diff --git a/cores/arduino/stm32/uart.c b/cores/arduino/stm32/uart.c
index 91c9c66d7e..bc246c10c3 100644
--- a/cores/arduino/stm32/uart.c
+++ b/cores/arduino/stm32/uart.c
@@ -607,12 +607,16 @@ size_t uart_debug_write(uint8_t *data, uint32_t size)
     index = serial_debug.index;
   }
 
+  HAL_NVIC_DisableIRQ(serial_debug.irq);
+
   while (HAL_UART_Transmit(uart_handlers[index], data, size, TX_TIMEOUT) != HAL_OK) {
     if ((HAL_GetTick() - tickstart) >=  TX_TIMEOUT) {
+      HAL_NVIC_EnableIRQ(serial_debug.irq);
       return 0;
     }
   }
 
+  HAL_NVIC_EnableIRQ(serial_debug.irq);
   return size;
 }
 
@@ -682,12 +686,14 @@ void uart_attach_rx_callback(serial_t *obj, void (*callback)(serial_t *))
   rx_callback[obj->index] = callback;
   rx_callback_obj[obj->index] = obj;
 
+  /* Must disable interrupt to prevent handle lock contention */
+  HAL_NVIC_DisableIRQ(obj->irq);
+
+  HAL_UART_Receive_IT(uart_handlers[obj->index], &(obj->recv), 1);
+
+  /* Enable interrupt */
   HAL_NVIC_SetPriority(obj->irq, 0, 1);
   HAL_NVIC_EnableIRQ(obj->irq);
-
-  if (HAL_UART_Receive_IT(uart_handlers[obj->index], &(obj->recv), 1) != HAL_OK) {
-    return;
-  }
 }
 
 /**
@@ -706,14 +712,15 @@ void uart_attach_tx_callback(serial_t *obj, int (*callback)(serial_t *))
   tx_callback[obj->index] = callback;
   tx_callback_obj[obj->index] = obj;
 
+  /* Must disable interrupt to prevent handle lock contention */
+  HAL_NVIC_DisableIRQ(obj->irq);
+
+  /* The following function will enable UART_IT_TXE and error interrupts */
+  HAL_UART_Transmit_IT(uart_handlers[obj->index], &obj->tx_buff[obj->tx_tail], 1);
+
   /* Enable interrupt */
   HAL_NVIC_SetPriority(obj->irq, 0, 2);
   HAL_NVIC_EnableIRQ(obj->irq);
-
-  /* The following function will enable UART_IT_TXE and error interrupts */
-  if (HAL_UART_Transmit_IT(uart_handlers[obj->index], &obj->tx_buff[obj->tx_tail], 1) != HAL_OK) {
-    return;
-  }
 }
 
 /**
@@ -790,16 +797,23 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
   }
 #else
   if (__HAL_UART_GET_FLAG(huart, UART_FLAG_PE) != RESET) {
-    tmpval = huart->Instance->RDR; /* Clear PE flag */
+    __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_PEF); /* Clear PE flag */
   } else if (__HAL_UART_GET_FLAG(huart, UART_FLAG_FE) != RESET) {
-    tmpval = huart->Instance->RDR; /* Clear FE flag */
+    __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_FEF); /* Clear FE flag */
   } else if (__HAL_UART_GET_FLAG(huart, UART_FLAG_NE) != RESET) {
-    tmpval = huart->Instance->RDR; /* Clear NE flag */
+    __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_NEF); /* Clear NE flag */
   } else if (__HAL_UART_GET_FLAG(huart, UART_FLAG_ORE) != RESET) {
-    tmpval = huart->Instance->RDR; /* Clear ORE flag */
+    __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_OREF); /* Clear ORE flag */
   }
 #endif
-
+  /* Restart receive interrupt after any error */
+  uint8_t index = uart_index(huart);
+  if (index < UART_NUM) {
+    serial_t *obj = rx_callback_obj[index];
+    if (!serial_rx_active(obj)) {
+      HAL_UART_Receive_IT(uart_handlers[obj->index], &(obj->recv), 1);
+    }
+  }
   UNUSED(tmpval);
 }