该函数中打印所有通用寄存器，特殊功能寄存器和SCB寄存器，并对SCB寄存器的内容进行了基本的解读，配合上述文字，可以更精确的定位发生Hardfault的原因和位置。

#define SCB_CFSR_MMFSR_IACCVIOL (0x01 << 0)
#define SCB_CFSR_MMFSR_DACCVIOL (0x01 << 1)
#define SCB_CFSR_MMFSR_MUNSTKERR (0x01 << 3)
#define SCB_CFSR_MMFSR_MSTKERR (0x01 << 4)
#define SCB_CFSR_MMFSR_MMARVALID (0x01 << 7)
#define SCB_CFSR_BFSR_IBUSERR (0x01 << (0 + 8))
#define SCB_CFSR_BFSR_PRECISERR (0x01 << (1 + 8))
#define SCB_CFSR_BFSR_IMPRECISERR (0x01 << (2 + 8))
#define SCB_CFSR_BFSR_UNSTKERR (0x01 << (3 + 8))
#define SCB_CFSR_BFSR_STKERR (0x01 << (4 + 8))
#define SCB_CFSR_BFSR_BFARVALID (0x01 << (7 + 8))
#define SCB_CFSR_UFSR_UNDEFINSTR (0x01 << (0 + 16))
#define SCB_CFSR_UFSR_INVSTATE (0x01 << (1 + 16))
#define SCB_CFSR_UFSR_INVPC (0x01 << (2 + 16))
#define SCB_CFSR_UFSR_NOCP (0x01 << (3 + 16))
#define SCB_CFSR_UFSR_UNALIGNED (0x01 << (8 + 16))
#define SCB_CFSR_UFSR_DIVBYZERO (0x01 << (9 + 16))
void FAULT_PrintFaultRegs(void)
{
    DBG_SendPolling("MMFSR : 0xx[%s%s%s%s%s]\r\n",
        SCB->CFSR & SCB_CFSR_MEMFAULTSR_Msk,
        (0 == (SCB_CFSR_MMFSR_IACCVIOL & SCB->CFSR)) ? "":"IACCVIOL|",
        (0 == (SCB_CFSR_MMFSR_DACCVIOL & SCB->CFSR)) ? "":"DACCVIOL|",
        (0 == (SCB_CFSR_MMFSR_MUNSTKERR & SCB->CFSR)) ? "":"MUNSTKERR|",
        (0 == (SCB_CFSR_MMFSR_MSTKERR & SCB->CFSR)) ? "":"MSTKERR|",
        (0 == (SCB_CFSR_MMFSR_MMARVALID & SCB->CFSR)) ? "":"MMARVALID|");
    DBG_SendPolling("BFSR : 0xx[%s%s%s%s%s%s]\r\n",
        SCB->CFSR & SCB_CFSR_BUSFAULTSR_Msk,
        (0 == (SCB_CFSR_BFSR_IBUSERR & SCB->CFSR)) ? "":"IBUSERR|",
        (0 == (SCB_CFSR_BFSR_PRECISERR & SCB->CFSR)) ? "":"PRECISERR|",
        (0 == (SCB_CFSR_BFSR_IMPRECISERR & SCB->CFSR))? "":"IMPRECISERR|",
        (0 == (SCB_CFSR_BFSR_UNSTKERR & SCB->CFSR)) ? "":"UNSTKERR|",
        (0 == (SCB_CFSR_BFSR_STKERR & SCB->CFSR)) ? "":"STKERR|",
        (0 == (SCB_CFSR_BFSR_BFARVALID & SCB->CFSR)) ? "":"BFARVALID|");
    DBG_SendPolling("UFSR : 0xx[%s%s%s%s%s%s]\r\n",
        SCB->CFSR & SCB_CFSR_USGFAULTSR_Msk,
        (0 == (SCB_CFSR_UFSR_UNDEFINSTR & SCB->CFSR)) ? "":"UNDEFINSTR|",
        (0 == (SCB_CFSR_UFSR_INVSTATE & SCB->CFSR)) ? "":"INVSTATE|",
        (0 == (SCB_CFSR_UFSR_INVPC & SCB->CFSR)) ? "":"INVPC|",
        (0 == (SCB_CFSR_UFSR_NOCP & SCB->CFSR)) ? "":"NOCP|",
        (0 == (SCB_CFSR_UFSR_UNALIGNED & SCB->CFSR)) ? "":"UNALIGNED|",
        (0 == (SCB_CFSR_UFSR_DIVBYZERO & SCB->CFSR)) ? "":"DIVBYZERO|");
    DBG_SendPolling("HFSR : 0xx[%s%s%s]\r\n",
        SCB->HFSR,
        (0 == (SCB_HFSR_DEBUGEVT_Msk & SCB->HFSR)) ? "":"DEBUGEVT|",
        (0 == (SCB_HFSR_FORCED_Msk & SCB->HFSR)) ? "":"FORCED|",
        (0 == (SCB_HFSR_VECTTBL_Msk & SCB->HFSR)) ? "":"VECTTBL|");
    DBG_SendPolling("DFSR : 0xx\r\n", SCB->DFSR);
    DBG_SendPolling("MMFAR : 0xx\r\n", SCB->MMFAR);
    DBG_SendPolling("BFAR : 0xx\r\n", SCB->BFAR);
    DBG_SendPolling("\r\n");
    return;
}
void FAULT_PrintGeneralRegs(uint32_t *stackaddr)
{
    DBG_SendPolling("\r\nExceptions:\r\n");
    DBG_SendPolling("r0 : 0xx\r\n", stackaddr[14]);
    DBG_SendPolling("r1 : 0xx\r\n", stackaddr[15]);
    DBG_SendPolling("r2 : 0xx\r\n", stackaddr[16]);
    DBG_SendPolling("r3 : 0xx\r\n", stackaddr[17]);
    DBG_SendPolling("r4 : 0xx\r\n", stackaddr[6]);
    DBG_SendPolling("r5 : 0xx\r\n", stackaddr[7]);
    DBG_SendPolling("r6 : 0xx\r\n", stackaddr[8]);
    DBG_SendPolling("r7 : 0xx\r\n", stackaddr[9]);
    DBG_SendPolling("r8 : 0xx\r\n", stackaddr[10]);
    DBG_SendPolling("r9 : 0xx\r\n", stackaddr[11]);
    DBG_SendPolling("r10 : 0xx\r\n", stackaddr[12]);
    DBG_SendPolling("r11 : 0xx\r\n", stackaddr[13]);
    DBG_SendPolling("r12 : 0xx\r\n", stackaddr[18]);
    DBG_SendPolling("lr : 0xx\r\n", stackaddr[19]);
    DBG_SendPolling("pc : 0xx\r\n", stackaddr[20]);
    DBG_SendPolling("xpsr: 0xx\r\n", stackaddr[21]);
    DBG_SendPolling("current xpsr: 0xx\r\n", stackaddr[5]);
    DBG_SendPolling("current lr : 0xx\r\n", stackaddr[4]);
    DBG_SendPolling("primask : 0xx\r\n", stackaddr[3]);
    DBG_SendPolling("basepri : 0xx\r\n", stackaddr[2]);
    DBG_SendPolling("faultmask: 0xx\r\n", stackaddr[1]);
    DBG_SendPolling("control : 0xx\r\n", stackaddr[0]);
    DBG_SendPolling("\r\n");
    return;
}
__ASM void HardFault_Handler(void)
{
    IMPORT FAULT_PrintGeneralRegs
    IMPORT FAULT_PrintFaultRegs
    PRESERVE8
    push {r4,r5,r6,r7,r8,r9,r10,r11}
    mrs r0, xpsr
    push {r0}
    mov r0, lr
    push {r0}
    mrs r0, primask
    push {r0}
    mrs r0, basepri
    push {r0}
    mrs r0, faultmask
    push {r0}
    mrs r0, control
    push {r0}
    mov r0, sp
    ldr r1, =FAULT_PrintGeneralRegs
    blx r1
    ldr r1, =FAULT_PrintFaultRegs
    blx r1
    b .
    nop
}