diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 538420e..e421c15 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -37,91 +37,41 @@ void Mma_Init(
     env->thread.id = 0;
 }
 
-void LoadDataInFromModel(tMma *env) {
 
 
-    if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
+void GetCanErrors(tMma *env, uint8_t canIndex) {
+    FLEXCAN_ErrorInfoType errorInfo;
 
-        // Включение 5V (0 - ВКЛ)
-        GpioPinSet(&env->gpios->power.SW5V_EN, rtY.PowerEnable_Model.SW5V_EN);
-//        GpioPinSet(&env->gpios->power.SW5V_EN, true);
+    // Получить информацию об ошибках
+    FLEXCAN_ErrorType result = FLEXCAN_GetErrorInfo(canIndex, &errorInfo);
 
-        // Контроль напряжения борт-сети (1 - ВКЛ)
-        GpioPinSet(&env->gpios->power.PBATT_CK_EN, rtY.PowerEnable_Model.PBATT_CK_EN);
+    if (result == FLEXCAN_ERROR_OK) {
+        // Количество ошибок приёма
+        uint32_t rxErrors = errorInfo.u32RxErrCnt;
+        uint32_t rxErrorsFast = errorInfo.u32RxErrCnt_Fast;
 
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_Motor_Front_EN, rtY.PowerEnable_Model.Incar_Motor_Front_EN);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_EN_Diag, true);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_Motor_Rear_EN, rtY.PowerEnable_Model.Incar_Motor_Rear_EN);
+        // Количество ошибок передачи
+        uint32_t txErrors = errorInfo.u32TxErrCnt;
+        uint32_t txErrorsFast = errorInfo.u32TxErrCnt_Fast;
 
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.TwoWayValve_EN, rtY.PowerEnable_Model.TwoWayValve_EN);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.TwoWayValve_EN_Diag, true);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.ReservePower_EN, rtY.PowerEnable_Model.ReservePower_EN);
+        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "RX Errors: %lu (normal), %lu (fast)\n", rxErrors, rxErrorsFast);
+        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "TX Errors: %lu (normal), %lu (fast)\n", txErrors, txErrorsFast);
 
-        GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.EN_ReservePower, rtY.PowerEnable_Model.EN_ReservePower);
-        GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_PowerReserve.EN_PowerReserve, rtY.PowerEnable_Model.EN_PowerReserve);
-
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver1_EN, rtY.PowerEnable_Model.PtcRelayDriver1_EN);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver_EN_Diag, true);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver2_EN, rtY.PowerEnable_Model.PtcRelayDriver2_EN);
-
-        GpioPinSet(&env->gpios->power.VN7008AJ_FrontLINActuatorPowerDriverAB.LIN_ActPower_AB, rtY.PowerEnable_Model.LIN_ActPower_AB);
-        GpioPinSet(&env->gpios->power.VN7008AJ_FrontLINActuatorPowerDriverAB.EN_CurrentSensing_AB, true);
-
-        GpioPinSet(&env->gpios->power.VN7008AJ_RearLINActuatorPowerDriverC.LIN_ActPower_C, rtY.PowerEnable_Model.LIN_ActPower_C);
-        GpioPinSet(&env->gpios->power.VN7008AJ_RearLINActuatorPowerDriverC.EN_CurrentSensing_C, true);
-
-        GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_ShutOFFValveBatteryChiller.EN_BATTChiller, rtY.PowerEnable_Model.EN_BATTChiller);
-
-
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOffFront_EN, rtY.PowerEnable_Model.ShutOffFront_EN);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOff_EN_Diag, true);
-        GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOffRear_EN, rtY.PowerEnable_Model.ShutOffRear_EN);
-
-        GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV1_EN, rtY.PowerEnable_Model.ShutOffTXV1_EN);
-        GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV_EN_Diag, true);
-        GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV2_EN, rtY.PowerEnable_Model.ShutOffTXV2_EN);
-
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "============================================== %d", 0)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "SET pwmPercentFront = %d", rtY.PWM_Get_f.pwmPercentFront)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "SET pwmPercentRear = %d", rtY.PWM_Get_f.pwmPercentRear)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "SET pwmPercentFrontReserved = %d", rtY.PWM_Get_f.pwmPercentFrontReserved)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "SET pwmPercentRearReserved = %d", rtY.PWM_Get_f.pwmPercentRearReserved)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "============================================== %d", 0)
-
-        env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, rtY.PWM_Get_f.pwmPercentFront);
-        env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, rtY.PWM_Get_f.pwmPercentRear);
-        env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, rtY.PWM_Get_f.pwmPercentFrontReserved);
-        env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, rtY.PWM_Get_f.pwmPercentRearReserved);
-
-        PWM_Get.pwmPercentFront = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
-        PWM_Get.pwmPercentRear = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env);
-        PWM_Get.pwmPercentFrontReserved = env->pwms->pwmFrontCaptureIO.getPwm(
-                env->pwms->pwmFrontReservedCaptureIO.env);
-        PWM_Get.pwmPercentRearReserved = env->pwms->pwmRearCaptureIO.getPwm(
-                env->pwms->pwmRearReservedCaptureIO.env);
-
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "GET pwmPercentFront = %d", PWM_Get.pwmPercentFront)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "GET pwmPercentRear = %d", PWM_Get.pwmPercentRear)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "GET pwmPercentFrontReserved = %d", PWM_Get.pwmPercentFrontReserved)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "GET pwmPercentRearReserved = %d", PWM_Get.pwmPercentRearReserved)
-//        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "============================================== %d", 0)
-
-        set_Dtc_state(&env->Diagnostic);
-        set_CanDebugSpamTransmitter(&env->canSpamDebugTransmitter);
-        set_CanSpamTransmitter(&env->canSpamTransmitter);
-        get_CanSpamReceiver(&env->canSpamReceiver);
-
-        osMutexRelease(env->ModelTask.access);
+        // Общее количество ошибок
+        uint32_t totalErrors = rxErrors + rxErrorsFast + txErrors + txErrorsFast;
+        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Total errors: %lu\n", totalErrors);
     }
-
 }
 
+
+
+
 static _Noreturn void Mma_Thread(tMma *env) {
 
     // Запуск устройства
     Mma_InitStage(env);
 
-//    env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
+    env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
 
     ModelTask_StartThread(&env->ModelTask);
 
@@ -132,7 +82,6 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
     LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Model running...")
 
-
 //    SMC_SetSystemMode(SMC_MODE_STANBY_3);
 
     for (;;) {
@@ -140,7 +89,8 @@ static _Noreturn void Mma_Thread(tMma *env) {
 //        bool ST_PowerReserve = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_PowerReserve.ST_PowerReserve);
 //        bool ST_ReservePower = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.ST_ReservePower);
 
-        LoadDataInFromModel(env);
+
+//        GetCanErrors(env, 0);
 
 
         SystemDelayMs(25);
diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index e4bab19..aec4b94 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -117,9 +117,6 @@ static void Mma_InitSubSystems(tMma *env) {
 
 //    Indication_Init(&env->Indication, HVAC_DEV_MODE_STARTUP);
 
-    ModelTask_Init(&env->ModelTask, &env->linTaskActuator1, &env->linTaskActuator2, &env->linTaskActuator3,
-                   &env->slog.logger);
-
     CommandLine_Init(&env->cli, &env->slog, &env->serialPorts->SerialPortLog_IO,
                      &env->serialPorts->cliVirtualPortOut_Io);
     CommandLine_StartThread(&env->cli);
@@ -144,21 +141,78 @@ static void Mma_InitSubSystems(tMma *env) {
 
     CanXcpProcessing_Listener_Start(&env->CanSerialPortFrameXCP);
 
-    CanSpamReceiver_Init(&env->canSpamReceiver, &env->canPorts->Can0_IO, env->ModelTask.access, &env->slog.logger);
+    CanSpamReceiver_Init(&env->canSpamReceiver, &env->canPorts->Can0_IO, &env->slog.logger);
     CanSpamReceiver_StartThread(&env->canSpamReceiver);
 
-    CanSpamTransmitter_Init(&env->canSpamTransmitter, &env->canPorts->Can0_IO, env->ModelTask.access, &env->slog.logger);
+    CanSpamTransmitter_Init(&env->canSpamTransmitter, &env->canPorts->Can0_IO, &env->slog.logger);
     CanSpamTransmitter_StartThread(&env->canSpamTransmitter);
 
-
-    CanSpamDebugReceiver_Init(&env->canSpamDebugReceiver, &env->canPorts->Can1_IO, env->ModelTask.access, &env->slog.logger);
+    CanSpamDebugReceiver_Init(&env->canSpamDebugReceiver, &env->canPorts->Can1_IO, &env->slog.logger);
     CanSpamDebugReceiver_StartThread(&env->canSpamDebugReceiver);
 
-    CanSpamDebugTransmitter_Init(&env->canSpamDebugTransmitter, &env->canPorts->Can1_IO, &env->canSpamDebugReceiver, env->ModelTask.access,
+    CanSpamDebugTransmitter_Init(&env->canSpamDebugTransmitter, &env->canPorts->Can1_IO, &env->canSpamDebugReceiver,
                                  &env->slog.logger);
     CanSpamDebugTransmitter_StartThread(&env->canSpamDebugTransmitter);
 
 
+    tLinData *linData4 = Lin4_Init(GetLin123CallbackHandler);
+    Lin_4_Init(&env->linTaskSensor4, linData4, &env->linPorts->lin4_Io, &env->slog.logger);
+//    Lin4_StartThread(&env->linTaskSensor4);
+
+    tLinData *linData5 = Lin5_Init(GetLin123CallbackHandler);
+    Lin_5_Init(&env->linTaskSensor5, linData5, &env->linPorts->lin5_Io, &env->slog.logger);
+    Lin5_StartThread(&env->linTaskSensor5);
+
+
+//    tLinData *linData6 = Lin6_Init(GetLin123CallbackHandler);
+//    Lin_6_Init(&env->linTaskSensor6, linData6, &env->linPorts->lin6_Io, &env->slog.logger);
+//    Lin6_StartThread(&env->linTaskSensor6);
+
+    Adc_0_Init(&env->adcTask0,  &env->adcs->adc_0_IO, env->gpios, &env->slog.logger);
+    Adc_0_StartThread(&env->adcTask0);
+
+    Adc_1_Init(&env->adcTask1,  &env->adcs->adc_1_IO, env->gpios, &env->slog.logger);
+    Adc_1_StartThread(&env->adcTask1);
+
+    CanUds_Init(
+            &env->canUds,
+            &env->Diagnostic,
+            &env->canPorts->Can0_IO,
+            &env->storage,
+            &env->canSpamTransmitter,
+            &env->canSpamDebugTransmitter,
+            &env->adcTask0,
+            &P_bInternalFlashPage_ClearRange,
+            &P_bInternalFlashPage_WriteFromRam,
+            &env->slog.logger);
+
+    CanSerialPortCanUds_Start(&env->canUds);
+
+    StandBy_Init();
+
+
+    ModelTask_Init(
+            &env->ModelTask,
+            &env->linTaskActuator1,
+            &env->linTaskActuator2,
+            &env->linTaskActuator3,
+
+            env->pwms,
+
+            env->gpios,
+
+            &env->adcTask0,
+            &env->adcTask1,
+
+            &env->canSpamReceiver,
+            &env->canSpamTransmitter,
+            &env->canSpamDebugTransmitter,
+            &env->Diagnostic,
+
+            &env->slog.logger
+    );
+
+
     tLinData *linData1 = Lin1_Init(GetLin123CallbackHandler);
     Lin_1_Init(&env->linTaskActuator1,
                linData1, &env->linPorts->lin1_Io, 9,
@@ -196,41 +250,6 @@ 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);
-//    Lin4_StartThread(&env->linTaskSensor4);
-
-    tLinData *linData5 = Lin5_Init(GetLin123CallbackHandler);
-    Lin_5_Init(&env->linTaskSensor5, linData5, &env->linPorts->lin5_Io, &env->slog.logger);
-    Lin5_StartThread(&env->linTaskSensor5);
-
-
-//    tLinData *linData6 = Lin6_Init(GetLin123CallbackHandler);
-//    Lin_6_Init(&env->linTaskSensor6, linData6, &env->linPorts->lin6_Io, &env->slog.logger);
-//    Lin6_StartThread(&env->linTaskSensor6);
-
-    Adc_0_Init(&env->adcTask0, env->ModelTask.access, &env->adcs->adc_0_IO, env->gpios, &env->slog.logger);
-    Adc_0_StartThread(&env->adcTask0);
-
-    Adc_1_Init(&env->adcTask1, env->ModelTask.access, &env->adcs->adc_1_IO, env->gpios, &env->slog.logger);
-    Adc_1_StartThread(&env->adcTask1);
-
-    CanUds_Init(
-            &env->canUds,
-            &env->Diagnostic,
-            &env->canPorts->Can0_IO,
-            &env->storage,
-            &env->canSpamTransmitter,
-            &env->canSpamDebugTransmitter,
-            &env->adcTask0,
-            &P_bInternalFlashPage_ClearRange,
-            &P_bInternalFlashPage_WriteFromRam,
-            &env->slog.logger);
-
-    CanSerialPortCanUds_Start(&env->canUds);
-
-    StandBy_Init();
-
 
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization")
 
diff --git a/PeripheralInterfaces.c b/PeripheralInterfaces.c
index fb4eb2c..d4cc4ee 100644
--- a/PeripheralInterfaces.c
+++ b/PeripheralInterfaces.c
@@ -6,7 +6,6 @@
 
 void InitPeripheralInterfaces(tLoggerInterface *logger) {
     Gpios_Init();
-
     CanPorts_Init(logger);
     Adcs_Init(logger);
     Pwms_Init(logger);