Stm32cubemx+Freertos+fatfs+USB调试出现的问题

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1.USBH_Process_OS的调用

代码如下（示例）：

void MX_USB_HOST_Init(void)
{
  /* USER CODE BEGIN USB_HOST_Init_PreTreatment */

  /* USER CODE END USB_HOST_Init_PreTreatment */

  /* Init host Library, add supported class and start the library. */
  if (USBH_Init(&hUsbHostFS, USBH_UserProcess, HOST_FS) != USBH_OK)//调用了USBH_Init(&hUsbHostFS, USBH_UserProcess, HOST_FS)
  {
    Error_Handler();
  }
  if (USBH_RegisterClass(&hUsbHostFS, USBH_MSC_CLASS) != USBH_OK)
  {
    Error_Handler();
  }
  if (USBH_Start(&hUsbHostFS) != USBH_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USB_HOST_Init_PostTreatment */

  /* USER CODE END USB_HOST_Init_PostTreatment */
}

USBH_StatusTypeDef  USBH_Init(USBH_HandleTypeDef *phost,
                              void (*pUsrFunc)(USBH_HandleTypeDef *phost,
                                               uint8_t id), uint8_t id)
{
  /* Check whether the USB Host handle is valid */
  if (phost == NULL)
  {
    USBH_ErrLog("Invalid Host handle");
    return USBH_FAIL;
  }

  /* Set DRiver ID */
  phost->id = id;

  /* Unlink class*/
  phost->pActiveClass = NULL;
  phost->ClassNumber = 0U;

  /* Restore default states and prepare EP0 */
  (void)DeInitStateMachine(phost);

  /* Restore default Device connection states */
  phost->device.PortEnabled = 0U;
  phost->device.is_connected = 0U;
  phost->device.is_disconnected = 0U;
  phost->device.is_ReEnumerated = 0U;

  /* Assign User process */
  if (pUsrFunc != NULL)
  {
    phost->pUser = pUsrFunc;
  }

#if (USBH_USE_OS == 1U)
#if (osCMSIS < 0x20000U)

  /* Create USB Host Queue */
  osMessageQDef(USBH_Queue, MSGQUEUE_OBJECTS, uint16_t);
  phost->os_event = osMessageCreate(osMessageQ(USBH_Queue), NULL);

  /* Create USB Host Task */
#if defined (USBH_PROCESS_STACK_SIZE)
  osThreadDef(USBH_Thread, USBH_Process_OS, USBH_PROCESS_PRIO, 0U, USBH_PROCESS_STACK_SIZE);//使用OS时自动创建任务
#else
  osThreadDef(USBH_Thread, USBH_Process_OS, USBH_PROCESS_PRIO, 0U, 8U * configMINIMAL_STACK_SIZE);
#endif /* defined (USBH_PROCESS_STACK_SIZE) */

  phost->thread = osThreadCreate(osThread(USBH_Thread), phost);

#else

  /* Create USB Host Queue */
  phost->os_event = osMessageQueueNew(MSGQUEUE_OBJECTS, sizeof(uint32_t), NULL);

  /* Create USB Host Task */
  USBH_Thread_Atrr.name = "USBH_Queue";

#if defined (USBH_PROCESS_STACK_SIZE)
  USBH_Thread_Atrr.stack_size = USBH_PROCESS_STACK_SIZE;
#else
  USBH_Thread_Atrr.stack_size = (8U * configMINIMAL_STACK_SIZE);
#endif /* defined (USBH_PROCESS_STACK_SIZE) */

  USBH_Thread_Atrr.priority = USBH_PROCESS_PRIO;
  phost->thread = osThreadNew(USBH_Process_OS, phost, &USBH_Thread_Atrr);

#endif /* (osCMSIS < 0x20000U) */
#endif /* (USBH_USE_OS == 1U) */

  /* Initialize low level driver */
  (void)USBH_LL_Init(phost);

  return USBH_OK;
}
void MX_USB_HOST_Init(void)中调用了USBH_Init(&hUsbHostFS, USBH_UserProcess, HOST_FS)
在USBH_Init中,在使用OS时通过osThreadDef(USBH_Thread, USBH_Process_OS, USBH_PROCESS_PRIO, 0U, USBH_PROCESS_STACK_SIZE);创建任务,所以使用时只要初始化时调用MX_USB_HOST_Init();无需在自己创建;

2.调试出现HardFault_Handler

代码如下（示例）：

  osThreadDef(Uart1_Task, ReadUSBTask, osPriorityAboveNormal, 0, 1024);//文件系统需要较大的栈空间,默认的128需要改为1024
  Uart1_TaskHandle = osThreadCreate(osThread(Uart1_Task), NULL);