From 4b56312fc80e9767510c1907bb88e8c97b192093 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Thu, 16 Apr 2026 13:55:16 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=BB=D0=B5?=
 =?UTF-8?q?=D0=BD=D0=B8=D0=B5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 LinActuatorWork.c  | 26 +++++++++++++++++---------
 MainModesArbiter.c |  1 -
 2 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/LinActuatorWork.c b/LinActuatorWork.c
index 5cd22c9..433cf78 100644
--- a/LinActuatorWork.c
+++ b/LinActuatorWork.c
@@ -21,27 +21,27 @@ static bool isBroadCastTriggered(tLinTaskActuator *env, ActuatorCmdBus *actuator
 static void showLogCommand(tMma *env, char *LOG_SIGN, uint8_t BUS_ADR, uint8_t COM) {
     switch (COM) {
         case LIN_ACT_CFR_NONE: {
-                LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - NO COMMAND", BUS_ADR)
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - NO COMMAND", BUS_ADR)
             break;
         }
 
         case LIN_ACT_CFR_MOD: {
-                LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_MOD", BUS_ADR)
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_MOD", BUS_ADR)
             break;
         }
 
         case LIN_ACT_CFR_INI: {
-                LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_INI", BUS_ADR)
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_INI", BUS_ADR)
             break;
         }
 
         case LIN_ACT_CFR_SET: {
-                LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_SET", BUS_ADR)
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_SET", BUS_ADR)
             break;
         }
 
         default: {
-                LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - UNKNOWN COMMAND", BUS_ADR)
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - UNKNOWN COMMAND", BUS_ADR)
             break;
         }
 
@@ -125,11 +125,13 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
 #if (LOG_LIN_ACTUATOR == 1)
             if (isBroadCastTriggered(linTaskActuator, actuator_Command_Model_trigger_local)) {
                 LoggerInfoStatic(LOGGER, LOG_SIGN, "DETECT COMMAND (BROADCAST):")
-                showLogCommand(env, LOG_SIGN, actuator_Command_Model_trigger_local->BUS_ADR[0], actuator_Command_Model_trigger_local->COM[0]);
+                showLogCommand(env, LOG_SIGN, actuator_Command_Model_trigger_local->BUS_ADR[0],
+                               actuator_Command_Model_trigger_local->COM[0]);
             } else {
                 LoggerInfoStatic(LOGGER, LOG_SIGN, "DETECT COMMAND (NO BROADCAST):")
                 for (uint8_t i = 0; i < linTaskActuator->LIN_ISSR_ALL; ++i) {
-                    showLogCommand(env, LOG_SIGN, actuator_Command_Model_trigger_local->BUS_ADR[i], actuator_Command_Model_trigger_local->COM[i]);
+                    showLogCommand(env, LOG_SIGN, actuator_Command_Model_trigger_local->BUS_ADR[i],
+                                   actuator_Command_Model_trigger_local->COM[i]);
                 }
             }
 #endif
@@ -144,8 +146,14 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
             // ВЫХОД МОДЕЛИ
             memcpy(actuator_Command_Model_local, actuator_Command_Model_trigger_local, sizeof(ActuatorCmdBus));
 
-            // Сброс STALL в состоянии актуатор и локальном состоянии
-            resetStall(linTaskActuator, (uint8_t *) actuator_Output_Model_local->in_Act_Stall_Slave, LOG_SIGN);
+            // Сброс STALL в состоянии актуатор (локальном состоянии)
+
+#if (LOG_LIN_ACTUATOR == 1)
+            LoggerInfoStatic(LOGGER, linTaskActuator->SIGN_LOG, "Reset LOCAL STALL (DETECT STALL RESET)")
+#endif
+            for (uint8_t i = 0; i < linTaskActuator->LIN_ISSR_ALL; ++i) {
+                actuator_Output_Model_local->in_Act_Stall_Slave[i] = LIN_STALL_STA_OFF;
+            }
 
             // конец --- ВЫХОД МОДЕЛИ ----------
 
diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 2c78e5b..421fcc6 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -263,7 +263,6 @@ void LoadDataInFromModel(tMma *env) {
         env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, PWM_Get.pwmPercentRearReserved);
 */
 
-        rtDW.t_now = GetSystemTick();
         memcpy(&rtDW.ADC_Data_Model, &env->ADC_Data_Model_local, sizeof(rtDW.ADC_Data_Model));
 
         if (env->ModelTask.isUpdate) {