From 6b130cda428b139c4995c7f93b266de62f56927b Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Mon, 16 Feb 2026 12:23:25 +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?=
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---
 LinActuatorWork.c            |  7 ++++---
 LinActuatorWork.h            | 11 ++++++-----
 MainModesArbiter.c           | 17 ++++++++++-------
 MainModesArbiter_InitStage.c |  2 +-
 4 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/LinActuatorWork.c b/LinActuatorWork.c
index d44b0c5..459cdbb 100644
--- a/LinActuatorWork.c
+++ b/LinActuatorWork.c
@@ -17,6 +17,7 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
                      ActuatorCmdBus *actuator_Command_Model_trigger_local,
                      ActuatorCmdBusInput *actuator_Output_Model_local,
                      ActuatorCmdBusInput *actuator_Output_Model_model,
+                     bool *triggerCommand,
                      char *LOG_SIGN) {
 
     if (osMutexAcquire(linTaskActuator->access, 5000) == osOK) {
@@ -72,7 +73,7 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
     if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
 
         // Если принята команда
-        if (env->ModelTask.triggerCommand == true) {
+        if (*triggerCommand == true) {
 #if (LOG_LIN_ACTUATOR == 1)
             LoggerInfoStatic(LOGGER, LOG_SIGN, "DETECT COMMAND")
 #endif
@@ -81,9 +82,9 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
         }
 
         // Если прията команда и актуатор не занят
-        if ((env->ModelTask.triggerCommand == true) && (env->isActuatorWorkBusy == false)) {
+        if ((*triggerCommand == true) && (env->isActuatorWorkBusy == false)) {
 
-            env->ModelTask.triggerCommand = false;
+            *triggerCommand = false;
             env->isActuatorWorkBusy = true;
 
             // начало --- ВЫХОД МОДЕЛИ ----------
diff --git a/LinActuatorWork.h b/LinActuatorWork.h
index fa26ce2..47cc474 100644
--- a/LinActuatorWork.h
+++ b/LinActuatorWork.h
@@ -9,10 +9,11 @@
 #include "HVAC_model_types.h"
 
 void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
-                                          ActuatorCmdBus *actuator_Command_Model_local,
-                                          ActuatorCmdBus *actuator_Command_Model_trigger_local,
-                                          ActuatorCmdBusInput *actuator_Output_Model_local,
-                                          ActuatorCmdBusInput *actuator_Output_Model_model,
-                                          char *LOG_SIGN);
+                     ActuatorCmdBus *actuator_Command_Model_local,
+                     ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                     ActuatorCmdBusInput *actuator_Output_Model_local,
+                     ActuatorCmdBusInput *actuator_Output_Model_model,
+                     bool *triggerCommand,
+                     char *LOG_SIGN);
 
 #endif //HVAC_M7_LINACTUATORWORK_H
diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index f888b1a..d1da166 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -279,13 +279,15 @@ static _Noreturn void Mma_Thread(tMma *env) {
     env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
 //    env->pwms->pwmRearIo.run(env->pwms->pwmRearIo.env);
 
-    env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, 50);
-    env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, 50);
-    env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, 50);
-    env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, 50);
+
     for (;;) {
 
-/*
+
+        env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, 40);
+        env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, 50);
+        env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, 60);
+        env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, 70);
+
         SystemDelayMs(10);
         uint8_t pwm1 = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
         LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Front) = %d", pwm1)
@@ -301,13 +303,14 @@ static _Noreturn void Mma_Thread(tMma *env) {
         SystemDelayMs(10);
         uint8_t pwm4 = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearReservedCaptureIO.env);
         LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear Reserve) = %d", pwm4)
-*/
+
+
         LoadDataInFromModel(env);
         LinActuatorWork(env, &env->linTaskActuator1,
                         &env->actuator_Ch0_Command_Model_local_1,
                         &env->ModelTask.triggerActuatorCmdBus_1,
                         &env->actuator_Ch0_Input_Model_local_1,
-                        &rtDW.Actuator_Ch0_Status_Model, "Ln1 ");
+                        &rtDW.Actuator_Ch0_Status_Model, &env->ModelTask.triggerCommand1, "Ln1 ");
 
         SystemDelayMs(50);
 
diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index 2fe7772..742aa68 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -154,7 +154,7 @@ static void Mma_InitSubSystems(tMma *env) {
 
     StandBy_Init(&env->standBy);
 
-    ModelTask_Init(&env->ModelTask, &env->slog.logger);
+    ModelTask_Init(&env->ModelTask, &env->linTaskActuator1, &env->linTaskActuator2, &env->linTaskActuator3, &env->slog.logger);
 
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization")