BSP

程序异常退出

发布于 2019-09-23 12:09:25 浏览：1853 订阅该版

* 本帖最后由 aozima 于 2019-9-23 12:24 编辑 *

> psr: 0x60000000
r00: 0x00000000
r01: 0x20003354
r02: 0x40003000
r03: 0x00000004
r04: 0xdeadbeef
r05: 0xdeadbeef
r06: 0x0803e3d5
r07: 0x23232323
r08: 0x08030f69
r09: 0x00000000
r10: 0x00000000
r11: 0x00000000
r12: 0x00000000
 lr: 0x0803e483
 pc: 0x6c640076
hard fault on thread: tidle0

thread   pri  status      sp     stack size max used left tick  error
-------- ---  ------- ---------- ----------  ------  ---------- ---
serial    25  suspend 0x0000007c 0x00000600    32%   0x00000009 000
sensor    15  suspend 0x000000a8 0x00000ffc    07%   0x00000009 000
main_log  15  suspend 0x00000078 0x00000ffc    27%   0x00000003 000
tshell    20  suspend 0x00000104 0x00001000    09%   0x00000002 000
log       15  suspend 0x000000d0 0x00000400    22%   0x0000000a 000
ulog_asy  30  suspend 0x00000080 0x00000400    14%   0x00000013 000
tidle0    31  running 0x00000054 0x00000200    38%   0x00000015 000
usage fault:
SCB_CFSR_UFSR:0x02 INVSTATE

这是什么原因导致的？
空闲线程，我只加了一个喂狗

```#define IWDG_DEVICE_NAME    "wdt"    /* 看门狗设备名称 */
#define IWDG_FEED_TIME      2343     // 40K/IWDG_PRESCALER_256  15s
#define IWDG_ENABLE  1
/**
 * @brief 声明内部结构体
 */

/**
 * @brief 定义内部局部变量 前缀加static
 */
static rt_device_t  wdg_dev;         /* 看门狗设备句柄 */
/**
 * @brief 代码实现区
 */
#if (IWDG_ENABLE==1)
static void idle_hook(void)
{
   /* 在空闲线程的回调函数里喂狗 */
    rt_device_control(wdg_dev, RT_DEVICE_CTRL_WDT_KEEPALIVE, NULL);
}
#endif
/**
 *@brief  看门狗初始化
 *@Note    看门狗频率为32K,分频为32;频率1K,周期1ms。最大值为0xfff。
 */
int hal_watchdog_init(void)
{
    rt_err_t ret = RT_EOK;
#if (IWDG_ENABLE==1)
    rt_uint32_t timeout = IWDG_FEED_TIME;    /* 溢出时间 10 秒 */

/* 根据设备名称查找看门狗设备，获取设备句柄 */
    wdg_dev = rt_device_find(IWDG_DEVICE_NAME);
    if (!wdg_dev)
    {
        rt_kprintf("find %s failed!<br>", IWDG_DEVICE_NAME);
        return -RT_ERROR;
    }
    /* 初始化设备 */
    ret = rt_device_init(wdg_dev);
    if (ret != RT_EOK)
    {
        rt_kprintf("initialize %s failed!<br>", IWDG_DEVICE_NAME);
        return -RT_ERROR;
    }
    /* 设置看门狗溢出时间 */
    ret = rt_device_control(wdg_dev, RT_DEVICE_CTRL_WDT_SET_TIMEOUT, &timeout);
    if (ret != RT_EOK)
    {
        rt_kprintf("set %s timeout failed!<br>", IWDG_DEVICE_NAME);
        return -RT_ERROR;
    }
    ret = rt_device_control(wdg_dev, RT_DEVICE_CTRL_WDT_START, RT_NULL);
    if (ret != RT_EOK)
    {
        rt_kprintf("start %s failed!<br>", IWDG_DEVICE_NAME);
        return -RT_ERROR;
    }
//    /* 设置空闲线程回调函数 */
    rt_thread_idle_sethook(idle_hook);
#endif
    return ret;
}
```

4 个回答

还没想好 2019-09-23

这家伙很懒，什么也没写！

cyycyh 2019-09-24

这家伙很懒，什么也没写！

>1. 把空闲线程栈增大一倍试试？
>2. 在 main 中调用喂狗函数，看看有没有问题。 ...

---

取消在空闲线程喂狗了；依然出现异常；
map文件：
    rt_pin_irq_enable                        0x0803e0f9   Thumb Code    50  pin.o(i.rt_pin_irq_enable)    rt_pin_mode                              0x0803e14d   Thumb Code    38  pin.o(i.rt_pin_mode)
   [u] rt_pin_read                              0x0803e195   Thumb Code    34  pin.o(i.rt_pin_read)[/u]
    rt_pin_write                             0x0803e1d9   Thumb Code    38  pin.o(i.rt_pin_write)
    rt_pwm_disable                           0x0803e221   Thumb Code    42  rt_drv_pwm.o(i.rt_pwm_disable)
出现的PC指针
    psr: 0x81000000
r00: 0x35325708
r01: 0x00000040
r02: 0x40011800
r03: 0x00000001
r04: 0x00000040
r05: 0x000012ab
r06: 0x200015a4
r07: 0x00000001
r08: 0x00000001
r09: 0xdeadbeef
r10: 0xdeadbeef
r11: 0xdeadbeef
r12: 0x00000000
 lr: 0x08030793
 pc: 0x0803e1ae
hard fault on thread: sensor

thread   pri  status      sp     stack size max used left tick  error
-------- ---  ------- ---------- ----------  ------  ---------- ---
serial    25  ready   0x0000011c 0x00000600    53%   0x00000005 000
sensor    15  running 0x000000a4 0x00000ffc    08%   0x00000003 000
main_log  15  suspend 0x00000078 0x00000ffc    26%   0x00000001 000
tshell    20  ready   0x00000104 0x00001000    09%   0x00000009 000
log       15  suspend 0x000000d0 0x00000400    22%   0x0000000a 000
ulog_asy  30  suspend 0x00000080 0x00000400    14%   0x00000014 000
tidle0    31  ready   0x00000044 0x00000200    38%   0x0000000b 000
bus fault:
SCB_CFSR_BFSR:0x82 PRECISERR SCB->BFAR:35325710