Are there any CPU-state bits indicating being in an exception/interrupt handler in ARM Cortex-A processors (like e.g. IPSR reister in ARM Cortex-M CPUs)? In other words, can we tell whether the main thread or exception handler is currently executed based only on the CPU registers' state?

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The CPSR mode field indicates what mode the processor is currently executing in. You cannot act on it directly, you have to move it into a gpr to examine it.