hardfault stm32f7xx

**
  * @brief This function handles Hard fault interrupt.
  */
void HardFault_Handler(void)
{
  /* USER CODE BEGIN HardFault_IRQn 0 */
    __asm volatile
        (
            " tst lr, #4                                                \n"
            " ite eq                                                    \n"
            " mrseq r0, msp                                             \n"
            " mrsne r0, psp                                             \n"
            " ldr r1, [r0, #24]                                         \n"
            " ldr r2, =prvGetRegistersFromStack                         \n"
            " bx r2                                                     \n"
        );
  /* USER CODE END HardFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
      __asm volatile("NOP\n");
    /* USER CODE END W1_HardFault_IRQn 0 */
  }
}

...

/* USER CODE BEGIN 1 */
void prvGetRegistersFromStack( uint32_t *pulFaultStackAddress )
{
/* These are volatile to try and prevent the compiler/linker optimising them
away as the variables never actually get used.  If the debugger won't show the
values of the variables, make them global my moving their declaration outside
of this function. */
volatile uint32_t r0  __unused;
volatile uint32_t r1  __unused;
volatile uint32_t r2  __unused;
volatile uint32_t r3  __unused;
volatile uint32_t r12 __unused;
volatile uint32_t lr  __unused; /* Link register. */
volatile uint32_t pc  __unused; /* Program counter. */
volatile uint32_t psr __unused;/* Program status register. */

    r0 =  pulFaultStackAddress[ 0 ];
    r1 =  pulFaultStackAddress[ 1 ];
    r2 =  pulFaultStackAddress[ 2 ];
    r3 =  pulFaultStackAddress[ 3 ];

    r12 = pulFaultStackAddress[ 4 ];
    lr =  pulFaultStackAddress[ 5 ];
    pc =  pulFaultStackAddress[ 6 ];
    psr = pulFaultStackAddress[ 7 ];

    /* When the following line is hit, the variables contain the register values. */

    for( uint32_t i = 0; i < 1000; i++) {
        BSP_LedSetAll(GPIO_PIN_SET);
        BSP_DelayMicros(500000);
        BSP_LedSetAll(GPIO_PIN_RESET);
        BSP_DelayMicros(500000);
    }

    //TODO: Set reset reason;
    NVIC_SystemReset();
}

/* USER CODE END 1 */