NB_APP_Code/app_1_4.c

/****************************************************************************
 *
 * Copy right:   2020-, Copyrigths of QIXIANG TECH Ltd.
 * File name:    app.c
 * Description:  QX app source file 
 * History:      Rev1.0   2020-10-16
 * Athuor:       chenjie 
 *
 ****************************************************************************/
//include 
#include "bsp.h"
#include "bsp_custom.h"
#include "osasys.h"
#include "ostask.h"
#include "queue.h"
#include "ps_event_callback.h"
#include "app.h"
#include "cmisim.h"
#include "cmimm.h"
#include "cmips.h"
#include "sockets.h"
#include "psifevent.h"
#include "ps_lib_api.h"
#include "lwip/netdb.h"
#include <cis_def.h>
#include "debug_log.h"
#include "slpman_ec616.h"
#include "plat_config.h"

//define
// app task static stack and control block
#define PROC_TASK_STACK_SIZE    (1024)


//uart def
#define Uart_Send_LEN         (8)
#define Uart_Rece_LEN         (16)
#define RTE_UART_RX_IO_MODE      RTE_UART1_RX_IO_MODE

//statement variable
extern ARM_DRIVER_USART Driver_USART1;
static ARM_DRIVER_USART *USARTdrv = &Driver_USART1;

/** \brief usart receive buffer */
uint8_t Uart_Data_buffer[8];

/** \brief usart send buffer */

/** \brief receive timeout flag */
volatile bool isRecvTimeout = false;

/** \brief receive complete flag */
volatile bool isRecvComplete = false;

uint8_t process0SlpHandler     = 0xff;
uint8_t process1SlpHandler     = 0xff;
uint8_t process2SlpHandler     = 0xff;
uint8_t deepslpTimerID         = 7;

/** \brief 电压传输 */

uint8_t Uart_Rece_BattCellU1_U4[8];
uint8_t Uart_Rece_BattCellU5_U8[8];
uint8_t Uart_Rece_BattCellU9_U12[8];
uint8_t Uart_Rece_BattCellU13_U14[8];
uint8_t Uart_Rece_BattT[8];
int16_t Uart_Rece_BattI=0x0000;
uint8_t Uart_Rece_Batt_states[6];
uint16_t Uart_Rece_BattU;
uint16_t Uart_Rece_Batt_MaxcellU;
uint16_t Uart_Rece_Batt_MincellU;
typedef enum
{
    PROCESS_STATE_IDLE = 0,
    PROCESS_STATE_WORK,
    PROCESS_STATE_SLEEP
}processSM;
typedef enum
{
    PROCESS_Uart_STATE_IDLE = 0,
    PROCESS_Uart_STATE_WORK,
    PROCESS_Uart_STATE_CHECK,
    PROCESS_Uart_STATE_SLEEP
}process_Uart;

static StaticTask_t           gProcessTask0;
static UINT8                    gProcessTaskStack0[PROC_TASK_STACK_SIZE];
static StaticTask_t           gProcessTask1;
static UINT8                    gProcessTaskStack1[PROC_TASK_STACK_SIZE];
static StaticTask_t           gProcessTask2;
static UINT8                    gProcessTaskStack2[PROC_TASK_STACK_SIZE];

processSM 	    gProc0State = PROCESS_STATE_IDLE;
process_Uart 	gProc1State = PROCESS_Uart_STATE_IDLE;
processSM 	    gProc2State = PROCESS_STATE_IDLE;
#define PROC_Task_STATE_SWITCH(a)  (gProc0State = a) //任务调度切换
#define PROC_Uart_STATE_SWITCH(a)  (gProc1State = a) //uart 状态切换
#define PROC_Can_STATE_SWITCH(a)  (gProc2State = a) //can 状态切换


unsigned int crc_chk(uint8_t* data, uint8_t length)
{  
    int j;
    uint16_t reg_crc=0xFFFF;
    while(length--)
    { 
        reg_crc ^= *data++;
        for(j=0;j<8;j++)
        { 
            if(reg_crc & 0x01)
            {
                reg_crc=(reg_crc>>1) ^ 0xA001;
            }
            else
            {
                reg_crc=reg_crc >>1;
            }
        }
    }
    return reg_crc;
}

uint8_t* Uart_Receive_func(Uart_Receive_Type Uart_Receive_Msg)
{
    uint8_t Uart_Rece_buffer[Uart_Rece_LEN];
    uint16_t CRC_Reve_buffer;
    uint16_t CRC_chk_buffer;
    uint8_t Uart_Send_buffer[8];
    uint8_t Rece_Data_Len;
    Uart_Send_buffer[0] = Uart_Receive_Msg.Bms_Address;
    Uart_Send_buffer[1] = Uart_Receive_Msg.Bms_Read_Funcode;
    Uart_Send_buffer[2] = Uart_Receive_Msg.Reg_Begin_H;
    Uart_Send_buffer[3] = Uart_Receive_Msg.Reg_Begin_L;
    Uart_Send_buffer[4] = Uart_Receive_Msg.Reg_Num_H;
    Uart_Send_buffer[5] = Uart_Receive_Msg.Reg_Num_L;
    CRC_chk_buffer = crc_chk(Uart_Send_buffer,6);
    Uart_Send_buffer[6] = CRC_chk_buffer;
    Uart_Send_buffer[7] = CRC_chk_buffer>>8;
    Uart_Rece_buffer[0]=0xfe;
    uint32_t timeout=0;
    USARTdrv->Send(Uart_Send_buffer,8);
    USARTdrv->Receive(Uart_Rece_buffer,13);
    Rece_Data_Len = 11;
    while((isRecvTimeout == false) && (isRecvComplete == false))// 未收到数据不叫时间超时，收到数据但是不全叫时间超时
    {
        timeout++;
        if (timeout>7000000)
        {
            timeout =0;
            isRecvTimeout = true;
            break;
        }
    }
    if (isRecvComplete == true)
    {
        isRecvComplete = false;
        CRC_chk_buffer =Uart_Rece_buffer[12]<<8|Uart_Rece_buffer[11];
        CRC_Reve_buffer = crc_chk(Uart_Rece_buffer,11);
        if (CRC_Reve_buffer == CRC_chk_buffer)//满足校验
        {
            for (uint8_t i = 0; i < 8; i++)
            {
                Uart_Data_buffer[i]=Uart_Rece_buffer[i+3];
            }
            return Uart_Data_buffer;
        }
        else //接收数据的校验不过暂时屏蔽
        {
            for (uint8_t i = 0; i < 8; i++)
            {
                Uart_Data_buffer[i]=0xff;
            }
            return Uart_Data_buffer;
        }
    }
    if (isRecvTimeout == true)//没收到数据，全部为空值
    {
        Uart_Data_buffer[0] = 0x00;
        Uart_Data_buffer[1] = 0x00;
        Uart_Data_buffer[2] = 0x00;
        Uart_Data_buffer[3] = 0x00;
        Uart_Data_buffer[4] = 0x00;
        Uart_Data_buffer[5] = 0x00;
        Uart_Data_buffer[6] = 0x00;
        Uart_Data_buffer[7] = 0xff;
        isRecvTimeout = false;
        osDelay(1000);
        return Uart_Data_buffer;
    }
}
void USART_callback(uint32_t event)
{
    if(event & ARM_USART_EVENT_RX_TIMEOUT)
    {
        isRecvTimeout = true;
    }
    if(event & ARM_USART_EVENT_RECEIVE_COMPLETE)
    {
        isRecvComplete = true;
    }
}

static void process0AppTask(void* arg)
{
    uint32_t inParam = 0xAABBCCDD;
    uint32_t cnt;
    slpManSetPmuSleepMode(true,SLP_HIB_STATE,false);
    slpManApplyPlatVoteHandle("process0slp",&process0SlpHandler);
    slpManSlpState_t slpstate = slpManGetLastSlpState();
    UINT8 Can_index = 0;
    UINT8 Uart_index = 0;
    uint32_t sleep_index = 0;
    PROC_Task_STATE_SWITCH(PROCESS_STATE_IDLE);
    slpManPlatVoteDisableSleep(process0SlpHandler, SLP_SLP2_STATE); 
    NetSocDisplay(0,LED_TURN_OFF);
    NetSocDisplay(1,LED_TURN_OFF);
    NetSocDisplay(2,LED_TURN_OFF);
    NetSocDisplay(3,LED_TURN_OFF);
    NetSocDisplay(4,LED_TURN_OFF);

    while(1)
    {
        switch(gProc0State)
        {
            case PROCESS_STATE_IDLE:
            {   
                PROC_Uart_STATE_SWITCH(PROCESS_Uart_STATE_CHECK);
                NetSocDisplay(0,LED_TURN_ON);
                osDelay(100);//delay 100ms
                if(Uart_Rece_BattI!=0x0000)
                {
                    PROC_Task_STATE_SWITCH(PROCESS_STATE_WORK);
                }
                sleep_index++;
                if(sleep_index>=100)
                {
                    NetSocDisplay(0,LED_TURN_OFF);
                    sleep_index=0;
                    PROC_Task_STATE_SWITCH(PROCESS_STATE_SLEEP);
                }
                break;
            }
            case PROCESS_STATE_WORK:
            {
                osDelay(10);//10ms
                Can_index++;
                Uart_index++;
                if (Uart_index >10)//Uart 100ms 调用一次
                {
                    PROC_Uart_STATE_SWITCH(PROCESS_Uart_STATE_WORK);
                    Uart_index = 0;
                }
                if (Can_index >=100)//Can 1000ms 调用一次
                {
                    PROC_Can_STATE_SWITCH(PROCESS_STATE_WORK);
                    Can_index = 0;
                }
                if(Uart_Rece_BattI==0x0000)
                {
                    sleep_index++;
                }
                else
                {
                    sleep_index = 0;
                }

                if (sleep_index >=6000)
                {
                    PROC_Task_STATE_SWITCH(PROCESS_STATE_SLEEP);
                    sleep_index = 0;
                }
                break;
                
            }
            case PROCESS_STATE_SLEEP:
            {

                slpManSlpState_t State;
                uint8_t cnt;
                PROC_Uart_STATE_SWITCH(PROCESS_Uart_STATE_SLEEP);
                PROC_Can_STATE_SWITCH(PROCESS_STATE_SLEEP);
                slpManPlatVoteEnableSleep(process0SlpHandler,SLP_SLP2_STATE);
                slpManPlatVoteDisableSleep(process0SlpHandler, SLP_HIB_STATE); 
                slpManDeepSlpTimerStart(deepslpTimerID, 300000); // create a 10s timer, DeepSleep Timer is always oneshoot
                while(1)                // now app can enter hib, but ps and phy maybe not, so wait here
                {
                    osDelay(3000);
                }
            }
        }
    }
}

static void process1AppTask(void* arg)
{
    USARTdrv->Initialize(USART_callback);
    USARTdrv->PowerControl(ARM_POWER_FULL);
    USARTdrv->Control(ARM_USART_MODE_ASYNCHRONOUS |
                      ARM_USART_DATA_BITS_8 |
                      ARM_USART_PARITY_NONE |
                      ARM_USART_STOP_BITS_1 |
                      ARM_USART_FLOW_CONTROL_NONE, 9600);
    int Rece_index = 0;
    uint8_t *Uart_Reve_Point = NULL;
    Uart_Receive_Type Uart_Receive_Msg;
	PROC_Uart_STATE_SWITCH(PROCESS_Uart_STATE_IDLE);
    slpManPlatVoteDisableSleep(process2SlpHandler, SLP_SLP2_STATE);
    Uart_Receive_Msg.Bms_Address = 0x01;
    Uart_Receive_Msg.Bms_Read_Funcode = 0x03;
    while(1)
    {
        switch(gProc1State)
        {
            case PROCESS_Uart_STATE_IDLE:
            {   
                NetSocDisplay(1,LED_TURN_ON);        
                Rece_index = 0;
                break;
            }
            case PROCESS_Uart_STATE_CHECK:
            {
                NetSocDisplay(1,LED_TURN_OFF);
                Uart_Receive_Msg.Reg_Begin_H = 0x00;
                Uart_Receive_Msg.Reg_Begin_L= 0x10;
                Uart_Receive_Msg.Reg_Num_H = 0x00;
                Uart_Receive_Msg.Reg_Num_L = 0x04;
                Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                Uart_Rece_BattI = *(Uart_Reve_Point+0)<<8 | *(Uart_Reve_Point+1);
                PROC_Uart_STATE_SWITCH(PROCESS_Uart_STATE_IDLE);
                break;
            }
            case PROCESS_Uart_STATE_WORK:
            {
                switch(Rece_index)
                {
                    case 0://读取电压1-4
                    {
                        Uart_Receive_Msg.Reg_Begin_H = 0x00;
                        Uart_Receive_Msg.Reg_Begin_L = 0x02;
                        Uart_Receive_Msg.Reg_Num_H = 0x00;
                        Uart_Receive_Msg.Reg_Num_L = 0x04;
                        Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                        for(int i =0;i<8;i++)
                        {
                            Uart_Rece_BattCellU1_U4[i] = *(Uart_Reve_Point+i);
                        }
                        break;
                    }
                    case 1://读取电压5-8
                    {
                        Uart_Receive_Msg.Reg_Begin_H = 0x00;
                        Uart_Receive_Msg.Reg_Begin_L= 0x06;
                        Uart_Receive_Msg.Reg_Num_H = 0x00;
                        Uart_Receive_Msg.Reg_Num_L = 0x04;
                        Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                        for(int i =0;i<8;i++)
                        {
                            Uart_Rece_BattCellU5_U8[i] = *(Uart_Reve_Point+i);
                        }
                        break;
                    }
                    case 2:
                    {
                        Uart_Receive_Msg.Reg_Begin_H = 0x00;
                        Uart_Receive_Msg.Reg_Begin_L= 0x0A;
                        Uart_Receive_Msg.Reg_Num_H = 0x00;
                        Uart_Receive_Msg.Reg_Num_L = 0x04;
                        Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                        for(int i =0;i<8;i++)
                        {
                            Uart_Rece_BattCellU9_U12[i] = *(Uart_Reve_Point+i);
                        }
                        break;
                    }
                    case 3:
                    {
                        Uart_Receive_Msg.Reg_Begin_H = 0x00;
                        Uart_Receive_Msg.Reg_Begin_L= 0x0E;
                        Uart_Receive_Msg.Reg_Num_H = 0x00;
                        Uart_Receive_Msg.Reg_Num_L = 0x04;
                        Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                        for(int i =0;i<8;i++)
                        {
                            Uart_Rece_BattCellU13_U14[i] = *(Uart_Reve_Point+i);
                        }
                        break;
                    }
                    case 4:
                    {
                        Uart_Receive_Msg.Reg_Begin_H = 0x00;
                        Uart_Receive_Msg.Reg_Begin_L= 0x14;
                        Uart_Receive_Msg.Reg_Num_H = 0x00;
                        Uart_Receive_Msg.Reg_Num_L = 0x04;
                        Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                        for(int i =0;i<8;i++)
                        {
                            Uart_Rece_BattT[i] = *(Uart_Reve_Point+i);
                        }
                        break;
                    }
                    case 5:
                    {
                        Uart_Receive_Msg.Reg_Begin_H = 0x00;
                        Uart_Receive_Msg.Reg_Begin_L= 0x10;
                        Uart_Receive_Msg.Reg_Num_H = 0x00;
                        Uart_Receive_Msg.Reg_Num_L = 0x04;
                        Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                        Uart_Rece_BattI = *(Uart_Reve_Point+0)<<8 | *(Uart_Reve_Point+1);
                        for (int i = 0; i < 6; i++)
                        {
                            Uart_Rece_Batt_states[i] = *(Uart_Reve_Point+2+i);
                        }
                        break;
                    }
                    case 6:
                    {
                        Uart_Receive_Msg.Reg_Begin_H = 0x00;
                        Uart_Receive_Msg.Reg_Begin_L= 0x2B;
                        Uart_Receive_Msg.Reg_Num_H = 0x00;
                        Uart_Receive_Msg.Reg_Num_L = 0x04;
                        Uart_Reve_Point = Uart_Receive_func(Uart_Receive_Msg);
                        Uart_Rece_BattU = *(Uart_Reve_Point+0)<<8 | *(Uart_Reve_Point+1);
                        Uart_Rece_Batt_MaxcellU = *(Uart_Reve_Point+2)<<8 | *(Uart_Reve_Point+3);
                        Uart_Rece_Batt_MincellU = *(Uart_Reve_Point+4)<<8 | *(Uart_Reve_Point+5);
                        break;
                    }
                    default:
                    {
                       PROC_Uart_STATE_SWITCH(PROCESS_Uart_STATE_IDLE);
                        break;
                    }
                }
                Rece_index++;
                break;
            }
            case PROCESS_Uart_STATE_SLEEP:
            {	
                slpManPlatVoteEnableSleep(process2SlpHandler, SLP_SLP2_STATE);  
                slpManPlatVoteDisableSleep(process2SlpHandler, SLP_HIB_STATE);  
                while(1)
                {
                    osDelay(3000);
                }           
                //此处休眠
                break;
            }
        }
    }
}
static void process2AppTask(void* arg)
{
	PROC_Can_STATE_SWITCH(PROCESS_STATE_IDLE);
    uint32_t Can_ID;
    NVIC_EnableIRQ(PadWakeup1_IRQn);
    Can_InitType param;
    Can_TxMsgType Can_TxMsg;
    param.baudrate = CAN_500Kbps;
    param.mode = REQOP_NORMAL;
    param.TxStdIDH = 0x00;
    param.TxStdIDL = 0x00;
    param.RxStdIDH[0] = 0x00;
    param.RxStdIDL[0] = 0x00;
    /*stdid 0000 0000 001x*/
    param.RxStdIDH[1] = 0x00;
    param.RxStdIDL[1] = 0x20;
    /*stdid 0000 0000 010x */
    param.RxStdIDH[2] = 0x00;
    param.RxStdIDL[2] = 0x40;
    /*stdid 0000 0000 011x*/
    param.RxStdIDH[3] = 0x00;
    param.RxStdIDL[3] =0x60;
    /*stdid 0000 0000 100x */
    param.RxStdIDH[4] = 0x00;
    param.RxStdIDL[4] = 0x80;
    /*stdid 0000 0000 101x*/
    param.RxStdIDH[5] = 0x00;
    param.RxStdIDL[5] =0xa0;
    param.packType = STD_PACK;
    HAL_Can_Init(param);
    int send_index = 0;
    slpManPlatVoteDisableSleep(process1SlpHandler, SLP_SLP2_STATE);
    while(1)
    {
        switch(gProc2State)
        {
            case PROCESS_STATE_IDLE:
            {
                send_index = 0;
                break;
            }
            case PROCESS_STATE_WORK:
            {
                switch(send_index)
                {
                    case 0:
                    {
                        Can_ID = 0x001;
                        for (int i = 0; i < 8; i++)
                        {
                            Can_TxMsg.Data[i] = Uart_Rece_BattCellU1_U4[i];
                        }
                        Can_TxMsg.stdIDH = Can_ID>>3;
                        Can_TxMsg.stdIDL = Can_ID<<5;
                        Can_TxMsg.DLC  = 8;
                        HAL_Can_Transmit(Can_TxMsg);
                        break;
                    }
                    case 1:
                    {
                        Can_ID = 0x013;
                        for (int i = 0; i < 8; i++)
                        {
                            Can_TxMsg.Data[i] = Uart_Rece_BattCellU5_U8[i];
                        }
                        Can_TxMsg.stdIDH = Can_ID>>3;
                        Can_TxMsg.stdIDL = Can_ID<<5;
                        Can_TxMsg.DLC  = 8;
                        HAL_Can_Transmit(Can_TxMsg);
                        break;
                    }
                    case 2:
                    {
                        Can_ID = 0x021;
                        for (int i = 0; i < 8; i++)
                        {
                            Can_TxMsg.Data[i] = Uart_Rece_BattCellU9_U12[i];
                        }
                        Can_TxMsg.stdIDH = Can_ID>>3;
                        Can_TxMsg.stdIDL = Can_ID<<5;
                        Can_TxMsg.DLC  = 8;
                        HAL_Can_Transmit(Can_TxMsg);
                        break;
                    }
                    case 3:
                    {
                        Can_ID = 0x031;
                        for (int i = 0; i < 4; i++)
                        {
                            Can_TxMsg.Data[i] = Uart_Rece_BattCellU13_U14[i];
                        }
                        Can_TxMsg.Data[4] = 0x00;
                        Can_TxMsg.Data[5] = 0x00;
                        Can_TxMsg.Data[6] = 0x00;
                        Can_TxMsg.Data[7] = 0x00;
                        Can_TxMsg.stdIDH = Can_ID>>3;
                        Can_TxMsg.stdIDL = Can_ID<<5;
                        Can_TxMsg.DLC  = 8;
                        HAL_Can_Transmit(Can_TxMsg);
                        break;
                    }
                    case 4:
                    {
                        Can_ID  = 0x101;
                        for (int i = 0; i < 4; i++)
                        {
                            Can_TxMsg.Data[i] = Uart_Rece_BattT[i*2+1];
                        }
                        Can_TxMsg.stdIDH = Can_ID>>3;
                        Can_TxMsg.stdIDL = Can_ID<<5;
                        Can_TxMsg.DLC  = 8;
                        HAL_Can_Transmit(Can_TxMsg);
                        break;
                    }
                    case 5:
                    {
                        Can_ID = 0x201;
                        Can_TxMsg.Data[0] = Uart_Rece_BattU>>8;
                        Can_TxMsg.Data[1] = Uart_Rece_BattU;
                        Can_TxMsg.Data[2] = 0x00;
                        Can_TxMsg.Data[3] = 0x00;//外电压
                        Can_TxMsg.Data[4] = 0x00;
                        Can_TxMsg.Data[5] = 0x00;//累加电压
                        Can_TxMsg.Data[6] = Uart_Rece_BattI>>8;
                        Can_TxMsg.Data[7] = Uart_Rece_BattI;
                        Can_TxMsg.stdIDH = Can_ID>>3;
                        Can_TxMsg.stdIDL = Can_ID<<5;
                        Can_TxMsg.DLC  = 8;
                        HAL_Can_Transmit(Can_TxMsg);
                        break;

                    }
                    default:
                    {
                       PROC_Can_STATE_SWITCH(PROCESS_STATE_IDLE);
                    }
                }
                send_index ++;	
                break;
            }
            case PROCESS_STATE_SLEEP:
            {   
                slpManPlatVoteEnableSleep(process1SlpHandler, SLP_SLP2_STATE); 
                slpManPlatVoteDisableSleep(process1SlpHandler, SLP_HIB_STATE);   
                while(1)
                {
                    osDelay(3000);
                }                                     
                break;
            }
        }
    }
}
/**
  \fn          process0Init(void)
  \brief       process0Init function.
  \return
*/
void process0Init(void)
{
    osThreadAttr_t task_attr;
#ifndef USING_PRINTF
    if(BSP_GetPlatConfigItemValue(PLAT_CONFIG_ITEM_LOG_CONTROL) != 0)
    {
        HAL_UART_RecvFlowControl(false);
    }
#endif

    memset(&task_attr,0,sizeof(task_attr));
    memset(gProcessTaskStack0, 0xA5,PROC_TASK_STACK_SIZE);
    task_attr.name = "Process0AppTask";
    task_attr.stack_mem = gProcessTaskStack0;
    task_attr.stack_size = PROC_TASK_STACK_SIZE;
    task_attr.priority = osPriorityNormal;//osPriorityBelowNormal;
    task_attr.cb_mem = &gProcessTask0;//task control block
    task_attr.cb_size = sizeof(StaticTask_t);//size of task control block

    osThreadNew(process0AppTask, NULL, &task_attr);
}
/**
  \fn          process1Init(void)
  \brief       process1Init function.
  \return
*/
void process1Init(void)
{
    osThreadAttr_t task_attr;
#ifndef USING_PRINTF
    if(BSP_GetPlatConfigItemValue(PLAT_CONFIG_ITEM_LOG_CONTROL) != 0)
    {
        HAL_UART_RecvFlowControl(false);
    }
#endif

    memset(&task_attr,0,sizeof(task_attr));
    memset(gProcessTaskStack1, 0xA5,PROC_TASK_STACK_SIZE);
    task_attr.name = "Process1AppTask";
    task_attr.stack_mem = gProcessTaskStack1;
    task_attr.stack_size = PROC_TASK_STACK_SIZE;
    task_attr.priority = osPriorityNormal;//osPriorityBelowNormal;
    task_attr.cb_mem = &gProcessTask1;//task control block
    task_attr.cb_size = sizeof(StaticTask_t);//size of task control block

    osThreadNew(process1AppTask, NULL, &task_attr);
}
/**
  \fn          process2Init(void)
  \brief       process2Init function.
  \return
*/
void process2Init(void)
{
    osThreadAttr_t task_attr;

    memset(&task_attr,0,sizeof(task_attr));
    memset(gProcessTaskStack2, 0xA5,PROC_TASK_STACK_SIZE);
    task_attr.name = "Process2AppTask";
    task_attr.stack_mem = gProcessTaskStack2;
    task_attr.stack_size = PROC_TASK_STACK_SIZE;
    task_attr.priority = osPriorityNormal;//osPriorityBelowNormal;
    task_attr.cb_mem = &gProcessTask2;//task control block
    task_attr.cb_size = sizeof(StaticTask_t);//size of task control block

    osThreadNew(process2AppTask, NULL, &task_attr);
}
/**
  \fn          appInit(void)
  \brief       appInit function.
  \return
*/
void appInit(void *arg)
{   
    process0Init();//任务调度和检测程序
	process1Init();//Uart程序
    process2Init();//Can程序
}

/**
  \fn          int main_entry(void)
  \brief       main entry function.
  \return
*/
void main_entry(void) {

    BSP_CommonInit();
    osKernelInitialize();

    registerAppEntry(appInit, NULL);
    if (osKernelGetState() == osKernelReady)
    {
        osKernelStart();
    }
    while(1);
}