使用定时器会不定时死机

static void heat_timeout(void* parameter)
{
 //  rt_kprintf("heat beat!\n");
     PWM_Control_Heat();
}
u8 initHeatTimer(u16 ms)
{
    heatProcessSeconds=0;
    rt_timer_init(&heatbeat, "heat timer",
                   heat_timeout, /* bind timeout callback function */
                   RT_NULL,
                   (1000 * ms) / (1000 * 1000 / RT_TICK_PER_SECOND) + 1,
                   RT_TIMER_FLAG_PERIODIC); 
    return TRUE;
}
void PWM_Control_Heat(void)
{
     PWM=PID_realize();
     TIM_SetCompare1(TIM14,PWM);    
}
void heat_test(float temp,u8 flag)
{
     setKP(502);//设置Kp
     setKI(7.4);//设置比例积分
     setKD(19);//设置比例积分
     PID_Init();
     setSETTEMP1(temp);
    if(heatctrl_flag == 0)
    {
         rt_kprintf("目标TEMP=%f\r\n",temp);
         initHeatTimer(1*1000);//初始化加热时间
         rt_timer_start(&heatbeat);//定时器开始加热
         heatctrl_flag = 1;heatctrl_flag_fff = 0;
    }
   return ;
}
void heat_run_stop(void)
{ 
    if(heatctrl_flag_fff == 0){
        if(rt_timer_stop(&heatbeat)  == RT_EOK)
        {
            TIM_SetCompare1(TIM14,0);
             heatctrl_flag = 0;
            heatctrl_flag_fff = 1;
      }
   return ;
    }
}
void TIM14_PWM_Init(u32 arr,u32 psc)// TIM14_PWM_Init(10000-1,9000-1);180M
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);            //使能TIM14时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF,ENABLE);            //使能io口时钟
    GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14);            //设置F9为TIM14的复用
    GPIO_InitStructure.GPIO_Pin        =    GPIO_Pin_9;                    //led0和led1对应的io口
    GPIO_InitStructure.GPIO_Mode    =    GPIO_Mode_AF;                //普通输出模式
    GPIO_InitStructure.GPIO_OType    =    GPIO_OType_PP;                //推挽输出
    GPIO_InitStructure.GPIO_Speed    =    GPIO_Speed_100MHz;            //高速模式
    GPIO_InitStructure.GPIO_PuPd    =    GPIO_PuPd_UP;                //上拉
    GPIO_Init(GPIOF,&GPIO_InitStructure);
    TIM_TimeBaseStructure.TIM_Period        =    arr;                //初始化定时器14
    TIM_TimeBaseStructure.TIM_Prescaler        =    psc;
    TIM_TimeBaseStructure.TIM_CounterMode    =    TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_ClockDivision    =    TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM14,&TIM_TimeBaseStructure);
    TIM_OCInitStructure.TIM_OCMode        =    TIM_OCMode_PWM1;        //pwm调制模式1
    TIM_OCInitStructure.TIM_OutputState    =    TIM_OutputState_Enable;    //比较输出使能
    TIM_OCInitStructure.TIM_OCPolarity    =    TIM_OCPolarity_High;        //输出极性低    
    TIM_OC1Init(TIM14,&TIM_OCInitStructure);
    TIM_SetCompare1(TIM14,PWM);
    TIM_OC1PreloadConfig(TIM14,TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM14,ENABLE);
    TIM_Cmd(TIM14,ENABLE);
}
电机参数
void pumpTurn_stop(void)
{
    union  scy_float_t   scy_floattemp;
    rt_timer_stop(&motorRaceTime);
    drvPulseExecute(DISABLE);//停止
      motorctrl_flag = 0;
}
static void motorrace_timeout(void* parameter)//电机走步超时
{
    if(flow_t.flag ) rt_event_send(&raceEvent, EVENT_FLAG6);
    else rt_event_send(&raceEvent,EVENT_FLAG1);
}
#if 1
u8 initmotorRaceTimer(u16 ms)//电机运动事件
{
    rt_timer_init(&motorRaceTime, "motor race timer",
                   motorrace_timeout, /* bind timeout callback function 绑定超时回调函数*/
                   RT_NULL,
                   (1000 * ms) / (1000 * 1000 / RT_TICK_PER_SECOND) + 1,
                   RT_TIMER_FLAG_ONE_SHOT); /* one shot */
//      rt_kprintf("电机走步数race: %d ms\n",ms);
    return TRUE;
}
void pumpTurn(struct FLOWPROCESS_T floww_t )//泵转
{
    union  scy_float_t   scy_floattemp;
     rt_uint32_t e;
    float speed=flow_t.speed;//转速
    u32 mseconds=flow_t.racetime;//时间
   if(speed >0){
         if(flow_t.dir==CW) {PUMPDRAIN; usSRegHoldBuf[ADDR_SingTASK_flag] = 1;usSRegHoldBuf[ADDR_pump_flag] = 1; }
             //抽
         else        {PUMPPUSH;    usSRegHoldBuf[ADDR_SingTASK_flag] = 2; usSRegHoldBuf[ADDR_pump_flag] = 2;}    //推
           setMotorFrq(speed);     //设置转速
             if(motorctrl_flag == 0){
                 rt_kprintf("pump 未在运行\n");
                 drvPulseExecute(ENABLE);//开
                 initmotorRaceTimer(mseconds);
                 rt_timer_start(&motorRaceTime); 
                 motorctrl_flag =1;
             } 
           while(1)
        {
               /* 接收事件，事件触发，接收完后清除事件标志 */
           if (rt_event_recv(&raceEvent, (EVENT_FLAG1),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
                                pumpTurn_stop();
                              motor_move_result_flag = MOTOR_TIMEOUT;//电机运行超时;
                          if(debuggg >=3){
                            rt_kprintf("pump overtime stop:racetime=%d,speed=%f,dir=%d\n", mseconds,speed*100,flow_t.dir);}
                           break;
           }
                     if (rt_event_recv(&raceEvent, (EVENT_FLAG6),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
                                pumpTurn_stop();
                         if(debuggg >=3){
                            rt_kprintf("MOTOR_TIMEOK stop:racetime=%d,speed=%f,dir=%d\n", mseconds,speed*100,flow_t.dir);}
                            motor_move_result_flag = MOTOR_TIMEOK;//电机运行时间到
                            break;
           }
                     //check liquid level3 检查液位开关 高
                      if (rt_event_recv(&tripEvent, (EVENT_FLAG2),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {    getMTLIOLowState();
                          if(flow_t.htierchk)//设置需要检测高水位
                         {
                             if(mt.top==LEVELUP)
                             { 
                                  pumpTurn_stop();
                                     motor_move_result_flag = MOTOR_TOPOK ;//高停止
                                 if(debuggg >=3){
                                 rt_kprintf("pump top stop:racetime=%d,speed=%f,dir=CW\n", mseconds,speed*100);}
                               break;
                             }
                         }
           }
                      if (rt_event_recv(&tripEvent, (EVENT_FLAG3),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
                           getMTLIOLowState();
                             if(flow_t.htierchk)//设置需要检测高水位
                             {
                                    if(mt.top==LEVELDN)
                                 { 
                                         pumpTurn_stop();
                                         motor_move_result_flag = MOTOR_TOPOK ;//高停止
                                     if(debuggg >=3){
                                      rt_kprintf("pump top stop:racetime=%d,speed=%f,dir=CCW\n", mseconds,speed*100);}
                                         break;
                                 }
                             }
           }
                     //check liquid level2 中
                      if (rt_event_recv(&tripEvent, (EVENT_FLAG4),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
                            getMTLIOLowState();
                                if(flow_t.mtierchk) 
                                {
                                     if(mt.mid==LEVELUP)
                                     {
                                         pumpTurn_stop();
                                            motor_move_result_flag = MOTOR_MIDOK ;//中停止
                                         if(debuggg >=3){
                                          rt_kprintf("pump mid stop:racetime=%d,speed=%f,dir=CW\n", mseconds,speed*100);}
                                            break;
                                     }
                             }
           }
                     if (rt_event_recv(&tripEvent, (EVENT_FLAG7),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
                            getMTLIOLowState();
                           if(flow_t.mtierchk)
                             {
                                    if(mt.mid==LEVELDN)
                                     {
                                         pumpTurn_stop();
                                            motor_move_result_flag = MOTOR_MIDOK ;//中停止
                                         if(debuggg >=3){
                                          rt_kprintf("pump mid stop:racetime=%d,speed=%f,dir=CCW\n", mseconds,speed*100);
                                         }
                                            break;
                                     }
                             }
           }
                     //check liquid level1 低
                      if (rt_event_recv(&tripEvent, (EVENT_FLAG5),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
                             getMTLIOLowState();
                          if(flow_t.ltierchk) 
                             {
                                 if(mt.bot==LEVELUP)
                                 {
                                        pumpTurn_stop();
                                        motor_move_result_flag = MOTOR_BOTOK ;
                      if(debuggg >=3){
                                                rt_kprintf("pump bot stop:racetime=%d,speed=%f,dir=CW\n", mseconds,speed*100);
                                         }
                                        break;
                                 }
                             }
            }
                     if (rt_event_recv(&tripEvent, (EVENT_FLAG8),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
                                getMTLIOLowState();
                           if(flow_t.ltierchk)
                             {
                                 getMTLIOLowState();
                                 if(mt.bot==LEVELDN)
                                 {    
                                      pumpTurn_stop();
                                        motor_move_result_flag = MOTOR_BOTOK ;
                      if(debuggg >=3){ 
                                     rt_kprintf("pump bot stop:racetime=%d,speed=%f,dir=CCW\n", mseconds,speed*100);
                                            }
                                        break;    
                                }
                            }
            }
                        if(usSRegHoldBuf[ADDR_run_pump_task]==3)//泵停止命令
                        {
                             pumpTurn_stop();
                             motor_move_result_flag = MOTOR_STOPOK ;
                           usSRegHoldBuf[ADDR_run_pump_task]=0;
                             break;
                        }    
                     if(usSRegHoldBuf[ADDR_return_ACTION] == 1) 
                     {
                         rt_kprintf("usSRegHoldBuf[ADDR_return_ACTION]=%d\n", usSRegHoldBuf[ADDR_return_ACTION]);
                            break;
                     }
        }
   }else     pumpTurn_stop();
}