diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index b82aaae..0ef03ac 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -48,13 +48,14 @@ static _Noreturn void Mma_Thread(tMma *env) {
     }
 
     for (;;) {
-
+/*
         LoggerInfoStatic(&env->slog.logger, LOG_TASK_ARB, "Zorro...")
         printf("Test Test Test Test Test Test Test Test Test Test XA XA ...\n");
 
         GpioPinToggle(&env->gpios->led.LED1);
 
         SystemDelayMs(500);
+*/
 
 /*
         if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
@@ -77,37 +78,50 @@ static _Noreturn void Mma_Thread(tMma *env) {
             LoggerFormatInfo(&env->slog.logger, LOG_TASK_ARB, "Temp2 = %d", temp2)
         }
 */
-
-/*
-
+        bool isBusy = true;
         if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
-
-
             if (env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE) {
+                isBusy = false;
+            }
+            osMutexRelease(env->linTaskActuator0.access);
+        }
 
-                switch (step) {
-                    case 0: {
+        if (isBusy == false) {
+
+            switch (step) {
+                case 0: {
+                    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
                         ++step;
-                        break;
+                        osMutexRelease(env->linTaskActuator0.access);
                     }
-                    case 1: {
+                    break;
+                }
+                case 1: {
+                    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].POS = 6000;
                         ++step;
-                        break;
+                        osMutexRelease(env->linTaskActuator0.access);
                     }
-                    case 2: {
+                    break;
+                }
+                case 2: {
+                    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
                         ++step;
-                        break;
+                        osMutexRelease(env->linTaskActuator0.access);
                     }
-                    case 3: {
+                    break;
+                }
+                case 3: {
+                    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
+
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].POS = 0;
@@ -116,28 +130,40 @@ static _Noreturn void Mma_Thread(tMma *env) {
                         env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                         env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                         env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
-                        ++step;
-                        break;
-                    }
 
-                    case 4: {
-                        SystemDelayMs(3000);
-                        ++step;
-                        //if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
-                        //    ++step;
-                        //}
-                        break;
-                    }
+                        resetStall(&env->linTaskActuator0);
+
+                        ++step;
+                        osMutexRelease(env->linTaskActuator0.access);
+                    }
+                    break;
+                }
+
+                case 4: {
+                    SystemDelayMs(10000);
+                    asm("nop");
+                    ++step;
+                    //if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
+                    //    ++step;
+                    //}
+                    break;
+                }
+
+                case 5: {
+                    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
 
-                    case 5: {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].POS = 0;
                         ++step;
-                        break;
+                        osMutexRelease(env->linTaskActuator0.access);
                     }
+                    break;
+                }
+
+                case 6: {
+                    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
 
-                    case 6: {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].POS = 6000;
@@ -146,18 +172,29 @@ static _Noreturn void Mma_Thread(tMma *env) {
                         env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                         env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                         env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
+
+                        resetStall(&env->linTaskActuator0);
+
                         ++step;
-                        break;
+                        osMutexRelease(env->linTaskActuator0.access);
                     }
+                    break;
+                }
 
-                    case 7: {
-                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
-                            ++step;
-                        }
-                        break;
-                    }
+                case 7: {
+                    SystemDelayMs(10000);
+                    asm("nop");
+                    ++step;
+
+                    //if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
+                    //    ++step;
+                    //}
+                    break;
+                }
+
+                case 8: {
+                    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
 
-                    case 8: {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].POS = 8000;
@@ -166,27 +203,31 @@ static _Noreturn void Mma_Thread(tMma *env) {
                         env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                         env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                         env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
+
+                        resetStall(&env->linTaskActuator0);
+
                         ++step;
-                        break;
-                    }
-
-                    case 9: {
-                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
-                            ++step;
-                        }
-                        break;
-                    }
-
-                    default: {
+                        osMutexRelease(env->linTaskActuator0.access);
                     }
+                    break;
                 }
 
+                case 9: {
+                    if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
+                        ++step;
+                    }
+                    break;
+                }
 
+                default: {
+                }
             }
 
-            osMutexRelease(env->linTaskActuator0.access);
+
         }
-*/
+
+
+
 /*
         uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);
 
@@ -205,6 +246,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
         }
 */
 
+        SystemDelayMs(100);
     }
 }
 
diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index c79fa83..2ab0ad5 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -80,7 +80,7 @@ static void Mma_InitSubSystems(tMma *env) {
 */
 
     tLinData *linData = Lin0_Init(GetLin0CallbackHandler);
-    Lin_0_Init(&env->linTaskActuator0, linData, &env->linPorts->lin0_Io);
+    Lin_0_Init(&env->linTaskActuator0, linData, &env->linPorts->lin0_Io, &env->slog.logger);
     Lin0_StartThread(&env->linTaskActuator0);
 
     Adc_0_Init(&env->adcTask0, &env->adcs->adc_0_IO);