Обновление

LinActuatorWork.c

@@ -2,7 +2,7 @@
 // Created by cfif on 20.01.2026.
 //
 #include "LinActuatorWork.h"
-
+/*
 void LinActuatorWork(tMma *env) {
 
     if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
@@ -89,4 +89,5 @@ void LinActuatorWork(tMma *env) {
     }
 
 
-}
+}
+ */

MainModesArbiter.c

@@ -39,6 +39,53 @@ void Mma_Init(
 
 //uint8_t dataR[1024 * 2];
 
+
+void LoadDataInFromModel(tMma *env) {
+    int16_t temp1 = 0;
+    int16_t temp2 = 0;
+
+    if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
+        temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512);
+
+        env->rtDW.controllerDataIncarInput.InIncarFL = env->adcTask0.ADC_Data[0];
+
+        osMutexRelease(env->adcTask0.access);
+        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d", temp1)
+    }
+
+    if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
+        temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
+
+        env->rtDW.controllerDataIncarInput.InIncarFR = env->adcTask1.ADC_Data[0];
+
+        osMutexRelease(env->adcTask1.access);
+        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
+    }
+
+    if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
+        rtDW.t_now = GetSystemTick();
+        memcpy(&rtDW.controllerDataIncarInput, &env->rtDW, sizeof(env->rtDW));
+
+        if (env->ModelTask.isUpdate) {
+            env->ModelTask.isUpdate = false;
+
+
+            //bool IncarFLErr;
+            //bool IncarFRErr;
+            //bool IncarRLErr;
+            //bool IncarRRErr;
+
+
+            env->CCU_Errors.CCU_IncarTempErrF_Stat = 0; // CANIncarTempErrF
+            env->CCU_Errors.CCU_IncarTempErrR_Stat = 0; // CANIncarTempErrR
+            set_CCU_Errors(&env->canSpamTransmitter, &env->CCU_Errors);
+
+        }
+
+        osMutexRelease(env->ModelTask.access);
+    }
+}
+
 static _Noreturn void Mma_Thread(tMma *env) {
 
     // Инициализация периферийных интерфейсов
@@ -50,8 +97,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
     can_rx_message_type frame_data;
 
     uint32_t step = 0;
-    int16_t temp1 = 0;
+
-    int16_t temp2 = 0;
 
     if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
         LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Wake up from standby")
@@ -59,7 +105,9 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
     SystemDelayMs(1000);
 
-//    ModelTask_StartThread(&env->ModelTask);
+    LoadDataInFromModel(env);
+
+    ModelTask_StartThread(&env->ModelTask);
 
 
 /*
@@ -76,7 +124,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
     env->pwms->pwmIo.run(env->pwms->pwmIo.env);
 
     for (;;) {
-
+/*
         env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 77);
         SystemDelayMs(10);
         uint8_t pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
@@ -87,19 +135,9 @@ static _Noreturn void Mma_Thread(tMma *env) {
         pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
         //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
 
+*/
 
-
+        LoadDataInFromModel(env);
-
-
-
-
-
-
-
-
-
-
-
 
 
 /*

MainModesArbiter.h

@@ -77,8 +77,11 @@ typedef struct {
         osThreadAttr_t attr;
     } thread;
 
-    ExtU rtU_local;
+//    ExtU rtU_local;
-    ExtY rtY_local;
+//    ExtY rtY_local;
+    DW rtDW;
+
+    CCU_Errors_t CCU_Errors;
 
     bool isActuatorWorkBusy;