高手帮忙分析下怎么出现HardFault_Handler错误地，源码附上

只看该作者 · 2016-1-13 16:18

头文件定义结构体
#ifndef __APP_UART_H
#define __APP_UART_H
#include"stm32f10x.h"
#include "app_fifo.h"
#define       UART_MAX_NUM                      5

#define       UART_RCV_BUF_LEN             256

#define       UART_SND_BUF_LEN             1024

#define       UART_RCV_TIMEOUT             2       // 20ms

#define       SendHostCycleBufLen                      (4096)
#define       ReceiveHostCycleBufLen             (4096)

typedef struct _BufInfo_t_
{
      uint8_t             uchBuf[200];
      uint32_t             unLen;
}BufInfo_t;

typedef struct UART_SndInfo_t_
{
      uint8_t       SndBuf[UART_SND_BUF_LEN];
      uint32_t SndLen;
}UART_SndInfo_t;

typedef struct _UART_RcvInfo_t_
{
      uint8_t             RcvBuf[UART_RCV_BUF_LEN];
      uint32_t             RcvLen;
      uint32_t             RcvTimer;
}UART_RcvInfo_t;

/* 串口接收和发送的buf */
typedef struct UART_Info_t_
{
      UART_SndInfo_t             stSndInfo;                                                             // 临时存储往外发送的数据buf
      CycleBufInfo_t             stSendToHostCycleInfo;                                     // 按16字节发送时记录发给主机数据循环buf 状态的结构
      uint8_t                               uchSendToHostBuf[SendHostCycleBufLen];       // 按16字节发送时存储发给主机数据的循环buf

      BufInfo_t                      stHostFrameDataInfo;                                              //临时存放完整的一帧数据
      CycleBufInfo_t             stRcvHostCycleInfo;                                              //接收主机的数据使用的循环结构
      uint8_t                               uchRcvHostCycleBuf[(ReceiveHostCycleBufLen+256)];//主机数据存放的Buf

      BufInfo_t                      stObdFrameDataInfo;                                                       //临时存放完整的一帧数据
      CycleBufInfo_t             stRcvObdCycleInfo;                                              //接收OBD 的数据使用的循环结构
      uint8_t                               uchRcvObdCycleBuf[ReceiveHostCycleBufLen];//OBD 数据存放的Buf

      uint32_t                      unRcvPcTimer;                                                       //PC 透传模式下超时计数值

}UART_Info_t;

typedef struct systemParam_t_
{
      /*串口*/
      UART_Info_t                      stUartInfo;
}systemParam_t;

void USART1_Configuration(void);
void USART1_SendData(uint8_t SendData);
void UART1_SendByte(uint16_t Data);
int32_t DrvUART_Write(uint8_t uartId, uint8_t *pData, uint32_t dataLen);

#endif

轮询函数里调用
static void Polling_100ms(void)
{
DrvWatchDog_Feed();       //喂狗
Obd_TransStart();       //下达OBD开启数据流传输指令给卡车模块
}

/*
功          能: 开始OBD 数据流传输;
参数1 : 无；
返回值: 无；
*/
void Obd_TransStart(void)
{
      UART_SndInfo_t       *pSndInfo = pObdUartSndInfo;

      pSndInfo->SndLen = OBD_IfStartTsCmdPack(1, pSndInfo->SndBuf);

      DrvUART_Write(3, pSndInfo->SndBuf, pSndInfo->SndLen);
}

int OBD_IfStartTsCmdPack(int ReSendCnt, unsigned char *oCmdBuff)
{
      int cmdBuffLen = 0;
      OBD_PkgInData_t pkgdata;
      unsigned char *pstr = NULL;
      unsigned char *pCmdBuff = NULL;
      unsigned char data[OBD_PKGBUF_SIZE] = {0};

      if (oCmdBuff == NULL)
      {
            return OBD_FAILED;
      }

      pCmdBuff = oCmdBuff;

      memset(data, 0x00, OBD_PKGBUF_SIZE);

      memset(&pkgdata, 0x00, sizeof(OBD_PkgInData_t));
      pkgdata.data = data;
      pstr = pkgdata.data;

      *pstr++ = 0xff;
      *pstr++ = 0x00;
      *pstr++ = 0x00;
      *pstr++ = 0x00;
      *pstr++ = 0x00;
      pkgdata.datasize += 5;

      cmdBuffLen = OBD_GenerateObdPackage(CMD_TS_START, &pkgdata, pCmdBuff, ReSendCnt);

      return cmdBuffLen;
}

/*将OBD数据按照协议打包上传
函数返回值：数据包的长度
*/
static int OBD_GenerateObdPackage(obdcmd_t cmdId, OBD_PkgInData_t *pPkgData, unsigned char *pBuf, int isReSend)
{
      unsigned char *pstr = NULL;
      unsigned char *pstrtmp = NULL;
      unsigned short pkglen = 0;
      unsigned short datalen = 0;
      int pkgsize = 0;
      unsigned int cmd = ObdCmdArray[cmdId];

      if (pBuf == NULL)
      {
            return OBD_FAILED;
      }

      if (pPkgData == NULL)
            datalen = 0;
      else
            datalen = pPkgData->datasize;

      if (isReSend == 0)
            m_nPkgCounter++;

      pkglen = 1+2+datalen;       /* 加上一个字节的包长度和两个字节的命令字*/

      pstr = pBuf;
      pstrtmp = pBuf;

      //fill header
      *pstr++ = 0x55;
      pkgsize++;
      *pstr++ = 0xaa;
      pkgsize++;

      //fill dst addr
      *pstr++ = 0xf0;
      pkgsize++;

      //fill src addr
      *pstr++ = 0xf8;
      pkgsize++;

      //fill len
      *pstr++ = (unsigned char)((pkglen>>8)&0xff);
      pkgsize++;
      *pstr++ = (unsigned char)(pkglen&0xff);
      pkgsize++;

      //fill counter
      *pstr++ = m_nPkgCounter;
      pkgsize++;

      //fill cmd
      *pstr++ = (unsigned char)((cmd>>8)&0xff);
      pkgsize++;
      *pstr++ = (unsigned char)(cmd&0xff);
      pkgsize++;

      //fill data
      if (pPkgData != NULL)
      {
            memcpy(pstr, pPkgData->data, datalen);
            pstr += datalen;
            pkgsize += datalen;
      }
      //fill crc
      pstrtmp += 2;
      *pstr = CalXOR(pstrtmp, pkgsize-2);
      pkgsize++;

      return pkgsize;
}