From aeead60971801fadc45d282436eb88f18361f0b7 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Mon, 22 Dec 2025 13:52:09 +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?=
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 MainModesArbiter.c     | 24 ++++++++++++++++++++++--
 MainModesArbiter.h     |  2 ++
 PeripheralInterfaces.c |  2 +-
 3 files changed, 25 insertions(+), 3 deletions(-)

diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 0769929..6c48cd7 100644
--- a/MainModesArbiter.c
+++ b/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);
+*/
+
+
+
+
+
+
+
+
+
+
+
 
 
 /*
diff --git a/MainModesArbiter.h b/MainModesArbiter.h
index 105b1c5..2e45cb2 100644
--- a/MainModesArbiter.h
+++ b/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
 );
 
diff --git a/PeripheralInterfaces.c b/PeripheralInterfaces.c
index 6409efe..bb32eda 100644
--- a/PeripheralInterfaces.c
+++ b/PeripheralInterfaces.c
@@ -21,5 +21,5 @@ void InitPeripheralInterfaces() {
     Adcs_Init();
     Rtcs_Init();
     StorageOnFlash_Init();
-//    Pwms_Init();
+    Pwms_Init();
 }
\ No newline at end of file