最近在移植ucos_ii到stm32中去，历经挫折……（废话就不多说了）
眼看成功在即，发现任务切换问题总是会跳到HardFault_Handler中去。
环境：我在现在创建两个任务，任务A(优先级10）和任务B（优先级11），利用信号量事件驱动任务切换，初始化时把A的信号量初始值为1，B任务信号量为0。A任务先开始运行，执行完以后发信号给任务B，B收到信号，OSSemPend对B进行任务切换；B运行完，发信号给A，A收到信号，OSSemped切换任务……
现象：两个任务切换前十数次成功，跑一会以后会跳到HardFault_Handler中去。
大概原因：
1、单步调试时我发现，要单步较长时间才会产生中断；
2、任务优先级OSPrioHighRdy发生未知变化，不再是10或11而是其它值；
3、LR寄存器地址为不存在的0xFFFFFFF5
4、因为LR寄存器地址不存在，产生中断。
问题来了，怎么解决这个错误？是不是我分析错了？
跪求大牛莅临指导。
------解决方案--------------------
任务切换的时候要关闭中断。。。。
------解决方案--------------------
HardFault_Handler 一般是有数据溢出引起的 ，比如数据越界
给你个查看问题的思路吧:
*.s
HardFault_Handler\
PROC
; EXPORT HardFault_Handler [WEAK]
; B .
IMPORT hard_fault_handler_c
TST LR, #4
ITE EQ
MRSEQ R0, MSP
MRSNE R0, PSP
B hard_fault_handler_c
ENDP
*.c
void hard_fault_handler_c(unsigned int * hardfault_args)
{
/* Go to infinite loop when Hard Fault exception occurs */
unsigned int stacked_r0;
unsigned int stacked_r1;
unsigned int stacked_r2;
unsigned int stacked_r3;
unsigned int stacked_r12;
unsigned int stacked_lr;
unsigned int stacked_pc;
unsigned int stacked_psr;
stacked_r0 = ((unsigned long) hardfault_args[0]);
stacked_r1 = ((unsigned long) hardfault_args[1]);
stacked_r2 = ((unsigned long) hardfault_args[2]);
stacked_r3 = ((unsigned long) hardfault_args[3]);
stacked_r12 = ((unsigned long) hardfault_args[4]);
stacked_lr = ((unsigned long) hardfault_args[5]);
stacked_pc = ((unsigned long) hardfault_args[6]);
stacked_psr = ((unsigned long) hardfault_args[7]);
printf ("[Hard fault handler]\r\n");
printf("R0 = %x\r\n", stacked_r0);
printf ("R1 = %x\r\n", stacked_r1);
printf ("R2 = %x\r\n", stacked_r2);
printf ("R3 = %x\r\n", stacked_r3);
printf ("R12 = %x\r\n", stacked_r12);
printf ("LR = %x\r\n", stacked_lr);
printf ("PC = %x\r\n", stacked_pc);
printf ("PSR = %x\r\n", stacked_psr);
printf ("BFAR = %x\r\n", (*((volatile unsigned long *)(0xE000ED38))));
printf ("CFSR = %x\r\n", (*((volatile unsigned long *)(0xE000ED28))));
printf ("HFSR = %x\r\n", (*((volatile unsigned long *)(0xE000ED2C))));
printf("DFSR = %x\r\n", (*((volatile unsigned long *)(0xE000ED30))));
printf("AFSR = %x\r\n", (*((volatile unsigned long *)(0xE000ED3C))));
while (1)
{
}
}
这样把出错前的寄存器打印出来 看从那进入的