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What can cause a Hardfault and how to catch it

Hi

I am investigating some weird issue where a device sometimes locks up: it is BLE connected to my iphone app, and then I bombard it with writes to a specific characteristic, to which I get a response via a notification on another characteristic. At some point, my app sees that the BLE device does not respond anymore and disconnects, My BLE device does not see this disconnect, the 'connection LED' stays on, and the debugger stopped in the hardfault_handler - I put a breakpoint there.

Question is: what can cause a hardfault? How can I determine that? And how can I get out of a hard fault? Is the only way the watchdog timer or a powercycle?

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