From 3e6bff32148571e77f398a7034ae72404fbe3434 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Thu, 7 May 2026 16:20:45 +0300
Subject: [PATCH] Init

---
 MainModesArbiter.c           |  9 ++++++--
 MainModesArbiter.h           |  8 +++----
 MainModesArbiter_InitStage.c | 44 ++++++++++++++++++------------------
 3 files changed, 33 insertions(+), 28 deletions(-)

diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 5741b64..e444006 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -31,7 +31,7 @@ const float Rw_max = 120.0f;     // Максимальное (для консе
  * @return                0 - успех, -1 - ошибка
  */
 int32_t CalculateSteps(float Rout_required, int32_t *CountStep100, int32_t *CountStep10) {
-    const float R_constL = 163.4f;
+    const float R_constL = 0.0f;//150.4f;
     const float R_ab_100k = 100000.0f;
     const float R_ab_10k = 10000.0f;
 
@@ -156,6 +156,8 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
     bool result = false;
 
+
+
 // Rwa — желаемое сопротивление между выводами W и A.
 // Rab — полное номинальное сопротивление потенциометра (5, 10, 50 или 100 кОм).
 // Rw — сопротивление движка (Wiper resistance). Типовое значение — 60 Ом (может варьироваться от 50 до 120 Ом).
@@ -214,9 +216,12 @@ static _Noreturn void Mma_Thread(tMma *env) {
 */
 
 
-    float required_resistance = 8000.00f;
+    float required_resistance = 4486.29f;
     CalculateSteps(required_resistance, &step100, &step10);
 
+//    step100 = 100;
+//    step10 = 0;
+
     step100 = 255 - step100;
     step10 = 255 - step10;
 
diff --git a/MainModesArbiter.h b/MainModesArbiter.h
index 0e5b27b..dc723b3 100644
--- a/MainModesArbiter.h
+++ b/MainModesArbiter.h
@@ -38,12 +38,12 @@ typedef struct {
 
     tIndication Indication;
 
-    tTaskSerial TaskSerialUSB;
-    tTaskSerial TaskSerialUART;
+    tTaskSerial TaskSerialUSB1;
+    tTaskSerial TaskSerialUSB2;
 
 
-    tTaskReceivedSerial TaskReceivedSerialUSB;
-    tTaskReceivedSerial TaskReceivedSerialUART;
+    tTaskReceivedSerial TaskReceivedSerialUSB1;
+    tTaskReceivedSerial TaskReceivedSerialUSB2;
 
     tTaskSerialToCanCyclic TaskSerialToCanCyclic0;
     tTaskSerialToCanCyclic TaskSerialToCanCyclic1;
diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index fa52222..7fb2b6b 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -37,7 +37,7 @@ static void Mma_InitSubSystems(tMma *env) {
 
     Mma_InitComIntLog(env);
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "Subsystem initialization")
-
+/*
     TaskSerialToCanCyclic0_Init(&env->TaskSerialToCanCyclic0,
                                 &env->canPorts->Can1_IO);
 
@@ -52,51 +52,51 @@ static void Mma_InitSubSystems(tMma *env) {
 
     TaskSerialToCanSpontany_Init(&env->TaskSerialToCanSpontany,
                                  &env->canPorts->Can1_IO,
-                                 &env->serialPorts->DEBUG_USART3_IO,
-                                 &env->serialPorts->SerialPortUsbIO
+                                 &env->serialPorts->SerialPortUsb1IO,
+                                 &env->serialPorts->SerialPortUsb2IO
 
     );
 
     TaskSerialToCanSpontany_StartThread(&env->TaskSerialToCanSpontany);
 
-
-    TaskSerialUSB_Init(&env->TaskSerialUSB,
-                       FROM_UART_USB,
-                       &env->serialPorts->SerialPortUsbIO,
+*/
+    TaskSerialUSB1_Init(&env->TaskSerialUSB1,
+                        FROM_USB1,
+                       &env->serialPorts->SerialPortUsb1IO,
                        &env->TaskSerialToCanCyclic0,
                        &env->TaskSerialToCanCyclic1,
                        &env->TaskSerialToCanSpontany
     );
-    TaskSerialUSB_StartThread(&env->TaskSerialUSB);
+    TaskSerialUSB1_StartThread(&env->TaskSerialUSB1);
 
 
-    TaskSerialUART_Init(&env->TaskSerialUART,
-                        FROM_UART,
-                        &env->serialPorts->DEBUG_USART3_IO,
+    TaskSerialUSB2_Init(&env->TaskSerialUSB2,
+                        FROM_USB2,
+                        &env->serialPorts->SerialPortUsb2IO,
                         &env->TaskSerialToCanCyclic0,
                         &env->TaskSerialToCanCyclic1,
                         &env->TaskSerialToCanSpontany
     );
 
-    TaskSerialUART_StartThread(&env->TaskSerialUART);
+    TaskSerialUSB2_StartThread(&env->TaskSerialUSB2);
 
-
-    Task_RECEIVED_SerialUART_Init(&env->TaskReceivedSerialUART,
+/*
+    Task_RECEIVED_SerialUSB1_Init(&env->TaskReceivedSerialUSB1,
                                   &env->canPorts->Can1_IO,
-                                  FROM_UART,
-                                  &env->serialPorts->DEBUG_USART3_IO);
+                                  FROM_USB1,
+                                  &env->serialPorts->SerialPortUsb1IO);
 
-    Task_RECEIVED_SerialUART_StartThread(&env->TaskReceivedSerialUART);
+    Task_RECEIVED_SerialUSB1_StartThread(&env->TaskReceivedSerialUSB1);
 
 
-    Task_RECEIVED_SerialUSB_Init(&env->TaskReceivedSerialUSB,
+    Task_RECEIVED_SerialUSB2_Init(&env->TaskReceivedSerialUSB2,
                                  &env->canPorts->Can1_IO,
-                                 FROM_UART_USB,
-                                 &env->serialPorts->SerialPortUsbIO);
-
-    Task_RECEIVED_SerialUSB_StartThread(&env->TaskReceivedSerialUSB);
+                                  FROM_USB2,
+                                 &env->serialPorts->SerialPortUsb2IO);
 
+    Task_RECEIVED_SerialUSB2_StartThread(&env->TaskReceivedSerialUSB2);
 
+*/
     SensorSpi_Init(&env->sensorSPI, env->spiPorts, &env->gpios->conns);
 
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization")