Posted on February 25, 2016 at 22:21Do you have a Joseph Yiu model Hard Fault handler, he's covered this in his books, here and on other ARM Forums. This can print out data to a terminal, and you can add other code to automate the reporting of your own system state. This can be easier than mining through the debugger, and stack frame data.
This would provide you with some register/fault statistics, examining those and the structures they point to you should be able to determine the nature of the fault.
Based on the data you've reported so far, I'm inclined to think that the handle (and structure behind it) have been overwritten in some fashion. This could be from some errant pointer, memcpy's or background DMA.
You should perhaps sanity check the code being used for the CAN_IER operation, ie make sure the pointer isn't NULL, and points to a valid range in RAM, and then iterate into the structure and check pointers in there. Ideally you want to be able to identify the condition that is going to precipitate the Hard Fault, and catch it before it happens. Once you've done that you need to work your way back through your code applying this test until you can contain/confine where the damage is occurring.
