rt-thread线程调度异常在stm32f103芯片上

int rt_application_init(void)
{
    init_modules();
    
    rt_thread_init(&watchdog_thread, "watchdog",
                                watchdog_thread_entry, RT_NULL, watchdog_thread_stack,
                                512,  10, 5);
    rt_thread_startup(&watchdog_thread);
    
    rt_thread_init(&motor_ctrl_thread, "motor_ctrl",
                                motor_ctrl_entry, RT_NULL, motor_ctrl_thread_stack,
                                1536, 11, 5);
    rt_thread_startup(&motor_ctrl_thread);
    
    rt_thread_init(&can_send_thread, "can_send",
                                can_send_entry, RT_NULL, can_send_thread_stack,
                                1024, 12, 5);
    rt_thread_startup(&can_send_thread);
    
    rt_thread_init(&can_recv_thread, "can_recv",
                                can_recv_entry, RT_NULL, can_recv_thread_stack,
                                1536, 13, 5);
    rt_thread_startup(&can_recv_thread);
    
    rt_thread_init(&servo_comm_thread, "servo_comm",
                                servo_comm_entry, RT_NULL, servo_comm_thread_stack,
                                1536, 14, 5);
    rt_thread_startup(&servo_comm_thread);
    
    rt_thread_init(&rf_comm_thread, "rf_comm",
                                rf_comm_entry, RT_NULL, rf_comm_thread_stack,
                                1024, 15, 5);
    rt_thread_startup(&rf_comm_thread);
    
    return 0;
}

void can_send_entry(void *parameter)
{
    U8 ucMailbox, ucSendCnt;

    while (1)
    {
        ucSendCnt = 0;
        while (usTXRead != usTXSave)
        {
            ucMailbox = CAN_Transmit(CAN1, &stTxBuff[usTXRead]);
            if(ucMailbox == CAN_TxStatus_NoMailBox)
            { 
                if(ucSendCnt < 10)
                {
                    ucSendCnt++;
                    rt_hw_us_delay(600);  //>126bit*4us
                }
                else
                {
                    rt_thread_delay(1);
                }
            }
            else
            {
                usTXRead++;
                if (usTXRead == LCAN_TX_BUFLEN) 
                {
                    usTXRead = 0;
                }
                ucTxFlag = TRUE;
            }
        }
        xgj_status_update();
        //led_indicate();
        rt_thread_delay(3);
    }
}

while(1)
    {
        ucStopFlag = FALSE;
        
        key_analysis(&ucSendFlag, &ucStopFlag);
        
        alarm_analysis();
        //rf_analysis(&ucSendFlag);
        if(g_sucModeFlag == MODE_AUTO && ucStopFlag == FALSE)
        {
            if(rt_event_recv(&event_ls_cmd, EVENT_RTC_TIMING, RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, 
                                RT_WAITING_NO, &e) == RT_EOK)
            {
                if(ucSendFlag > CTRL_PRI4_TIMING)
                {
                    ucSendFlag = CTRL_PRI4_TIMING;
                }
            }
            
            if(rt_event_recv(&event_ls_cmd, EVENT_LS_COMMOND, RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, 
                                RT_WAITING_NO, &e) == RT_EOK)
            {
                if(ucSendFlag > CTRL_PRI3_LOONGSEC)
                {
                    ucSendFlag = CTRL_PRI3_LOONGSEC;
                }
            }
            
            if(rt_event_recv(&event_ls_cmd, EVENT_RF_REMOTE, RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, 
                                RT_WAITING_NO, &e) == RT_EOK)
            {
                if(ucSendFlag > CTRL_PRI2_REMOTE)
                {
                    ucSendFlag = CTRL_PRI2_REMOTE;
                }
            }
        }
        
        if(ucSendFlag > 0 && ucSendFlag < CTRL_PRI_LOWEST && ucStopFlag == FALSE)
        {
            motor_start();
            g_sucPosition = POS_MIDDLE;
            ucSendFlag = CTRL_PRI_LOWEST;
        }

        rt_thread_delay(5);
    }

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