From 872eeab6b6c6a2cf6c368d7a3120d23f86779172 Mon Sep 17 00:00:00 2001
From: darya <dd@ficom-it.ru>
Date: Wed, 18 Feb 2026 15:59:36 +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=20=D0=BA=D0=BE=D0=BC=D0=B0=D0=BD=D0=B4=D0=B8?=
 =?UTF-8?q?=D1=80=D0=BE=D0=B2=D0=BA=D0=B0?=
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 LinActuatorWork.c            |  2 +-
 MainModesArbiter.c           | 20 ++++++++++++++++++--
 MainModesArbiter_InitStage.c |  4 ++--
 3 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/LinActuatorWork.c b/LinActuatorWork.c
index 6566ecc..ba23d94 100644
--- a/LinActuatorWork.c
+++ b/LinActuatorWork.c
@@ -65,7 +65,7 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
             actuator_Output_Model_local->Error_Connect = linTaskActuator->error_connect;
             actuator_Output_Model_local->Busy = linTaskActuator->busy;
 
-            LoggerFormatInfo(LOGGER, LOG_SIGN, "Busy = %d Error_Connect = %d", actuator_Output_Model_local->Busy, actuator_Output_Model_local->Error_Connect)
+//            LoggerFormatInfo(LOGGER, LOG_SIGN, "Busy = %d Error_Connect = %d", actuator_Output_Model_local->Busy, actuator_Output_Model_local->Error_Connect)
 
         }
 
diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index f184523..6a58732 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -227,7 +227,7 @@ void LoadDataInFromModel(tMma *env) {
         rtDW.ADC_Key_Data_Model.EmergencyAirCleanSwitch = GpioPinGet(&env->gpios->EmergencyAirCleanSwitch);
         rtDW.ADC_Key_Data_Model.FireExtinguishSwitch = GpioPinGet(&env->gpios->FireExtinguishSwitch);
         rtDW.ADC_Key_Data_Model.Ign_Wakeup = GpioPinGet(&env->gpios->Ign_Wakeup);
-
+/*
         PWM_Get.pwmPercentFront = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
         PWM_Get.pwmPercentRear = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env);
         PWM_Get.pwmPercentFrontReserved = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontReservedCaptureIO.env);
@@ -242,6 +242,22 @@ void LoadDataInFromModel(tMma *env) {
         env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, rtDW.PWM_Set_Model.pwmPercentRear);
         env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, rtDW.PWM_Set_Model.pwmPercentFrontReserved);
         env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, rtDW.PWM_Set_Model.pwmPercentRearReserved);
+*/
+
+
+
+        rtDW.PWM_Set_Model.pwmPercentFront = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
+        rtDW.PWM_Set_Model.pwmPercentRear= env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env);
+        rtDW.PWM_Set_Model.pwmPercentFrontReserved = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontReservedCaptureIO.env);
+        rtDW.PWM_Set_Model.pwmPercentRearReserved= env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearReservedCaptureIO.env);
+
+
+
+        env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, PWM_Get.pwmPercentFront);
+        env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, PWM_Get.pwmPercentRear);
+        env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, PWM_Get.pwmPercentFrontReserved);
+        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));
@@ -280,7 +296,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
     LoadDataInFromModel(env);
 
-    ModelTask_StartThread(&env->ModelTask);
+//    ModelTask_StartThread(&env->ModelTask);
 
 
 /*
diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index 45ebf6e..15ad577 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -148,11 +148,11 @@ static void Mma_InitSubSystems(tMma *env) {
 
     tLinData *linData4 = Lin4_Init(GetLin123CallbackHandler);
     Lin_4_Init(&env->linTaskSensor4, linData4, &env->linPorts->lin4_Io, &env->slog.logger);
-    Lin4_StartThread(&env->linTaskSensor4);
+//    Lin4_StartThread(&env->linTaskSensor4);
 
     tLinData *linData5 = Lin5_Init(GetLin123CallbackHandler);
     Lin_5_Init(&env->linTaskSensor5, linData5, &env->linPorts->lin5_Io, &env->slog.logger);
-    Lin5_StartThread(&env->linTaskSensor5);
+//    Lin5_StartThread(&env->linTaskSensor5);
 
 
     Adc_0_Init(&env->adcTask0, &env->adcs->adc_0_IO, env->gpios);