Обновление

MainModesArbiter.c

@@ -8,11 +8,13 @@ void Mma_Init(
         tGpios *gpios,
         tAdcs *adcs,
         tSerialPorts *serialPorts,
+        tLinPorts *linPorts,
         tCanPorts *canPorts,
         tRtcs *rtcs
 ) {
     env->gpios = gpios;
     env->serialPorts = serialPorts;
+    env->linPorts = linPorts;
     env->canPorts = canPorts;
     env->rtcs = rtcs;
     env->adcs = adcs;

MainModesArbiter.h

@@ -20,12 +20,16 @@
 #include "SerialPortCan.h"
 #include "CanSerialPortFrameXCP.h"
 #include "CanSpamReceiver.h"
+#include "Lins.h"
+#include "LinTasks.h"
+
 
 
 typedef struct {
     // Преферийные интерфесы
     tGpios *gpios;
     tSerialPorts *serialPorts;
+    tLinPorts *linPorts;
     tCanPorts *canPorts;
     tLoggerToSerialPort slog;
     tStorageOnFlash *flash;
@@ -45,6 +49,8 @@ typedef struct {
 
     tCanSpamReceiver canSpamReceiver;
 
+    tLinTaskActuator linTaskActuator0;
+
     struct {
         osThreadId_t id;
         uint32_t stack[2048 * 1];
@@ -62,6 +68,7 @@ void Mma_Init(
         tGpios *gpios,
         tAdcs *adcs,
         tSerialPorts *serialPorts,
+        tLinPorts *linPorts,
         tCanPorts *canPorts,
         tRtcs *rtcs
 );

MainModesArbiter_InitStage.c

@@ -69,6 +69,14 @@ static void Mma_InitSubSystems(tMma *env) {
 
     CanSpamReceiver_StartThread(&env->canSpamReceiver);
 
+
+    tLinData *linData = Lin0_Init(GetLin0CallbackHandler, &env->linTaskActuator0.linData);
+
+    Lin_0_Init(&env->linTaskActuator0, linData, &env->linPorts->lin0_Io);
+
+    Li0_StartThread(&env->linTaskActuator0);
+
+
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "Конец инициализации подсистем")
 
 }