Hi Changyoon,
Unfortunately, I am not sure with your question.
Could you please specify what you mean by “crash”? Is it MCU reset, hang in some loop, motor stops, or something else?
The typical reason for unexpected MCU reset is an unexpected interrupt and followed code runaway. Here is example code for detection of unexpected interrupt source:
https://community.freescale.com/docs/DOC-330312
The next typical reason is an internal/external watchdog. Do you use COP watchdog?
Did you implement and code for enable/disable interrupts out of the standard behavior of interrupt routines (I bit is automatically set at begin of ISR and it is automatically cleared at the end of ISR) and global interrupt enable at the start of main code?
How did you set interrupt priorities?
Did you set CPMUVREGCTL register prior you start executing your code?
I hope it helps you.
Have a great day,
RadekS
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