Обновление

MainModesArbiter.c

@@ -18,6 +18,7 @@ void Mma_Init(
         tLinPorts *linPorts,
         tCanPorts *canPorts,
         tStorageOnFlash *flash,
+        tPwms *pwms,
         tRtcs *rtcs
 ) {
     env->gpios = gpios;
@@ -27,6 +28,7 @@ void Mma_Init(
     env->rtcs = rtcs;
     env->adcs = adcs;
     env->flash = flash;
+    env->pwms = pwms;
 
     InitThreadAtrStatic(&env->thread.attr, "Mma", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
     env->thread.id = 0;
@@ -48,14 +50,21 @@ static _Noreturn void Mma_Thread(tMma *env) {
         LoggerInfoStatic(&env->slog.logger, LOG_TASK_ARB, "Wake up from standby")
     }
 
-    SystemDelayMs(1000);
+//    SystemDelayMs(1000);
 
     ModelTask_StartThread(&env->ModelTask);
 
     bool isActuatorWorkBusy = false;
 
+//    env->pwms->pwmIo.run(env->pwms->pwmIo.env);
+
     for (;;) {
 
+
+
+
+
+/*
         if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
 
             if (env->linTaskActuator0.busy == 0) {
@@ -122,7 +131,18 @@ static _Noreturn void Mma_Thread(tMma *env) {
             osMutexRelease(env->ModelTask.access);
         }
 
-        SystemDelayMs(100);
+*/
+
+
+
+
+
+
+
+
+
+
+
 
 
 /*

MainModesArbiter.h

@@ -37,6 +37,7 @@ typedef struct {
     tCanPorts *canPorts;
     tLoggerToSerialPort slog;
     tStorageOnFlash *flash;
+    tPwms *pwms;
 
     tRtcs *rtcs;
     tAdcs *adcs;
@@ -82,6 +83,7 @@ void Mma_Init(
         tLinPorts *linPorts,
         tCanPorts *canPorts,
         tStorageOnFlash *flash,
+        tPwms *pwms,
         tRtcs *rtcs
 );
 

PeripheralInterfaces.c

@@ -21,5 +21,5 @@ void InitPeripheralInterfaces() {
     Adcs_Init();
     Rtcs_Init();
     StorageOnFlash_Init();
-//    Pwms_Init();
+    Pwms_Init();
 }