程序运行过程中进入了硬件错误

psr: 0x010f0000
r00: 0xffffffff
r01: 0x20024001
r02: 0x0009e247
r03: 0x20024000
r04: 0x2001f591
r05: 0x2001f594
r06: 0x00000c00
r07: 0x2001f468
r08: 0xdeadbeef
r09: 0xdeadbeef
r10: 0xdeadbeef
r11: 0xdeadbeef
r12: 0x200139d0
 lr: 0x08014783
 pc: 0x08012cac
hard fault on th
[14:53:26.564]收←◆read: auth
thread   pri  status      sp     stack size max used left tick  error
-------- ---  ------- ---------- ----------  ------  ---------- ---
wlink     30  suspend 0x000001fc 0x00000600    80%   0x00000005 000
printer   10  ready   0x00000164 0x00001000    61%   0x00000004 -02
auth       9  running 0x000002c8 0x00000c00    55%   0x0000000d 000
audio      5  suspend 0x00002504 0x00007710    88%   0x00000011 000
btn       16  ready   0x000000b0 0x00000800    34%   0x00000003 -02
vTaskAud  25  suspend 0x0000009c 0x00000200    81%   0x00000004 000
vTaskDat  10  suspend 0x000000b4 0x00000200    35%   0x00000005 000
vTaskPri   7  suspend 0x000000c4 0x00000200    38%   0x00000001 000
vTaskPri   6  suspend 0x000000e4 0x00000900    47%   0x00000003 000
at_clnt    9  suspend 0x000000fc 0x00000600    68%   0x00000003 000
at_clnt    9  suspend 0x00000100 0x00000600    19%   0x00000005 000
tshell    20  suspend 0x00000184 0x00000400    37%   0x0000000a 000
sys_work  23  suspend 0x0000010c 0x00000800    62%   0x00000005 000
tidle0    31  ready   0x00000068 0x00000200    45%   0x00000006 000
timer      4  suspend 0x00000080 0x00000100    68%   0x0000000a 000
main       8  suspend 0x00000158 0x00001000    50%   0x00000007 000
FPU active!
bus fault:
SCB_CFSR_BFSR:0x82 PRECISERR SCB->BFAR:20024000