From 8ec7db34b5c28d05f4ddbb1494ff21ba23e04add Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Fri, 12 Dec 2025 16:21:37 +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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---
 MainModesArbiter.c | 56 ++++++++++++++++++++++++++++++++++++++++------
 1 file changed, 49 insertions(+), 7 deletions(-)

diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 22e62c8..1bc1c4e 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -30,8 +30,56 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
     can_rx_message_type frame_data;
 
+    uint32_t step = 0;
+
     for (;;) {
 
+        if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
+
+
+            if (env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE) {
+
+                switch (step) {
+                    case 0: {
+                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
+                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
+                        env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
+                        break;
+                    }
+                    case 1: {
+                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
+                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
+                        env->linTaskActuator0.linCommandActuator[0].POS = 6000;
+                        break;
+                    }
+                    case 2: {
+                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
+                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
+                        env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
+                        break;
+                    }
+                    case 3: {
+                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
+                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
+                        env->linTaskActuator0.linCommandActuator[0].POS = 0;
+                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
+                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0;
+                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1;
+                        break;
+                    }
+                    default: {
+                    }
+                }
+
+                ++step;
+            }
+
+            osMutexRelease(env->linTaskActuator0.access);
+        }
+
+/*
         uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);
 
         if (len > 0) {
@@ -47,15 +95,9 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
             env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, frame_data.data, frame_data.dlc, 1000);
         }
+*/
 
 
-        //uint8_t data[8] = {'1', '2', '3', '4', '5', '6', '7', '8'};
-        //env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, data, 8, 0);
-
-//        GpioPinSet(&env->gpios->Led.ledR, true);
-        //SystemDelayMs(500);
-//        GpioPinSet(&env->gpios->Led.ledR, false);
-
     }
 }