Начало

MainModesArbiter.c

@@ -7,10 +7,12 @@ void Mma_Init(
         tMma *env,
         tGpios *gpios,
         tSerialPorts *serialPorts,
+        tCanPorts *canPorts,
         tRtcs *rtcs
 ) {
     env->gpios = gpios;
     env->serialPorts = serialPorts;
+    env->canPorts = canPorts;
     env->rtcs = rtcs;
 
     InitThreadAtrStatic(&env->thread.attr, "Mma", env->thread.controlBlock, env->thread.stack, osPriorityNormal);

MainModesArbiter.h

@@ -13,15 +13,18 @@
 //Подсистемы
 #include "PowerManagement.h"
 #include "Rtcs.h"
+#include "CanPorts.h"
 #include "LoggerToSerialPort.h"
 #include "ComInt.h"
 #include "Indication.h"
 #include "CommandLines.h"
+#include "ArbiterCommand.h"
 
 typedef struct {
     // Преферийные интерфесы
     tGpios *gpios;
     tSerialPorts *serialPorts;
+    tCanPorts *canPorts;
     tLoggerToSerialPort slog;
     tComInt comInt;
 
@@ -33,6 +36,9 @@ typedef struct {
 
     tIndication Indication;
 
+    tTaskSerial TaskSerialUSB;
+    tTaskSerial TaskSerialUART;
+
     struct {
         osThreadId_t id;
         uint32_t stack[2048 * 1];
@@ -49,6 +55,7 @@ void Mma_Init(
         tMma *env,
         tGpios *gpios,
         tSerialPorts *serialPorts,
+        tCanPorts *canPorts,
         tRtcs *rtcs
 );
 

MainModesArbiter_InitStage.c

@@ -51,6 +51,23 @@ static void Mma_InitSubSystems(tMma *env) {
     CommandLine_Init(&env->cli, &env->serialPorts->cliVirtualInIo);
     CommandLine_StartThread(&env->cli);
 
+
+    TaskSerialUSB_Init(&env->TaskSerialUSB,
+                             0,
+                             &env->serialPorts->SerialPortUsbIO,
+                        &env->canPorts->Can1_IO
+    );
+    TaskSerialUSB_StartThread(&env->TaskSerialUSB);
+
+
+    TaskSerialUART_Init(&env->TaskSerialUART,
+                        0,
+                        &env->serialPorts->Rs232_IO,
+                        &env->canPorts->Can1_IO
+    );
+
+    TaskSerialUART_StartThread(&env->TaskSerialUART);
+
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "Конец инициализации подсистем")
 
 }