task_1s ()
{
  int _1;
  _Bool _2;
  int _3;

  <bb 2> :
  # DEBUG BEGIN_STMT
  CAN_Task_1000ms ();
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  _1 = gb.led_flag;
  _2 = _1 == 0;
  _3 = (int) _2;
  led_onoff (_3);
  return;

}


task_200ms ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  CAN_Task_200ms ();
  # DEBUG BEGIN_STMT
  PWM_for_dirve_mode ();
  return;

}


task_100ms ()
{
  unsigned char test_pwm.1_1;
  unsigned char test_pwm.2_2;
  unsigned char test_pwm.3_3;
  unsigned char _4;
  long unsigned int C_100ms.4_5;
  long unsigned int _6;

  <bb 2> :
  # DEBUG BEGIN_STMT
  test_pwm.1_1 = test_pwm;
  if (test_pwm.1_1 <= 99)
    goto <bb 3>; [INV]
  else
    goto <bb 4>; [INV]

  <bb 3> :
  # DEBUG BEGIN_STMT
  test_pwm.2_2 = test_pwm;
  test_pwm.3_3 = test_pwm.2_2;
  _4 = test_pwm.3_3 + 1;
  test_pwm = _4;
  goto <bb 5>; [INV]

  <bb 4> :
  # DEBUG BEGIN_STMT
  test_pwm = 0;

  <bb 5> :
  # DEBUG BEGIN_STMT
  C_100ms.4_5 = C_100ms;
  _6 = C_100ms.4_5 + 1;
  C_100ms = _6;
  # DEBUG BEGIN_STMT
  CAN_Task_100ms ();
  return;

}


task_50ms ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  return;

}


task_20ms ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  CAN_Task_20ms ();
  return;

}


task_10ms ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  CAN_Task_10ms ();
  return;

}


task_5ms ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  CAN_Task_5ms ();
  return;

}


task_2ms ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  ECU3_KATECH_Logit_2ms ();
  return;

}


task_1ms ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  return;

}


task_500us ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  can_tx_check ();
  # DEBUG BEGIN_STMT
  can_main_ECU3 ();
  return;

}


main ()
{
  u64 tick_200ms;
  u64 tick_5ms;
  u64 tick_500us;
  u64 tick_1ms;
  u64 tick_1sec;
  u64 tick_2ms;
  u64 tick_50ms;
  u64 tick_20ms;
  u64 tick_10ms;
  u64 tick_100ms;
  char ch;
  unsigned int _1;
  int _2;
  char ch.0_3;
  long unsigned int _4;
  long unsigned int _5;
  long unsigned int _6;
  long unsigned int _7;
  long unsigned int _8;
  long unsigned int _9;
  long unsigned int _10;
  long unsigned int _11;
  long unsigned int _12;
  long unsigned int _13;
  long unsigned int _14;
  long unsigned int _15;
  long unsigned int _16;
  long unsigned int _17;
  long unsigned int _18;
  long unsigned int _19;
  long unsigned int _20;
  long unsigned int _21;
  long unsigned int _22;
  long unsigned int _23;

  <bb 2> :
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  Gvar_init ();
  # DEBUG BEGIN_STMT
  Clock_Ip_Init (&Mcu_aClockConfigPB[0]);
  # DEBUG BEGIN_STMT
  Siul2_Port_Ip_Init (78, &g_pin_mux_InitConfigArr0);
  # DEBUG BEGIN_STMT
  IntCtrl_Ip_Init (&IntCtrlConfig_0);
  # DEBUG BEGIN_STMT
  IntCtrl_Ip_ConfigIrqRouting (&intRouteConfig);
  # DEBUG BEGIN_STMT
  Uart_Init ();
  # DEBUG BEGIN_STMT
  _1 = gb.pwm_max_tick;
  pwm_init (_1);
  # DEBUG BEGIN_STMT
  Adc_Init ();
  # DEBUG BEGIN_STMT
  i2c1_init ();
  # DEBUG BEGIN_STMT
  i2c0_init ();
  # DEBUG BEGIN_STMT
  SPI_init ();
  # DEBUG BEGIN_STMT
  Pit_Ip_Init (0, &PIT_0_InitConfig_PB);
  # DEBUG BEGIN_STMT
  Pit_Ip_InitChannel (0, &PIT_0_ChannelConfig_PB[0]);
  # DEBUG BEGIN_STMT
  Pit_Ip_EnableChannelInterrupt (0, 0);
  # DEBUG BEGIN_STMT
  Pit_Ip_StartChannel (0, 0, 20000);
  # DEBUG BEGIN_STMT
  ch_73 = 0;
  # DEBUG ch => ch_73
  goto <bb 4>; [INV]

  <bb 3> :
  # DEBUG BEGIN_STMT
  _2 = (int) ch_24;
  Can_Init_ECU3 (_2);
  # DEBUG BEGIN_STMT
  ch.0_3 = ch_24;
  ch_111 = ch.0_3 + 1;
  # DEBUG ch => ch_111

  <bb 4> :
  # ch_24 = PHI <ch_73(2), ch_111(3)>
  # DEBUG ch => ch_24
  # DEBUG BEGIN_STMT
  if (ch_24 <= 5)
    goto <bb 3>; [INV]
  else
    goto <bb 5>; [INV]

  <bb 5> :
  # DEBUG BEGIN_STMT
  board_init ();
  # DEBUG BEGIN_STMT
  tick_500us_75 ={v} gb.tmr_cnt;
  # DEBUG tick_500us => tick_500us_75
  # DEBUG BEGIN_STMT
  tick_1ms_76 ={v} gb.tmr_cnt;
  # DEBUG tick_1ms => tick_1ms_76
  # DEBUG BEGIN_STMT
  tick_2ms_77 ={v} gb.tmr_cnt;
  # DEBUG tick_2ms => tick_2ms_77
  # DEBUG BEGIN_STMT
  tick_5ms_78 ={v} gb.tmr_cnt;
  # DEBUG tick_5ms => tick_5ms_78
  # DEBUG BEGIN_STMT
  tick_10ms_79 ={v} gb.tmr_cnt;
  # DEBUG tick_10ms => tick_10ms_79
  # DEBUG BEGIN_STMT
  tick_20ms_80 ={v} gb.tmr_cnt;
  # DEBUG tick_20ms => tick_20ms_80
  # DEBUG BEGIN_STMT
  tick_50ms_81 ={v} gb.tmr_cnt;
  # DEBUG tick_50ms => tick_50ms_81
  # DEBUG BEGIN_STMT
  tick_100ms_82 ={v} gb.tmr_cnt;
  # DEBUG tick_100ms => tick_100ms_82
  # DEBUG BEGIN_STMT
  tick_200ms_83 ={v} gb.tmr_cnt;
  # DEBUG tick_200ms => tick_200ms_83
  # DEBUG BEGIN_STMT
  tick_1sec_84 ={v} gb.tmr_cnt;
  # DEBUG tick_1sec => tick_1sec_84
  # DEBUG BEGIN_STMT
  tmr_delay (1000);
  # DEBUG BEGIN_STMT
  WATCHDOG_HAL_Init ();
  # DEBUG BEGIN_STMT
  debug_printf ("Board Init Finished\n\r");

  <bb 6> :
  # tick_100ms_25 = PHI <tick_100ms_82(5), tick_100ms_26(26)>
  # tick_10ms_27 = PHI <tick_10ms_79(5), tick_10ms_28(26)>
  # tick_20ms_29 = PHI <tick_20ms_80(5), tick_20ms_30(26)>
  # tick_50ms_31 = PHI <tick_50ms_81(5), tick_50ms_32(26)>
  # tick_2ms_33 = PHI <tick_2ms_77(5), tick_2ms_34(26)>
  # tick_1sec_35 = PHI <tick_1sec_84(5), tick_1sec_36(26)>
  # tick_1ms_37 = PHI <tick_1ms_76(5), tick_1ms_38(26)>
  # tick_500us_39 = PHI <tick_500us_75(5), tick_500us_40(26)>
  # tick_5ms_41 = PHI <tick_5ms_78(5), tick_5ms_42(26)>
  # tick_200ms_43 = PHI <tick_200ms_83(5), tick_200ms_44(26)>
  # DEBUG tick_200ms => tick_200ms_43
  # DEBUG tick_5ms => tick_5ms_41
  # DEBUG tick_500us => tick_500us_39
  # DEBUG tick_1ms => tick_1ms_37
  # DEBUG tick_1sec => tick_1sec_35
  # DEBUG tick_2ms => tick_2ms_33
  # DEBUG tick_50ms => tick_50ms_31
  # DEBUG tick_20ms => tick_20ms_29
  # DEBUG tick_10ms => tick_10ms_27
  # DEBUG tick_100ms => tick_100ms_25
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  _4 ={v} gb.tmr_cnt;
  _5 = tick_1sec_35 + 1000;
  if (_4 >= _5)
    goto <bb 7>; [INV]
  else
    goto <bb 8>; [INV]

  <bb 7> :
  # DEBUG BEGIN_STMT
  tick_1sec_88 ={v} gb.tmr_cnt;
  # DEBUG tick_1sec => tick_1sec_88
  # DEBUG BEGIN_STMT
  task_1s ();

  <bb 8> :
  # tick_1sec_36 = PHI <tick_1sec_35(6), tick_1sec_88(7)>
  # DEBUG tick_1sec => tick_1sec_36
  # DEBUG BEGIN_STMT
  _6 ={v} gb.tmr_cnt;
  _7 = tick_200ms_43 + 200;
  if (_6 >= _7)
    goto <bb 9>; [INV]
  else
    goto <bb 10>; [INV]

  <bb 9> :
  # DEBUG BEGIN_STMT
  tick_200ms_90 ={v} gb.tmr_cnt;
  # DEBUG tick_200ms => tick_200ms_90
  # DEBUG BEGIN_STMT
  task_200ms ();

  <bb 10> :
  # tick_200ms_44 = PHI <tick_200ms_43(8), tick_200ms_90(9)>
  # DEBUG tick_200ms => tick_200ms_44
  # DEBUG BEGIN_STMT
  _8 ={v} gb.tmr_cnt;
  _9 = tick_100ms_25 + 100;
  if (_8 >= _9)
    goto <bb 11>; [INV]
  else
    goto <bb 12>; [INV]

  <bb 11> :
  # DEBUG BEGIN_STMT
  tick_100ms_92 ={v} gb.tmr_cnt;
  # DEBUG tick_100ms => tick_100ms_92
  # DEBUG BEGIN_STMT
  task_100ms ();

  <bb 12> :
  # tick_100ms_26 = PHI <tick_100ms_25(10), tick_100ms_92(11)>
  # DEBUG tick_100ms => tick_100ms_26
  # DEBUG BEGIN_STMT
  _10 ={v} gb.tmr_cnt;
  _11 = tick_50ms_31 + 50;
  if (_10 >= _11)
    goto <bb 13>; [INV]
  else
    goto <bb 14>; [INV]

  <bb 13> :
  # DEBUG BEGIN_STMT
  tick_50ms_94 ={v} gb.tmr_cnt;
  # DEBUG tick_50ms => tick_50ms_94
  # DEBUG BEGIN_STMT
  task_50ms ();

  <bb 14> :
  # tick_50ms_32 = PHI <tick_50ms_31(12), tick_50ms_94(13)>
  # DEBUG tick_50ms => tick_50ms_32
  # DEBUG BEGIN_STMT
  _12 ={v} gb.tmr_cnt;
  _13 = tick_20ms_29 + 20;
  if (_12 >= _13)
    goto <bb 15>; [INV]
  else
    goto <bb 16>; [INV]

  <bb 15> :
  # DEBUG BEGIN_STMT
  tick_20ms_96 ={v} gb.tmr_cnt;
  # DEBUG tick_20ms => tick_20ms_96
  # DEBUG BEGIN_STMT
  task_20ms ();

  <bb 16> :
  # tick_20ms_30 = PHI <tick_20ms_29(14), tick_20ms_96(15)>
  # DEBUG tick_20ms => tick_20ms_30
  # DEBUG BEGIN_STMT
  _14 ={v} gb.tmr_cnt;
  _15 = tick_10ms_27 + 10;
  if (_14 >= _15)
    goto <bb 17>; [INV]
  else
    goto <bb 18>; [INV]

  <bb 17> :
  # DEBUG BEGIN_STMT
  tick_10ms_98 ={v} gb.tmr_cnt;
  # DEBUG tick_10ms => tick_10ms_98
  # DEBUG BEGIN_STMT
  task_10ms ();

  <bb 18> :
  # tick_10ms_28 = PHI <tick_10ms_27(16), tick_10ms_98(17)>
  # DEBUG tick_10ms => tick_10ms_28
  # DEBUG BEGIN_STMT
  _16 ={v} gb.tmr_cnt;
  _17 = tick_5ms_41 + 5;
  if (_16 >= _17)
    goto <bb 19>; [INV]
  else
    goto <bb 20>; [INV]

  <bb 19> :
  # DEBUG BEGIN_STMT
  tick_5ms_100 ={v} gb.tmr_cnt;
  # DEBUG tick_5ms => tick_5ms_100
  # DEBUG BEGIN_STMT
  task_5ms ();

  <bb 20> :
  # tick_5ms_42 = PHI <tick_5ms_41(18), tick_5ms_100(19)>
  # DEBUG tick_5ms => tick_5ms_42
  # DEBUG BEGIN_STMT
  _18 ={v} gb.tmr_cnt;
  _19 = tick_2ms_33 + 2;
  if (_18 >= _19)
    goto <bb 21>; [INV]
  else
    goto <bb 22>; [INV]

  <bb 21> :
  # DEBUG BEGIN_STMT
  tick_2ms_102 ={v} gb.tmr_cnt;
  # DEBUG tick_2ms => tick_2ms_102
  # DEBUG BEGIN_STMT
  task_2ms ();

  <bb 22> :
  # tick_2ms_34 = PHI <tick_2ms_33(20), tick_2ms_102(21)>
  # DEBUG tick_2ms => tick_2ms_34
  # DEBUG BEGIN_STMT
  _20 ={v} gb.tmr_cnt;
  _21 = tick_1ms_37 + 1;
  if (_20 >= _21)
    goto <bb 23>; [INV]
  else
    goto <bb 24>; [INV]

  <bb 23> :
  # DEBUG BEGIN_STMT
  tick_1ms_104 ={v} gb.tmr_cnt;
  # DEBUG tick_1ms => tick_1ms_104
  # DEBUG BEGIN_STMT
  task_1ms ();

  <bb 24> :
  # tick_1ms_38 = PHI <tick_1ms_37(22), tick_1ms_104(23)>
  # DEBUG tick_1ms => tick_1ms_38
  # DEBUG BEGIN_STMT
  _22 ={v} gb.x500us;
  _23 = tick_500us_39 + 1;
  if (_22 >= _23)
    goto <bb 25>; [INV]
  else
    goto <bb 26>; [INV]

  <bb 25> :
  # DEBUG BEGIN_STMT
  tick_500us_106 ={v} gb.x500us;
  # DEBUG tick_500us => tick_500us_106
  # DEBUG BEGIN_STMT
  task_500us ();

  <bb 26> :
  # tick_500us_40 = PHI <tick_500us_39(24), tick_500us_106(25)>
  # DEBUG tick_500us => tick_500us_40
  # DEBUG BEGIN_STMT
  WATCHDOG_HAL_Fed ();
  # DEBUG BEGIN_STMT
  uds_wait ();
  # DEBUG BEGIN_STMT
  goto <bb 6>; [INV]

}