hard fault inv state part 2

I am unsure how to debug this error. I am getting a hard fault exception that is taking me to an infinite loop for my stm32 eval2 board when I try to use the camera. I think that I am supposed to look at the registers for this problem, but I am unsure of what exactly to look for in the registers. I will post them here, I suppose, in case they are helpful for debugging. Also I am using keil and coding in c++.

R0    =   0x20029500
R1    =   0x00000000
R2    =   0x2002AE10
R3    =   0x000006A0
R4    =   0x00000FB4
R5    =   0x3FE8F5C3
R6    =   0x00000800
R7    =   0x20029C84
R8    =   0x2002917C
R9    =   0x00000001
R10   =   0x00000001
R11   =   0x0000001A
R12   =   0x20029180
R13(SP) = 0x2002B890
R14(LR) = 0xFFFFFFFD
R15(PC) = 0x080171C6
xPSR  =   0x01000003

BFAR: 0x10001100 CFSR: 0x00000000 HFSR: 0x00000000 DFSR: 0x00000000 AFSR: 0x00000000