From 220dc9ee4503f96de0ead0f0795e96632ac80966 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Tue, 24 Mar 2026 12:19:49 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9D=D0=B0=D1=87=D0=B0=D0=BB=D0=BE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MainModesArbiter_InitStage.c | 60 +++++++++++++++++-------------------
 1 file changed, 28 insertions(+), 32 deletions(-)

diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index 2be513c..91c75ed 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -51,16 +51,35 @@ static void Mma_InitSubSystems(tMma *env) {
     CommandLine_Init(&env->cli, &env->serialPorts->cliVirtualInIo);
     CommandLine_StartThread(&env->cli);
 
-    env->txDataQueue_Cyclic0 = osMessageQueueNew(5, sizeof(can_rx_message_type), NULL);
-    env->txDataQueue_Cyclic1 = osMessageQueueNew(5, sizeof(can_rx_message_type), NULL);
-    env->txDataQueue_Spontany = osMessageQueueNew(5, sizeof(can_rx_message_Spontany), NULL);
+
+    TaskSerialToCanCyclic0_Init(&env->TaskSerialToCanCyclic0,
+                                &env->canPorts->Can1_IO);
+
+    TaskSerialToCanCyclic0_StartThread(&env->TaskSerialToCanCyclic0);
+
+
+    TaskSerialToCanCyclic1_Init(&env->TaskSerialToCanCyclic1,
+                                &env->canPorts->Can1_IO);
+
+    TaskSerialToCanCyclic1_StartThread(&env->TaskSerialToCanCyclic1);
+
+
+    TaskSerialToCanSpontany_Init(&env->TaskSerialToCanSpontany,
+                                 &env->canPorts->Can1_IO,
+                                 &env->serialPorts->Rs232_IO,
+                                 &env->serialPorts->SerialPortUsbIO
+
+    );
+
+    TaskSerialToCanSpontany_StartThread(&env->TaskSerialToCanSpontany);
+
 
     TaskSerialUSB_Init(&env->TaskSerialUSB,
                        FROM_UART_USB,
                        &env->serialPorts->SerialPortUsbIO,
-                       env->txDataQueue_Cyclic0,
-                       env->txDataQueue_Cyclic1,
-                       env->txDataQueue_Spontany
+                       &env->TaskSerialToCanCyclic0,
+                       &env->TaskSerialToCanCyclic1,
+                       &env->TaskSerialToCanSpontany
     );
     TaskSerialUSB_StartThread(&env->TaskSerialUSB);
 
@@ -68,38 +87,15 @@ static void Mma_InitSubSystems(tMma *env) {
     TaskSerialUART_Init(&env->TaskSerialUART,
                         FROM_UART,
                         &env->serialPorts->Rs232_IO,
-                        env->txDataQueue_Cyclic0,
-                        env->txDataQueue_Cyclic1,
-                        env->txDataQueue_Spontany
+                        &env->TaskSerialToCanCyclic0,
+                        &env->TaskSerialToCanCyclic1,
+                        &env->TaskSerialToCanSpontany
     );
 
     TaskSerialUART_StartThread(&env->TaskSerialUART);
 
 
-    TaskSerialToCanCyclic0_Init(&env->TaskSerialToCanCyclic0,
-                                &env->canPorts->Can1_IO,
-                                env->txDataQueue_Cyclic0);
 
-    TaskSerialToCanCyclic0_StartThread(&env->TaskSerialToCanCyclic0);
-
-
-    TaskSerialToCanCyclic1_Init(&env->TaskSerialToCanCyclic1,
-                                &env->canPorts->Can1_IO,
-                                env->txDataQueue_Cyclic1);
-
-    TaskSerialToCanCyclic1_StartThread(&env->TaskSerialToCanCyclic1);
-
-
-
-    TaskSerialToCanSpontany_Init(&env->TaskSerialToCanSpontany,
-                                 &env->canPorts->Can1_IO,
-                                 env->txDataQueue_Spontany,
-                                 &env->TaskSerialUART.At,
-                                 &env->TaskSerialUSB.At
-
-    );
-
-    TaskSerialToCanSpontany_StartThread(&env->TaskSerialToCanSpontany);
 
 
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "Конец инициализации подсистем")