From b00f92940ce1c9a20384c2175066dd3f4a85a07f Mon Sep 17 00:00:00 2001
From: darya <dd@ficom-it.ru>
Date: Tue, 17 Feb 2026 17:51:15 +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?=
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---
 MainModesArbiter.h           | 4 ++++
 MainModesArbiter_InitStage.c | 9 +++++++++
 2 files changed, 13 insertions(+)

diff --git a/MainModesArbiter.h b/MainModesArbiter.h
index 0b5d7a3..98b43b2 100644
--- a/MainModesArbiter.h
+++ b/MainModesArbiter.h
@@ -29,6 +29,7 @@
 #include "HVAC_model.h"
 #include "CanUds.h"
 #include "DiagnosticTask.h"
+#include "LinSensorTasks.h"
 
 
 typedef struct {
@@ -63,6 +64,9 @@ typedef struct {
     tLinTaskActuator linTaskActuator2;
     tLinTaskActuator linTaskActuator3;
 
+    tLin4TaskSensor linTaskSensor4;
+    tLin5TaskSensor linTaskSensor5;
+
     tAdcTask adcTask0;
     tAdcTask adcTask1;
 
diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index 283327a..64bdbac 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -146,6 +146,15 @@ static void Mma_InitSubSystems(tMma *env) {
     Lin3_StartThread(&env->linTaskActuator3);
 
 
+    tLinData *linData4 = Lin4_Init(GetLin123CallbackHandler);
+    Lin_4_Init(&env->linTaskSensor4, linData4, &env->linPorts->lin4_Io, &env->slog.logger);
+    Lin3_StartThread(&env->linTaskActuator3);
+
+    tLinData *linData5 = Lin5_Init(GetLin123CallbackHandler);
+    Lin_5_Init(&env->linTaskSensor5, linData5, &env->linPorts->lin5_Io, &env->slog.logger);
+    Lin3_StartThread(&env->linTaskActuator3);
+
+
     Adc_0_Init(&env->adcTask0, &env->adcs->adc_0_IO, env->gpios);
     Adc_0_StartThread(&env->adcTask0);