ucos-iii+stm32f105 任务调度进入HardFault_Handler

Question

移植ucos-iii，单个任务可以跑起来，但是创建两个任务后，两个任务无法进行调度，具体代码如下：
#define CAN1_TIMEOUT_PRIO 5
#define CAN1_TIMEOUT_STK_SIZE 2048
static OS_TCB CAN1_TIMEOUT_TCB;
static CPU_STK CAN1_TIMEOUT_Stk[CAN1_TIMEOUT_STK_SIZE];
void Task_CAN1_TimeOut(void *p_arg);
#define CAN1_SEND_PRIO 4
#define CAN1_SEND_STK_SIZE 2048
static OS_TCB CAN1_SEND_TCB;

static CPU_STK CAN1_SEND_Stk[CAN1_SEND_STK_SIZE];

void Task_CAN1_SEND(void *p_arg);

void Task_StartUp(void *p_arg)
{
    OS_ERR err;
    (void)p_arg;

    OSTaskCreate((OS_TCB        *)&CAN1_SEND_TCB,
                            (CPU_CHAR       *)"CAN1_SEND",
                            (OS_TASK_PTR        )Task_CAN1_SEND,
                            (void               *)0,
                            (OS_PRIO            )CAN1_SEND_PRIO,
                            (CPU_STK         *)&CAN1_SEND_Stk[0],
                            (CPU_STK_SIZE    )50,
                            (CPU_STK_SIZE    )CAN1_SEND_STK_SIZE,
                            (OS_MSG_QTY      )0,
                            (OS_TICK                 )0,
                            (void                   *)0,
                            (OS_OPT              )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
                            (OS_ERR             *)&err);

                OSTaskCreate((OS_TCB                *)&CAN1_TIMEOUT_TCB,
                            (CPU_CHAR           *)"CAN1_TIMEOUT",
                            (OS_TASK_PTR         )Task_CAN1_TimeOut,
                            (void                   *)0,
                            (OS_PRIO                 )CAN1_TIMEOUT_PRIO,
                            (CPU_STK                *)&CAN1_TIMEOUT_Stk[CAN1_TIMEOUT_STK_SIZE],
                            (CPU_STK_SIZE    )50,
                            (CPU_STK_SIZE    )CAN1_TIMEOUT_STK_SIZE,
                            (OS_MSG_QTY      )0,
                            (OS_TICK                 )0,
                            (void                   *)0,
                            (OS_OPT              )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
                            (OS_ERR             *)&err);
                OSTaskDel(&STARTUP_TCB, &err);
｝

main函数中创建Task_StartUp()这个任务，在Task_StartUp()这个任务中再创建上面两个任务，两个子任务的代码如下:

void Task_CAN1_TimeOut(void *p_arg)
{

    OS_ERR  err;
    (void)p_arg;

    while (1)
    {
        CAN1_WriteData(CEMData, 8, CEMID);
        OSTimeDlyHMSM(0,0,0,500,OS_OPT_TIME_HMSM_STRICT,&err);
    }
}

void Task_CAN1_SEND(void *p_arg)
{
    OS_ERR err;
    (void)p_arg;

    while (1)
    {
        CAN1_WriteData(CHMData, 8, CHMID);
        OSTimeDlyHMSM(0,0,0,250,OS_OPT_TIME_HMSM_STRICT,&err);
    }
}

目的是想让Task_CAN1_SEND()这个任务每隔250ms发送一次，Task_CAN1_TimeOut每隔500ms发送一次，
kei环境下j-link调试，发现程序死在HardFault_Handler()，该怎么解决?

Answer 1

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