)
-#define NLBITS_MASK             ((1 << NLBITS) - 1)
-#define BYTE_TO_NLBITS(level)   (((level) >> NLBITS_SHIFT) & NLBITS_MASK)
-/* Align the level to the left, and put 1 in the lowest bits */
-#define NLBITS_TO_BYTE(level)   (((level) << NLBITS_SHIFT) | ((1 << NLBITS_SHIFT) - 1))
-
-/**
- * @brief In the minstatus CSR, the `mil` field is present from bit 24 to bit 31 (included)
- */
-#define MINTSTATUS_MIL_S        24
-#define MINTSTATUS_MIL_V        0xFF
-
-
-#if INTTHRESH_STANDARD
-    /* Helper macro to translate absolute interrupt level to CLIC interrupt threshold bits in the mintthresh reg */
-    #define CLIC_INT_THRESH(intlevel)       (NLBITS_TO_BYTE(intlevel))
-
-    /* Helper macro to translate a CLIC interrupt threshold bits to an absolute interrupt level */
-    #define CLIC_THRESH_TO_INT(intlevel)    (BYTE_TO_NLBITS((intlevel)))
-
-    /* Helper macro to translate a CLIC status threshold bits to an absolute interrupt level */
-    #define CLIC_STATUS_TO_INT(status)      (BYTE_TO_NLBITS((status >> MINTSTATUS_MIL_S) & MINTSTATUS_MIL_V))
-#else
-    /* For the non-standard intthresh implementation the threshold is stored in the upper 8 bits of CLIC_CPU_INT_THRESH reg */
-    /* Helper macro to translate absolute interrupt level to CLIC interrupt threshold bits in the mintthresh reg */
-    #define CLIC_INT_THRESH(intlevel)       (NLBITS_TO_BYTE(intlevel) << CLIC_CPU_INT_THRESH_S)
-
-    /* Helper macro to translate a CLIC interrupt threshold bits to an absolute interrupt level */
-    #define CLIC_THRESH_TO_INT(intlevel)    (BYTE_TO_NLBITS((intlevel >> CLIC_CPU_INT_THRESH_S) & CLIC_CPU_INT_THRESH_V))
-
-    /* Helper macro to translate a CLIC status threshold bits to an absolute interrupt level */
-    #define CLIC_STATUS_TO_INT(status)      (BYTE_TO_NLBITS((status >> MINTSTATUS_MIL_S) & MINTSTATUS_MIL_V))
-#endif //INTTHRESH_STANDARD
-
-/* Helper macro to set interrupt level RVHAL_EXCM_LEVEL. Used during critical sections */
-#define RVHAL_EXCM_LEVEL_CLIC           (CLIC_INT_THRESH(RVHAL_EXCM_LEVEL - 1))
-
-/* Helper macro to enable interrupts. */
-#define RVHAL_INTR_ENABLE_THRESH_CLIC   (CLIC_INT_THRESH(RVHAL_INTR_ENABLE_THRESH))
-
-
 #if CONFIG_SECURE_ENABLE_TEE
 #define IS_PRV_M_MODE()  (RV_READ_CSR(CSR_PRV_MODE) == PRV_M)
 #else
diff --git a/components/riscv/include/riscv/csr_clic.h b/components/riscv/include/riscv/csr_clic.h
new file mode 100644
index 0000000000..a174954f7d
--- /dev/null
+++ b/components/riscv/include/riscv/csr_clic.h
@@ -0,0 +1,95 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#include "soc/interrupt_reg.h"
+#include "soc/soc_caps.h"
+
+#if SOC_INT_CLIC_SUPPORTED
+/**
+ * @brief Set global masking level. When using the CLIC, all interrupt priority levels less than or equal to the threshold
+ * level are masked. Since the default priority for the interrupt is 1, set this macro to 0 to enable them all.
+ */
+#define RVHAL_INTR_ENABLE_THRESH    0
+
+/**
+ * @brief Bitmask to enable the vector mode when writing MTVEC CSR.
+ * Setting mode field to 3 treats `MTVT + 4 * interrupt_id` as the service entry address for HW vectored interrupts.
+ */
+#define MTVEC_MODE_CSR          3
+
+/**
+ * If the target is using the CLIC as the interrupt controller, we have 32 external interrupt lines and 16 internal
+ * lines. Let's consider the internal ones reserved and not mappable to any handler.
+ */
+#define RV_EXTERNAL_INT_COUNT   32
+#define RV_EXTERNAL_INT_OFFSET  16
+
+/**
+ * @brief CSR to set the interrupt jump table address is MTVT.
+ */
+#define MTVT_CSR    0x307
+#define UTVT_CSR    0x007
+
+#if INTTHRESH_STANDARD
+
+/* The ESP32-C5 (MP), C61, H4 and P4 (since REV2) use the standard CLIC specification, for example, it defines the mintthresh CSR */
+#define MINTSTATUS_CSR      0xFB1
+#define UINTSTATUS_CSR      0xCB1
+#define MINTTHRESH_CSR      0x347
+#define UINTTHRESH_CSR      0x047
+
+#elif !defined(MINTSTATUS_CSR)
+    #error "Non-standard CLIC CSRs must be defined for the current target!"
+#endif
+
+/**
+ * @brief Convert a priority level from 8-bit to NLBITS and NLBITS to 8-bit
+ *
+ * On CLIC, the interrupt threshold is stored in the upper (NLBITS) of the mintthresh register, with the other (8 - NLBITS)
+ * defaulted to 1. We form the interrupt level bits here to avoid doing this at run time
+ */
+#define NLBITS_SHIFT            (8 - NLBITS)
+#define NLBITS_MASK             ((1 << NLBITS) - 1)
+#define BYTE_TO_NLBITS(level)   (((level) >> NLBITS_SHIFT) & NLBITS_MASK)
+/* Align the level to the left, and put 1 in the lowest bits */
+#define NLBITS_TO_BYTE(level)   (((level) << NLBITS_SHIFT) | ((1 << NLBITS_SHIFT) - 1))
+
+/**
+ * @brief In the minstatus CSR, the `mil` field is present from bit 24 to bit 31 (included)
+ */
+#define MINTSTATUS_MIL_S        24
+#define MINTSTATUS_MIL_V        0xFF
+
+
+#if INTTHRESH_STANDARD
+    /* Helper macro to translate absolute interrupt level to CLIC interrupt threshold bits in the mintthresh reg */
+    #define CLIC_INT_THRESH(intlevel)       (NLBITS_TO_BYTE(intlevel))
+
+    /* Helper macro to translate a CLIC interrupt threshold bits to an absolute interrupt level */
+    #define CLIC_THRESH_TO_INT(intlevel)    (BYTE_TO_NLBITS((intlevel)))
+
+    /* Helper macro to translate a CLIC status threshold bits to an absolute interrupt level */
+    #define CLIC_STATUS_TO_INT(status)      (BYTE_TO_NLBITS((status >> MINTSTATUS_MIL_S) & MINTSTATUS_MIL_V))
+#else
+    /* For the non-standard intthresh implementation the threshold is stored in the upper 8 bits of CLIC_CPU_INT_THRESH reg */
+    /* Helper macro to translate absolute interrupt level to CLIC interrupt threshold bits in the mintthresh reg */
+    #define CLIC_INT_THRESH(intlevel)       (NLBITS_TO_BYTE(intlevel) << CLIC_CPU_INT_THRESH_S)
+
+    /* Helper macro to translate a CLIC interrupt threshold bits to an absolute interrupt level */
+    #define CLIC_THRESH_TO_INT(intlevel)    (BYTE_TO_NLBITS((intlevel >> CLIC_CPU_INT_THRESH_S) & CLIC_CPU_INT_THRESH_V))
+
+    /* Helper macro to translate a CLIC status threshold bits to an absolute interrupt level */
+    #define CLIC_STATUS_TO_INT(status)      (BYTE_TO_NLBITS((status >> MINTSTATUS_MIL_S) & MINTSTATUS_MIL_V))
+#endif //INTTHRESH_STANDARD
+
+/* Helper macro to set interrupt level RVHAL_EXCM_LEVEL. Used during critical sections */
+#define RVHAL_EXCM_LEVEL_CLIC           (CLIC_INT_THRESH(RVHAL_EXCM_LEVEL - 1))
+
+/* Helper macro to enable interrupts. */
+#define RVHAL_INTR_ENABLE_THRESH_CLIC   (CLIC_INT_THRESH(RVHAL_INTR_ENABLE_THRESH))
+
+#endif /* SOC_INT_CLIC_SUPPORTED */
diff --git a/components/riscv/vectors.S b/components/riscv/vectors.S
index 114f83a41c..d7e822869c 100644
--- a/components/riscv/vectors.S
+++ b/components/riscv/vectors.S
@@ -5,7 +5,7 @@
  */
 
 #include "soc/soc.h"
-#include "soc/interrupt_reg.h"
+#include "riscv/csr_clic.h"
 #include "riscv/rvruntime-frames.h"
 #include "soc/soc_caps.h"
 #include "sdkconfig.h"
@@ -181,6 +181,20 @@
 #endif
 .endm
 
+.macro mintthresh_csr_disable reg
+#if __riscv_zcmp && INTTHRESH_STANDARD
+    /* Workaround for triggering an interrupt even when mstatus.mie is 0, when cm.push is called. */
+    li t0, 0xff
+    csrrw \reg, MINTTHRESH_CSR, t0
+#endif
+.endm
+
+.macro mintthresh_csr_restore reg
+#if __riscv_zcmp && INTTHRESH_STANDARD
+    csrw MINTTHRESH_CSR, \reg
+#endif
+.endm
+
 .macro xret
 #if CONFIG_SECURE_ENABLE_TEE
     uret
@@ -216,6 +230,8 @@ _panic_handler:
     /* Allocate space on the stack and store general purpose registers */
     save_general_regs RV_STK_FRMSZ
 
+    mintthresh_csr_disable s5
+
     /* As gp register is not saved by the macro, save it here */
     sw    gp, RV_STK_GP(sp)
 
@@ -366,6 +382,8 @@ _store_mcause:
      * Restore the registers and return from the exception.
      */
 _return_from_exception:
+    mintthresh_csr_restore s5
+
     restore_xepc
     /* MTVEC and SP are assumed to be unmodified.
      * MSTATUS, MHARTID, MTVAL are read-only and not restored.
@@ -465,6 +483,8 @@ _tee_interrupt_handler:
 
     /* After dispatch c handler, disable interrupt to make freertos make context switch */
 
+    mintthresh_csr_disable s5
+
     disable_intr
     /* MIE cleared. Nested interrupts are disabled */
 
@@ -510,6 +530,9 @@ _skip_thresh_reset:
     csrw    mcause, s1
     csrw    mstatus, a0
 #endif
+
+    mintthresh_csr_restore s5
+
     restore_xepc
     restore_general_regs
     /* exit, this will also re-enable the interrupts */
diff --git a/components/soc/esp32c5/include/soc/interrupt_reg.h b/components/soc/esp32c5/include/soc/interrupt_reg.h
index 74cf892ebe..b14126d56a 100644
--- a/components/soc/esp32c5/include/soc/interrupt_reg.h
+++ b/components/soc/esp32c5/include/soc/interrupt_reg.h
@@ -19,6 +19,8 @@ extern "C" {
 /* We only have a single core on the C5, CORE0 */
 #define INTERRUPT_CORE0_CPU_INT_THRESH_REG      INTERRUPT_CURRENT_CORE_INT_THRESH_REG
 
+#define INTTHRESH_STANDARD  1
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/soc/esp32c61/include/soc/interrupt_reg.h b/components/soc/esp32c61/include/soc/interrupt_reg.h
index d94be8a2ae..472e2aa977 100644
--- a/components/soc/esp32c61/include/soc/interrupt_reg.h
+++ b/components/soc/esp32c61/include/soc/interrupt_reg.h
@@ -14,3 +14,5 @@
 #define INTERRUPT_CURRENT_CORE_INT_THRESH_REG   (CLIC_INT_THRESH_REG)
 
 #define INTERRUPT_CORE0_CPU_INT_THRESH_REG INTERRUPT_CURRENT_CORE_INT_THRESH_REG
+
+#define INTTHRESH_STANDARD  1
diff --git a/components/soc/esp32h4/include/soc/interrupt_reg.h b/components/soc/esp32h4/include/soc/interrupt_reg.h
index 510603d190..c7c79a0883 100644
--- a/components/soc/esp32h4/include/soc/interrupt_reg.h
+++ b/components/soc/esp32h4/include/soc/interrupt_reg.h
@@ -12,3 +12,5 @@
 
 #define INTERRUPT_CURRENT_CORE_INT_THRESH_REG   (CLIC_INT_THRESH_REG)
 #define INTERRUPT_OTHER_CORE_INT_THRESH_REG     (CLIC_INT_THRESH_REG + DUALCORE_CLIC_CTRL_OFF)
+
+#define INTTHRESH_STANDARD  1
diff --git a/components/soc/esp32p4/include/soc/interrupt_reg.h b/components/soc/esp32p4/include/soc/interrupt_reg.h
index 1eb016ab24..60e9481a21 100644
--- a/components/soc/esp32p4/include/soc/interrupt_reg.h
+++ b/components/soc/esp32p4/include/soc/interrupt_reg.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -25,6 +25,22 @@ extern "C" {
 #define INTERRUPT_CORE0_CPU_INT_THRESH_REG      (rv_utils_get_core_id() == 0 ? INTERRUPT_CURRENT_CORE_INT_THRESH_REG : INTERRUPT_OTHER_CORE_INT_THRESH_REG)
 #define INTERRUPT_CORE1_CPU_INT_THRESH_REG      (rv_utils_get_core_id() == 1 ? INTERRUPT_CURRENT_CORE_INT_THRESH_REG : INTERRUPT_OTHER_CORE_INT_THRESH_REG)
 
+#if CONFIG_ESP32P4_SELECTS_REV_LESS_V3
+
+/**
+ * The ESP32-P4 implements a non-standard version of the CLIC:
+ *  - The interrupt threshold is configured via a memory-mapped register instead of a CSR
+ *  - The mintstatus CSR is at 0x346 instead of 0xFB1 as per the official specification
+ */
+#define INTTHRESH_STANDARD  0
+#define MINTSTATUS_CSR      0x346
+
+#else /* CONFIG_ESP32P4_SELECTS_REV_LESS_V3 */
+
+#define INTTHRESH_STANDARD  1
+
+#endif /* CONFIG_ESP32P4_SELECTS_REV_LESS_V3 */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/tools/cmake/toolchain-esp32c5.cmake b/tools/cmake/toolchain-esp32c5.cmake
index 99e8281713..597f7f0df9 100644
--- a/tools/cmake/toolchain-esp32c5.cmake
+++ b/tools/cmake/toolchain-esp32c5.cmake
@@ -7,7 +7,8 @@ set(CMAKE_CXX_COMPILER riscv32-esp-elf-g++)
 set(CMAKE_ASM_COMPILER riscv32-esp-elf-gcc)
 set(_CMAKE_TOOLCHAIN_PREFIX riscv32-esp-elf-)
 
-set(_CMAKE_TOOLCHAIN_COMMON_FLAGS "-march=rv32imac_zicsr_zifencei_zaamo_zalrsc")
+set(_CMAKE_TOOLCHAIN_COMMON_FLAGS "-march=rv32imac_zicsr_zifencei_zaamo_zalrsc_zcb_zcmp_zcmt \
+                                   -mno-cm-popret -mno-cm-push-reverse")
 
 remove_duplicated_flags("${_CMAKE_TOOLCHAIN_COMMON_FLAGS} -mtune=esp-base ${CMAKE_C_FLAGS}" UNIQ_CMAKE_C_FLAGS)
 set(CMAKE_C_FLAGS "${UNIQ_CMAKE_C_FLAGS}" CACHE STRING "C Compiler Base Flags" FORCE)
diff --git a/tools/cmake/toolchain-esp32c61.cmake b/tools/cmake/toolchain-esp32c61.cmake
index 99e8281713..597f7f0df9 100644
--- a/tools/cmake/toolchain-esp32c61.cmake
+++ b/tools/cmake/toolchain-esp32c61.cmake
@@ -7,7 +7,8 @@ set(CMAKE_CXX_COMPILER riscv32-esp-elf-g++)
 set(CMAKE_ASM_COMPILER riscv32-esp-elf-gcc)
 set(_CMAKE_TOOLCHAIN_PREFIX riscv32-esp-elf-)
 
-set(_CMAKE_TOOLCHAIN_COMMON_FLAGS "-march=rv32imac_zicsr_zifencei_zaamo_zalrsc")
+set(_CMAKE_TOOLCHAIN_COMMON_FLAGS "-march=rv32imac_zicsr_zifencei_zaamo_zalrsc_zcb_zcmp_zcmt \
+                                   -mno-cm-popret -mno-cm-push-reverse")
 
 remove_duplicated_flags("${_CMAKE_TOOLCHAIN_COMMON_FLAGS} -mtune=esp-base ${CMAKE_C_FLAGS}" UNIQ_CMAKE_C_FLAGS)
 set(CMAKE_C_FLAGS "${UNIQ_CMAKE_C_FLAGS}" CACHE STRING "C Compiler Base Flags" FORCE)
diff --git a/tools/cmake/toolchain-esp32h4.cmake b/tools/cmake/toolchain-esp32h4.cmake
index 36fbc09076..10cfa96f58 100644
--- a/tools/cmake/toolchain-esp32h4.cmake
+++ b/tools/cmake/toolchain-esp32h4.cmake
@@ -7,7 +7,9 @@ set(CMAKE_CXX_COMPILER riscv32-esp-elf-g++)
 set(CMAKE_ASM_COMPILER riscv32-esp-elf-gcc)
 set(_CMAKE_TOOLCHAIN_PREFIX riscv32-esp-elf-)
 
-set(_CMAKE_TOOLCHAIN_COMMON_FLAGS "-march=rv32imafc_zicsr_zifencei_zaamo_zalrsc_xespdsp -mabi=ilp32f")
+set(_CMAKE_TOOLCHAIN_COMMON_FLAGS "-march=rv32imafcb_zicsr_zifencei_zaamo_zalrsc_zcb_zcmp_zcmt_zba_zbb_zbs_xespdsp \
+                                   -mabi=ilp32f \
+                                   -mno-cm-popret -mno-cm-push-reverse")
 
 remove_duplicated_flags("${_CMAKE_TOOLCHAIN_COMMON_FLAGS} -mtune=esp-base ${CMAKE_C_FLAGS}" UNIQ_CMAKE_C_FLAGS)
 set(CMAKE_C_FLAGS "${UNIQ_CMAKE_C_FLAGS}" CACHE STRING "C Compiler Base Flags" FORCE)