diff --git a/include/nuttx/irq.h b/include/nuttx/irq.h
index 0fa8867629966..3866f3e49f647 100644
--- a/include/nuttx/irq.h
+++ b/include/nuttx/irq.h
@@ -82,6 +82,14 @@
   while (0)
 #endif
 
+/* Interrupt was handled by this device */
+
+#define IRQ_HANDLED     0
+
+/* Handler requests to wake the handler thread */
+
+#define IRQ_WAKE_THREAD 1
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
@@ -160,6 +168,32 @@ extern "C"
 
 int irq_attach(int irq, xcpt_t isr, FAR void *arg);
 
+/****************************************************************************
+ * Name: irq_attach_thread
+ *
+ * Description:
+ *   Configure the IRQ subsystem so that IRQ number 'irq' is dispatched to
+ *   'isrthread'
+ *
+ * Input Parameters:
+ *   irq - Irq num
+ *   isr - Function to be called when the IRQ occurs, called in interrupt
+ *   context.
+ *   If isr is NULL the default handler is installed(irq_default_handler).
+ *   isrthread - called in thread context, If the isrthread is NULL,
+ *   then the ISR is being detached.
+ *   arg - privdate data
+ *   priority   - Priority of the new task
+ *   stack_size - size (in bytes) of the stack needed
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int irq_attach_thread(int irq, xcpt_t isr, xcpt_t isrthread, FAR void *arg,
+                      int priority, int stack_size);
+
 #ifdef CONFIG_IRQCHAIN
 int irqchain_detach(int irq, xcpt_t isr, FAR void *arg);
 #else
diff --git a/sched/irq/CMakeLists.txt b/sched/irq/CMakeLists.txt
index b569005c34019..6f3e23883b6e2 100644
--- a/sched/irq/CMakeLists.txt
+++ b/sched/irq/CMakeLists.txt
@@ -18,7 +18,8 @@
 #
 # ##############################################################################
 
-set(SRCS irq_initialize.c irq_attach.c irq_dispatch.c irq_unexpectedisr.c)
+set(SRCS irq_initialize.c irq_attach.c irq_attach_thread.c irq_dispatch.c
+         irq_unexpectedisr.c)
 
 if(CONFIG_SPINLOCK)
   list(APPEND SRCS irq_spinlock.c)
diff --git a/sched/irq/Make.defs b/sched/irq/Make.defs
index 926fe4caf8adb..cc8eafee828bc 100644
--- a/sched/irq/Make.defs
+++ b/sched/irq/Make.defs
@@ -19,6 +19,7 @@
 ############################################################################
 
 CSRCS += irq_initialize.c irq_attach.c irq_dispatch.c irq_unexpectedisr.c
+CSRCS += irq_attach_thread.c
 
 ifeq ($(CONFIG_SPINLOCK),y)
 CSRCS += irq_spinlock.c
diff --git a/sched/irq/irq.h b/sched/irq/irq.h
index b1be90ea85069..1bf1146ac98cc 100644
--- a/sched/irq/irq.h
+++ b/sched/irq/irq.h
@@ -44,6 +44,13 @@
 #  error CONFIG_ARCH_NUSER_INTERRUPTS is not defined
 #endif
 
+#ifdef CONFIG_ARCH_MINIMAL_VECTORTABLE
+#  define IRQ_TO_NDX(irq) \
+  (g_irqmap[(irq)] < CONFIG_ARCH_NUSER_INTERRUPTS ? g_irqmap[(irq)] : -EINVAL)
+#else
+#  define IRQ_TO_NDX(irq) (irq)
+#endif
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
diff --git a/sched/irq/irq_attach.c b/sched/irq/irq_attach.c
index 83249c4a2ef97..441861413a0ad 100644
--- a/sched/irq/irq_attach.c
+++ b/sched/irq/irq_attach.c
@@ -50,22 +50,13 @@ int irq_attach(int irq, xcpt_t isr, FAR void *arg)
 
   if ((unsigned)irq < NR_IRQS)
     {
+      int ndx = IRQ_TO_NDX(irq);
       irqstate_t flags;
-      int ndx;
 
-#ifdef CONFIG_ARCH_MINIMAL_VECTORTABLE
-      /* Is there a mapping for this IRQ number? */
-
-      ndx = g_irqmap[irq];
-      if ((unsigned)ndx >= CONFIG_ARCH_NUSER_INTERRUPTS)
+      if (ndx < 0)
         {
-          /* No.. then return failure. */
-
-          return ret;
+          return ndx;
         }
-#else
-      ndx = irq;
-#endif
 
       /* If the new ISR is NULL, then the ISR is being detached.
        * In this case, disable the ISR and direct any interrupts
diff --git a/sched/irq/irq_attach_thread.c b/sched/irq/irq_attach_thread.c
new file mode 100644
index 0000000000000..7973e68ed59d1
--- /dev/null
+++ b/sched/irq/irq_attach_thread.c
@@ -0,0 +1,208 @@
+/****************************************************************************
+ * sched/irq/irq_attach_thread.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <stdio.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+#include <nuttx/kthread.h>
+
+#include "irq/irq.h"
+#include "sched/sched.h"
+
+/****************************************************************************
+ * Privte Types
+ ****************************************************************************/
+
+/* This is the type of the list of interrupt handlers, one for each IRQ.
+ * This type provided all of the information necessary to irq_dispatch to
+ * transfer control to interrupt handlers after the occurrence of an
+ * interrupt.
+ */
+
+struct irq_thread_info_s
+{
+  xcpt_t handler;     /* Address of the interrupt handler */
+  FAR void *arg;      /* The argument provided to the interrupt handler. */
+  FAR sem_t *sem;     /* irq sem used to notify irq thread */
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static pid_t g_irq_thread_pid[NR_IRQS];
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/* Default interrupt handler for threaded interrupts.
+ * Useful for oneshot interrupts.
+ */
+
+static int irq_default_handler(int irq, FAR void *regs, FAR void *arg)
+{
+  FAR struct irq_thread_info_s *info = arg;
+  int ret = IRQ_WAKE_THREAD;
+
+  DEBUGASSERT(info->handler != NULL);
+  ret = info->handler(irq, regs, info->arg);
+
+  if (ret == IRQ_WAKE_THREAD)
+    {
+      nxsem_post(info->sem);
+      ret = OK;
+    }
+
+  return ret;
+}
+
+static int isr_thread_main(int argc, FAR char *argv[])
+{
+  int irq = atoi(argv[1]);
+  xcpt_t isr = (xcpt_t)((uintptr_t)strtoul(argv[2], NULL, 16));
+  xcpt_t isrthread = (xcpt_t)((uintptr_t)strtoul(argv[3], NULL, 16));
+  FAR void *arg = (FAR void *)((uintptr_t)strtoul(argv[4], NULL, 16));
+  struct irq_thread_info_s info;
+  sem_t sem;
+
+  info.sem = &sem;
+  info.arg = arg;
+  info.handler = isr;
+
+  nxsem_init(&sem, 0, 0);
+
+  irq_attach(irq, irq_default_handler, &info);
+
+#if !defined(CONFIG_ARCH_NOINTC)
+  up_enable_irq(irq);
+#endif
+
+  for (; ; )
+    {
+      if (nxsem_wait_uninterruptible(&sem) < 0)
+        {
+          continue;
+        }
+
+      isrthread(irq, NULL, arg);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: irq_attach_thread
+ *
+ * Description:
+ *   Configure the IRQ subsystem so that IRQ number 'irq' is dispatched to
+ *   'isrthread' and up_enable_irq will be invoked after isrthread started.
+ *
+ * Input Parameters:
+ *   irq - Irq num
+ *   isr - Function to be called when the IRQ occurs, called in interrupt
+ *   context.
+ *   If isr is NULL the default handler is installed(irq_default_handler).
+ *   isrthread - called in thread context, If the isrthread is NULL,
+ *   then the ISR is being detached.
+ *   arg - privdate data
+ *   priority   - Priority of the new task
+ *   stack_size - size (in bytes) of the stack needed
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int irq_attach_thread(int irq, xcpt_t isr, xcpt_t isrthread, FAR void *arg,
+                      int priority, int stack_size)
+{
+#if NR_IRQS > 0
+  FAR char *argv[5];
+  char arg1[32];  /* irq */
+  char arg2[32];  /* isr */
+  char arg3[32];  /* isrthread */
+  char arg4[32];  /* arg */
+  pid_t pid;
+  int ndx;
+
+  if ((unsigned)irq >= NR_IRQS)
+    {
+      return -EINVAL;
+    }
+
+  ndx = IRQ_TO_NDX(irq);
+  if (ndx < 0)
+    {
+      return ndx;
+    }
+
+  /* If the isrthread is NULL, then the ISR is being detached. */
+
+  if (isrthread == NULL)
+    {
+      irq_attach(irq, NULL, arg);
+      DEBUGASSERT(g_irq_thread_pid[ndx] != 0);
+      kthread_delete(g_irq_thread_pid[ndx]);
+      g_irq_thread_pid[ndx] = 0;
+
+      return OK;
+    }
+
+  if (g_irq_thread_pid[ndx] != 0)
+    {
+      return -EINVAL;
+    }
+
+  snprintf(arg1, sizeof(arg1), "%d", irq);
+  snprintf(arg2, sizeof(arg2), "%p", isr);
+  snprintf(arg3, sizeof(arg3), "%p", isrthread);
+  snprintf(arg4, sizeof(arg4), "%p", arg);
+  argv[0] = arg1;
+  argv[1] = arg2;
+  argv[2] = arg3;
+  argv[3] = arg4;
+  argv[4] = NULL;
+
+  pid = kthread_create("isr_thread", priority, stack_size,
+                        isr_thread_main, argv);
+  if (pid < 0)
+    {
+      return pid;
+    }
+
+  g_irq_thread_pid[ndx] = pid;
+
+#endif /* NR_IRQS */
+
+  return OK;
+}
diff --git a/sched/irq/irq_chain.c b/sched/irq/irq_chain.c
index f5bd0736c98d3..648ee83947bad 100644
--- a/sched/irq/irq_chain.c
+++ b/sched/irq/irq_chain.c
@@ -201,22 +201,13 @@ int irqchain_detach(int irq, xcpt_t isr, FAR void *arg)
 
   if ((unsigned)irq < NR_IRQS)
     {
+      int ndx = IRQ_TO_NDX(irq);
       irqstate_t flags;
-      int ndx;
 
-#ifdef CONFIG_ARCH_MINIMAL_VECTORTABLE
-      /* Is there a mapping for this IRQ number? */
-
-      ndx = g_irqmap[irq];
-      if ((unsigned)ndx >= CONFIG_ARCH_NUSER_INTERRUPTS)
+      if (ndx < 0)
         {
-          /* No.. then return failure. */
-
-          return ret;
+          return ndx;
         }
-#else
-      ndx = irq;
-#endif
 
       flags = spin_lock_irqsave(NULL);