//
// Created by cfif on 05.05.23.
//
#include "MainModesArbiter_Private.h"
#include "stdio.h"
#include "fc7xxx_driver_rgm.h"
#include "HVAC_model.h"
#include "LinActuatorWork.h"

#include "ADC_Temp_Table.h"


const char LOG_TASK_ARB[] = "Arb";
#define LOGGER &env->slog.logger

void Mma_Init(
        tMma *env,
        tGpios *gpios,
        tAdcs *adcs,
        tSerialPorts *serialPorts,
        tLinPorts *linPorts,
        tCanPorts *canPorts,
        tStorageOnFlash *flash,
        tPwms *pwms,
        tRtcs *rtcs
) {
    env->gpios = gpios;
    env->serialPorts = serialPorts;
    env->linPorts = linPorts;
    env->canPorts = canPorts;
    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;
}


//uint8_t dataR[1024 * 2];


void BTS5180_120(tMma *env, char *desc, uint16_t adc_value) {
    float kILIS = 550.0f;

    float ERROR_THRESHOLD_V = 4.9f;
    uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);

    if (adc_value >= ERROR_THRESHOLD_CODE) {
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Error !!!", desc)
    } else {
        // Преобразование в напряжение
        float U = (float) adc_value * 5.0f / 4095.0f;
        float I = U / 1200; // Ток диагностики R = 1200
        float Iout = I * kILIS; // Ток устройства
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB,
                         "%s: U = %f I = %f Iout = %f",
                         desc, U, I, Iout)
    }

}

void VN7008AJ(tMma *env, char *desc, uint16_t adc_value) {

    float RSENSE = 2490.0f;   // Сопротивление датчика, Ом (На схеме)
    float K_TYPICAL = 5890.0f;   // Типичный коэффициент из даташита на микросхему

    float ERROR_THRESHOLD_V = 4.9f;
    uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);

    // 1. Проверка на ошибку
    if (adc_value >= ERROR_THRESHOLD_CODE) {
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Error !!!", desc)
    } else {

        // 2. Преобразование в напряжение
        float vsense = (float) adc_value * 5.0f / 4095.0f;

        // 3. Вычисление тока
        float Isense = vsense / RSENSE;
        float Iout = Isense * K_TYPICAL;

        LoggerFormatInfo(LOGGER, LOG_TASK_ARB,
                         "%s: U = %f I = %f Iout = %f",
                         desc, vsense, Isense, Iout)
    }

}

void ANALOG_SENSOR(tMma *env, char *desc, uint16_t adc_value) {
    float ERROR_THRESHOLD_V = 4.9f;
    uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);

    // 1. Проверка на ошибку
    if (adc_value >= ERROR_THRESHOLD_CODE) {
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Error !!!", desc)
    } else {
        // Преобразование в напряжение
        float U = (float) adc_value * 5.0f / 4095.0f;

        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: U = %f", desc, U)
    }

}

void LoadDataInFromModel(tMma *env) {
    int16_t temp1 = 0;
    float temp2 = 0;

    if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {

        if (env->adcTask0.ADC_isUpdate) {
            env->adcTask0.ADC_isUpdate = false;

            memcpy(&env->ADC_Data_Model_local, &env->adcTask0.ADC0_Data, sizeof(env->adcTask0.ADC0_Data));
            asm("nop");



//            temp1 = get_temperature_fast(env->adcTask0.ADC0_Data.Sensor_Ambient_Temp);
//            temp2 = get_temperature_from_adc(env->adcTask0.ADC0_Data.Sensor_Ambient_Temp, ALG_STEINHART);
            //env->ADC_Data_Model_local.Sensor_Incar_Temp_FL = env->adcTask0.ADC0_Data.Sensor_Ambient_Temp;


//            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d; Temp2 = %d; ADC = %d", temp1, (int16_t) (temp2 * 10.0f), env->adcTask0.ADC0_Data.Sensor_Ambient_Temp)


            // R1 = 91000 R2 = 20000 ((5 * (91000 + 20000)) / 20000 = 27.75 В)
//            float U_IGN_CHECK = ((float) env->adcTask0.ADC0_Data.IGN_ANS * 27.75f) / 4095.0f;
//            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_IGN_CHECK = %f", U_IGN_CHECK)

//            BTS5180_120(env, "BTS5120_2EKA_ShutoffValvePowerTXV1",
//                        env->adcTask0.ADC0_Data.BTS5120_2EKA_ShutoffValvePowerTXV1);
//            BTS5180_120(env, "BTS5120_2EKA_ShutoffValvePowerTXV2",
//                        env->adcTask0.ADC0_Data.BTS5120_2EKA_ShutoffValvePowerTXV2);

//            BTS5180_120(env, "BTS5180_2EKA_ShutOFFValveFront", env->adcTask0.ADC0_Data.BTS5180_2EKA_ShutOFFValveFront);
//            BTS5180_120(env, "BTS5180_2EKA_ShutOFFValveRear", env->adcTask0.ADC0_Data.BTS5180_2EKA_ShutOFFValveRear);

//            BTS5180_120(env, "BTS5180_2EKA_TwoWayValve", env->adcTask0.ADC0_Data.BTS5180_2EKA_TwoWayValve);
//            BTS5180_120(env, "BTS5180_2EKA_ReservePowerSupply",
//                        env->adcTask0.ADC0_Data.BTS5180_2EKA_ReservePowerSupply);

//            BTS5180_120(env, "BTS5180_2EKA_FrontIncarMotor", env->adcTask0.ADC0_Data.BTS5180_2EKA_FrontIncarMotor);
//            BTS5180_120(env, "BTS5180_2EKA_RearIncarMotor", env->adcTask0.ADC0_Data.BTS5180_2EKA_RearIncarMotor);

//            BTS5180_120(env, "BTS5180_2EKA_ChannelPTCPower1", env->adcTask0.ADC0_Data.BTS5180_2EKA_ChannelPTCPower1);
//            BTS5180_120(env, "BTS5180_2EKA_ChannelPTCPower2", env->adcTask0.ADC0_Data.BTS5180_2EKA_ChannelPTCPower2);

//            ANALOG_SENSOR(env, "Sensor_Ambient_Temp", env->adcTask0.ADC0_Data.Sensor_Ambient_Temp);
//            ANALOG_SENSOR(env, "Sensor_AC_Pressure", env->adcTask0.ADC0_Data.Sensor_AC_Pressure);
//            ANALOG_SENSOR(env, "Sensor_Incar_Temp_FL", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FL);
//            ANALOG_SENSOR(env, "Sensor_Incar_Temp_RL", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_RL);
//            ANALOG_SENSOR(env, "Sensor_Rear_Evap_Temp", env->adcTask0.ADC0_Data.Sensor_Rear_Evap_Temp);
//            ANALOG_SENSOR(env, "Sensor_Evap_Temp", env->adcTask0.ADC0_Data.Sensor_Evap_Temp);
//            ANALOG_SENSOR(env, "Sensor_Rear_Duct1", env->adcTask0.ADC0_Data.Sensor_Rear_Duct1);
//            ANALOG_SENSOR(env, "Sensor_Rear_Duct2", env->adcTask0.ADC0_Data.Sensor_Rear_Duct2);
//            ANALOG_SENSOR(env, "Sensor_Front_Duct1", env->adcTask0.ADC0_Data.Sensor_Front_Duct1);
//            ANALOG_SENSOR(env, "Sensor_Front_Duct2", env->adcTask0.ADC0_Data.Sensor_Front_Duct2);
//            ANALOG_SENSOR(env, "Sensor_Front_Duct3", env->adcTask0.ADC0_Data.Sensor_Front_Duct3);
//            ANALOG_SENSOR(env, "Sensor_Front_Duct4", env->adcTask0.ADC0_Data.Sensor_Front_Duct4);
//            ANALOG_SENSOR(env, "Sensor_Rear_Duct3", env->adcTask0.ADC0_Data.Sensor_Rear_Duct3);
//            ANALOG_SENSOR(env, "Sensor_Rear_Duct4", env->adcTask0.ADC0_Data.Sensor_Rear_Duct4);
//            ANALOG_SENSOR(env, "Sensor_Incar_Temp_FR", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FR);
//            ANALOG_SENSOR(env, "Sensor_Incar_Temp_RR", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_RR);
//            ANALOG_SENSOR(env, "Sensor_Rear_Duct5", env->adcTask0.ADC0_Data.Sensor_Rear_Duct5);
//            ANALOG_SENSOR(env, "Sensor_Rear_Duct6", env->adcTask0.ADC0_Data.Sensor_Rear_Duct6);
//            ANALOG_SENSOR(env, "Reserve_Sensor_Duct_Temp_1", env->adcTask0.ADC0_Data.Reserve_Sensor_Duct_Temp_1);
//            ANALOG_SENSOR(env, "Sensor_Front_Duct5", env->adcTask0.ADC0_Data.Sensor_Front_Duct5);
//            ANALOG_SENSOR(env, "Sensor_Front_Duct6", env->adcTask0.ADC0_Data.Sensor_Front_Duct6);

            // R1 = 10000 R2 = 47000 ((5 * (10000 + 47000)) / 47000 = 6.0638 В)
//            float Pressure_DIAG = ((float) env->adcTask0.ADC0_Data.Pressure_DIAG * 6.0638f) / 4095.0f;
//            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Pressure_DIAG = %f", Pressure_DIAG)

//            ANALOG_SENSOR(env, "Reserve_Sensor_Duct_Temp_2", env->adcTask0.ADC0_Data.Reserve_Sensor_Duct_Temp_2);

        }

        osMutexRelease(env->adcTask0.access);

    }

    if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {

        if (env->adcTask1.ADC_isUpdate) {
            env->adcTask1.ADC_isUpdate = false;

            memcpy(&env->ADC_Data_Model_local.VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB, &env->adcTask1.ADC1_Data,
                   sizeof(env->adcTask1.ADC1_Data));
            asm("nop");

            // R1 = 91000 R2 = 16000 ((5 * (91000 + 16000)) / 16000 = 33.4375 В)
//            float U_PBATT_CHECK = ((float) env->adcTask1.ADC1_Data.PBATT_CHECK * 33.4375f) / 4095.0f;
//            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_PBATT_CHECK = %f", U_PBATT_CHECK)

            // R1 = 30000 R2 = 12000 ((5 * (30000 + 12000)) / 12000 = 17.5 В)
//            float U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB =
//                    ((float) env->adcTask1.ADC1_Data.VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB * 17.5f) / 4095.0f;
//            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB = %f",
//                             U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB)

            // R1 = 30000 R2 = 12000 ((5 * (30000 + 12000)) / 12000 = 17.5 В)
//            float U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC =
//                    ((float) env->adcTask1.ADC1_Data.VN7008AJ_DIAG_RearLINActuatorPowerDriverC * 17.5f) / 4095.0f;
//            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC = %f",
//                             U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC)

//            VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB", env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
//            VN7008AJ(env, "VN7008AJ_RearLINActuatorPowerDriverC", env->adcTask1.ADC1_Data.VN7008AJ_RearLINActuatorPowerDriverC);

        }

        //temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);

        //env->rtDW.controllerDataIncarInput.InIncarFR = env->adcTask1.ADC_Data[0];

        osMutexRelease(env->adcTask1.access);
        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
    }

    if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {

        GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.ST_ReservePower);
        GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ShutOFFValveBatteryChiller.ST_BATTChiller);
        GpioPinGet(&env->gpios->EmergencyAirCleanSwitch);
        GpioPinGet(&env->gpios->FireExtinguishSwitch);

        rtDW.t_now = GetSystemTick();
        memcpy(&rtDW.ADC_Data_Model, &env->ADC_Data_Model_local, sizeof(rtDW.ADC_Data_Model));

        if (env->ModelTask.isUpdate) {
            env->ModelTask.isUpdate = false;
            set_CCU_Errors(&env->canSpamTransmitter, (CCU_Errors_t *) &CCU_Errors_Model);
        }

        osMutexRelease(env->ModelTask.access);
    }

}

static _Noreturn void Mma_Thread(tMma *env) {

    uint8_t step = 0;
    bool busy = false;

    // Запуск устройства
    Mma_InitStage(env);

    init_fast_lookup_table(ALG_STEINHART);
    can_rx_message_type frame_data;

//    uint32_t step = 0;


    if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
        LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Wake up from standby")
    }

    SystemDelayMs(1000);

    LoadDataInFromModel(env);

    ModelTask_StartThread(&env->ModelTask);


/*
    for (;;) {
        uint16_t len = SerialPortReceive(&env->serialPorts->SerialPortLog_IO, dataR, 1024, 1000);

        if (len != 0) {
            SerialPortTransmit(&env->serialPorts->SerialPortLog_IO, dataR, len, 1000);
        }
    }
*/


    env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
//    env->pwms->pwmRearIo.run(env->pwms->pwmRearIo.env);


    for (;;) {


        env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, 40);
        env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, 50);
        env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, 60);
        env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, 70);

        SystemDelayMs(10);
        uint8_t pwm1 = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Front) = %d", pwm1)

        SystemDelayMs(10);
        uint8_t pwm2 = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env);
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear) = %d", pwm2)

        SystemDelayMs(10);
        uint8_t pwm3 = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontReservedCaptureIO.env);
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Front Reserve) = %d", pwm3)

        SystemDelayMs(10);
        uint8_t pwm4 = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearReservedCaptureIO.env);
        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear Reserve) = %d", pwm4)


        LoadDataInFromModel(env);
        LinActuatorWork(env, &env->linTaskActuator1,
                        &env->actuator_Ch0_Command_Model_local_1,
                        &env->ModelTask.triggerActuatorCmdBus_1,
                        &env->actuator_Ch0_Input_Model_local_1,
                        &rtDW.Actuator_Ch0_Status_Model, &env->ModelTask.triggerCommand1, "Ln1 ");

        SystemDelayMs(50);

        GpioPinToggle(&env->gpios->led.LED_G);


/*
        if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
        } else {
            SMC_SetSystemMode(SMC_MODE_STANBY_3);
        }
*/

/*
        if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
            temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512);
            osMutexRelease(env->adcTask0.access);
            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d", temp1)
        }


        if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
            temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
            osMutexRelease(env->adcTask1.access);
            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
        }
*/

/*
        uint8_t local[9];
        tLinTaskActuator *linTaskActuator = &env->linTaskActuator1;

        if (osMutexAcquire(linTaskActuator->access, 5000) == osOK) {

            if ((linTaskActuator->linCommandActuator[0].COM == LIN_ACT_CFR_SUCCESSFUL) ||
                (linTaskActuator->linCommandActuator[0].COM == LIN_ACT_CFR_NONE)) {
                busy = true;
            }

            if (busy == true) {
                busy = false;

                switch (step) {
                    case 0: {

                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].MODE = LIN_MODE_STOP;
                        ++step;

                        break;
                    }
                    case 1: {

                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].POS = 2000;
                        ++step;

                        break;
                    }
                    case 2: {
                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].MODE = LIN_MODE_NORMAL;
                        ++step;

                        break;
                    }
                    case 3: {

                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].POS = 0;
                        linTaskActuator->linCommandActuator[0].Stall_SET = 1;
                        linTaskActuator->linCommandActuator[0].Lnoise_SET = 0;
                        linTaskActuator->linCommandActuator[0].Autos_SET = 1;
                        linTaskActuator->linCommandActuator[0].Speed_SET = 3;
                        linTaskActuator->linCommandActuator[0].Coils_Stop_SET = 0;

                        ++step;

                        break;
                    }

                    case 4: {

                        //SystemDelayMs(10000);
                        for (uint32_t i = 0; i < 100; ++i) {
//                            if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
//                                if (env->adcTask1.ADC_isUpdate) {
//                                    env->adcTask1.ADC_isUpdate = false;
//                                    VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB",
//                                             env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
//                                }
//                                osMutexRelease(env->adcTask1.access);
//                            }
                            SystemDelayMs(100);
                        }


                        asm("nop");
                        ++step;
                        //if (linTaskActuator->linStateActuator[7].CPOS_ALL == 0) {
                        //    ++step;
                        //}
                        break;
                    }

                    case 5: {

                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].MODE = LIN_MODE_STOP;
                        ++step;

                        break;
                    }


                    case 6: {

                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].POS = 0;
                        ++step;

                        break;
                    }

                    case 7: {
                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].MODE = LIN_MODE_NORMAL;
                        ++step;

                        break;
                    }

                    case 8: {

                        resetStall(linTaskActuator, local);

                        linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                        linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
                        linTaskActuator->linCommandActuator[0].POS = 2000;
                        linTaskActuator->linCommandActuator[0].Stall_SET = 1;
                        linTaskActuator->linCommandActuator[0].Lnoise_SET = 0;
                        linTaskActuator->linCommandActuator[0].Autos_SET = 1;
                        linTaskActuator->linCommandActuator[0].Speed_SET = 3;
                        linTaskActuator->linCommandActuator[0].Coils_Stop_SET = 0;

                        ++step;

                        break;
                    }

                    case 9: {
                        //SystemDelayMs(10000);

                        for (uint32_t i = 0; i < 100; ++i) {

//                            if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
//                                if (env->adcTask1.ADC_isUpdate) {
//                                    env->adcTask1.ADC_isUpdate = false;
//                                    VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB",
//                                             env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
//                                }
//                                osMutexRelease(env->adcTask1.access);
//                            }
                            SystemDelayMs(100);
                        }


                        asm("nop");
                        ++step;

                        //if (linTaskActuator->linStateActuator[7].CPOS_ALL >= 6000) {
                        //    ++step;
                        //}
                        break;
                    }

                    case 10: {
                        step = 0;
                        break;
                    }

                    default: {

                    }
                }
            }
            osMutexRelease(linTaskActuator->access);
        }

        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Step = %d", step)
*/

/*
        frame_data.id_type = FLEXCAN_ID_STD;
        frame_data.dlc = 1;

        env->canPorts->Can1_IO.transmit(env->canPorts->Can1_IO.env, frame_data.data, frame_data.dlc, 0x123, frame_data.id_type, 1000);
*/
/*
        uint16_t len = env->canPorts->Can1_IO.receive(env->canPorts->Can1_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);

        if (len > 0) {
            env->canPorts->Can1_IO.transmit(env->canPorts->Can1_IO.env, frame_data.data, frame_data.dlc, frame_data.standard_id, frame_data.id_type, 1000);
        }
*/

/*
        uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);

        if (len > 0) {
            env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, frame_data.data, frame_data.dlc, 0x123, frame_data.id_type, 1000);
        }
*/
/*
        uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);

        if (len > 0) {

            if (frame_data.id_type == FLEXCAN_ID_STD) {
                CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_STD);
                CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.standard_id);
            } else {
                CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_EXT);
                CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.extended_id);
            }


            env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, frame_data.data, frame_data.dlc, 1000);
        }
*/

//        SystemDelayMs(10);
    }
}


void Mma_StartThread(tMma *env) {
    if (!env->thread.id) {
        env->thread.id = osThreadNew((osThreadFunc_t) (Mma_Thread), (void *) (env), &env->thread.attr);
    } else {
        osThreadResume(env->thread.id);
    }
}