Init

MainModesArbiter.c

@@ -33,6 +33,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
         GpioPinSet(&env->gpios->Led.ledR1, false);
         SystemDelayMs(500);
 
+
     }
 }
 

MainModesArbiter.h

@@ -49,6 +49,7 @@ typedef struct {
     osMessageQueueId_t txDataQueue_Cyclic0;
     osMessageQueueId_t txDataQueue_Cyclic1;
 
+    tSensorSPI sensorSPI;
     struct {
         osThreadId_t id;
         uint32_t stack[2048 * 1];

MainModesArbiter_InitStage.c

@@ -80,6 +80,7 @@ static void Mma_InitSubSystems(tMma *env) {
 
     TaskSerialUART_StartThread(&env->TaskSerialUART);
 
+    SensorSpi_Init(&env->sensorSPI, env->spiPorts, &env->gpios->conns);
 
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization")