程序卡在hardfault_handler

当程序卡在`HardFault_Handler`时，通常是由于程序发生了硬件故障或软件错误，导致CPU无法正常执行指令而触发了硬件故障异常。这种情况下，CPU会自动跳转到`HardFault_Handler`中断服务函数进行处理。

要解决这个问题，可以尝试以下几个步骤：

1.检查程序中是否存在空指针、数组越界、栈溢出等常见的软件错误。

2.检查硬件电路是否正常，例如是否存在电源电压不稳定、信号线接触不良等问题。

3.在`HardFault_Handler`中断服务函数中添加调试代码，例如打印寄存器状态、堆栈信息等，以便更好地定位问题。

以下是一个`HardFault_Handler`中断服务函数的示例代码：

void HardFault_Handler(void)
{
  __asm volatile
  (
    " tst lr, #4                                                \n"
    " ite eq                                                    \n"
    " mrseq r0, msp                                             \n"
    " mrsne r0, psp                                             \n"
    " ldr r1, [r0, #24]                                         \n"
    " ldr r2, handler2_address_const                            \n"
    " bx r2                                                     \n"
    " handler2_address_const: .word prvGetRegistersFromStack    \n"
  );
}

void prvGetRegistersFromStack( uint32_t *pulFaultStackAddress )
{
  /* These are volatile to try and prevent the compiler/linker optimising them
     away as the variables never actually get used.  If the debugger won't show the
     values of the variables, make them global my moving their declaration outside
     of this function. */
  volatile uint32_t r0;
  volatile uint32_t r1;
  volatile uint32_t r2;
  volatile uint32_t r3;
  volatile uint32_t r12;
  volatile uint32_t lr; /* Link register. */
  volatile uint32_t pc; /* Program counter. */
  volatile uint32_t psr;/* Program status register. */

  r0 = pulFaultStackAddress[ 0 ];
  r1 = pulFaultStackAddress[ 1 ];
  r2 = pulFaultStackAddress[ 2 ];
  r3 = pulFaultStackAddress[ 3 ];

  r12 = pulFaultStackAddress[ 4 ];
  lr = pulFaultStackAddress[ 5 ];
  pc = pulFaultStackAddress[ 6 ];
  psr = pulFaultStackAddress[ 7 ];

  /* When the following line is hit, the variables contain the register values. */
  for( ;; );
}