diff --git a/LinTasks.c b/LinTasks.c
index 5440f9c..a044366 100644
--- a/LinTasks.c
+++ b/LinTasks.c
@@ -171,7 +171,6 @@ lin_event_id_t RFR_PRG_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
 }
 
 
-
 lin_event_id_t DFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
     lin_event_id_t res;
 
@@ -312,7 +311,8 @@ lin_event_id_t ISSR_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
 
             ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *) env->linData->g_aRxBuffer;
 
-            env->linStateActuator[BUS_ADR].CPOS_ALL = ACT_RFR_ISSR_->CPOS_1_LSB_MT | (ACT_RFR_ISSR_->CPOS_1_MSB_MT << 8);
+            env->linStateActuator[BUS_ADR].CPOS_ALL =
+                    ACT_RFR_ISSR_->CPOS_1_LSB_MT | (ACT_RFR_ISSR_->CPOS_1_MSB_MT << 8);
 
             if (ACT_RFR_ISSR_->DIAGNOSE_MT) {
                 if (DFR_STA_x(env, BUS_ADR) == LIN_TX_COMPLETED) {
@@ -331,6 +331,106 @@ lin_event_id_t ISSR_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
 
 }
 
+lin_event_id_t CFR_MOD_x(tLinTaskActuator *env, uint8_t BUS_ADR, eMode_Mod Mode_Slave) {
+    lin_event_id_t res;
+
+    env->linData->direction = LIN_DIRECTION_SET;
+    env->linData->g_aTxBufferLen = sizeof(ACT_CFR_MOD);
+    env->linData->g_aRxBufferLen = 0;
+
+    ACT_CFR_MOD *ACT_CFR_MOD_ = (ACT_CFR_MOD *) env->linData->g_aTxBuffer;
+    ACT_CFR_MOD_->BUS_ADR = BUS_ADR;
+    ACT_CFR_MOD_->Mode_Slave = Mode_Slave;
+    ACT_CFR_MOD_->Unused = 0xFF;
+    ACT_CFR_MOD_->Data2_Mod = 0xFF;
+    ACT_CFR_MOD_->Data3_Mod = 0xFF;
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, CFR_MOD);
+
+        if (res == LIN_TX_COMPLETED) {
+            break;
+        }
+
+        --retry;
+    }
+
+    return res;
+}
+
+lin_event_id_t CFR_INI_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 INI_CPOS) {
+    lin_event_id_t res;
+
+    env->linData->direction = LIN_DIRECTION_SET;
+    env->linData->g_aTxBufferLen = sizeof(ACT_CFR_INI);
+    env->linData->g_aRxBufferLen = 0;
+
+    ACT_CFR_INI *ACT_CFR_INI_ = (ACT_CFR_INI *) env->linData->g_aTxBuffer;
+    ACT_CFR_INI_->BUS_ADR = BUS_ADR;
+    ACT_CFR_INI_->INI_CPOS = INI_CPOS;
+    ACT_CFR_INI_->unused = 0xFF;
+    ACT_CFR_INI_->Not_Used_INI = 0xFF;
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, CFR_INI);
+
+        if (res == LIN_TX_COMPLETED) {
+            break;
+        }
+
+        --retry;
+    }
+
+    return res;
+}
+
+lin_event_id_t CFR_SET_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 FINAL_POS,
+                         eStall_SET Stall_SET,
+                         eLnoise_SET Lnoise_SET,
+                         eAutos_SET Autos_SET,
+                         eSpeed_SET Speed_SET,
+                         eCoils_Stop_SET Coils_Stop_SET) {
+    lin_event_id_t res;
+
+    env->linData->direction = LIN_DIRECTION_SET;
+    env->linData->g_aTxBufferLen = sizeof(ACT_CFR_SET);
+    env->linData->g_aRxBufferLen = 0;
+
+    ACT_CFR_SET *ACT_CFR_SET_ = (ACT_CFR_SET *) env->linData->g_aTxBuffer;
+    ACT_CFR_SET_->BUS_ADR = BUS_ADR;
+
+    ACT_CFR_SET_->FINAL_POS = FINAL_POS;
+    ACT_CFR_SET_->unused = 0xFF;
+    ACT_CFR_SET_->Unused_SET = 0xFF;
+    ACT_CFR_SET_->Stall_SET = Stall_SET;
+    ACT_CFR_SET_->Lnoise_SET = Lnoise_SET;
+    ACT_CFR_SET_->Autos_SET = Autos_SET;
+    ACT_CFR_SET_->Speed_SET = Speed_SET;
+    ACT_CFR_SET_->Coils_Stop_SET = Coils_Stop_SET;
+
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, CFR_INI);
+
+        if (res == LIN_TX_COMPLETED) {
+            break;
+        }
+
+        --retry;
+    }
+
+    return res;
+}
+
 void Lin_0_Init(tLinTaskActuator *env,
                 tLinData *linData,
                 tLinIO *linIO) {
@@ -349,20 +449,78 @@ void Lin0_Scheduler(tLinTaskActuator *env) {
 
         for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
 
-            if (DFR_PRG_x(env, i) == LIN_TX_COMPLETED) {
-                RFR_PRG_x(env, i);
-            }
+            if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
 
-            if (DFR_IDE_x(env, i) == LIN_TX_COMPLETED) {
-                RFR_IDE_x(env, i);
-            }
+                if (CFR_MOD_x(env, env->linCommandActuator[i].BUS_ADR,
+                              env->linCommandActuator[i].MODE) == LIN_TX_COMPLETED) {
 
-            if (DFR_STA_x(env, i) == LIN_TX_COMPLETED) {
-                RFR_STA_x(env, i);
-            }
+                    if (DFR_STA_x(env, i) == LIN_TX_COMPLETED) {
+                        RFR_STA_x(env, i);
+                    }
 
+                }
+
+                if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
+                    break;
+                }
+
+            }
         }
 
+        for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
+
+            if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
+
+                if (CFR_INI_x(env, env->linCommandActuator[i].BUS_ADR,
+                              env->linCommandActuator[i].POS) == LIN_TX_COMPLETED) {
+
+                }
+
+                if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
+                    break;
+                }
+
+            }
+        }
+
+        for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
+
+            if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
+
+                if (CFR_SET_x(env, env->linCommandActuator[i].BUS_ADR,
+                              env->linCommandActuator[i].POS,
+                              env->linCommandActuator[i].Stall_SET,
+                              env->linCommandActuator[i].Lnoise_SET,
+                              env->linCommandActuator[i].Autos_SET,
+                              env->linCommandActuator[i].Speed_SET,
+                              env->linCommandActuator[i].Coils_Stop_SET) == LIN_TX_COMPLETED) {
+
+                }
+
+                if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
+                    break;
+                }
+
+            }
+        }
+
+        /*
+
+                if (DFR_PRG_x(env, i) == LIN_TX_COMPLETED) {
+                    RFR_PRG_x(env, i);
+                }
+
+                if (DFR_IDE_x(env, i) == LIN_TX_COMPLETED) {
+                    RFR_IDE_x(env, i);
+                }
+
+                if (DFR_STA_x(env, i) == LIN_TX_COMPLETED) {
+                    RFR_STA_x(env, i);
+                }
+                */
+
+
+
         for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
             lin_event_id_t res = ISSR_x(env, i);
         }
diff --git a/LinTasks.h b/LinTasks.h
index dd27a2e..9be390f 100644
--- a/LinTasks.h
+++ b/LinTasks.h
@@ -362,10 +362,8 @@ typedef struct __attribute__ ((packed)) {
 #define LIN1_ISSR_ALL 0x06
 #define LIN2_ISSR_ALL 0x08
 
-
 typedef struct {
 
-
     uint16_t CPOS_ALL;
     eEmrf_Slave_STA Emrf_Slave;
     eMode_Mod Mode_Slave;
@@ -385,18 +383,62 @@ typedef struct {
     uint8_t NOTL_ENAB_Master;
     uint8_t DREH_Slave;
     uint8_t ParitySlave;
-    uint8_t Free;
     uint8_t Version_CFR;
 
+} tLinStateFullActuator;
+
+typedef struct {
+
+    uint16_t CPOS_ALL;
+    eEmrf_Slave_STA Emrf_Slave;
+    eMode_Mod Mode_Slave;
+    uint8_t Error1_Supply_Slave;
+    uint8_t Error2_Communication_Slave;
+    uint8_t Error3_Temperature_Slave;
+    uint8_t Error4_Permanent_Electrical_Slave;
+    eStall_STA Stall_Slave;
+    eReset_STA Reset_Slave;
 
 } tLinStateActuator;
 
+// POS - Позиция
+
+// BUS_ADR - (3 бита [7..5] - Группа; 5 бит [4..0] - Адрес)
+// Пример Широковещательный адрес группа 1: 0x20, 0x20, 0x20 .. 0x20
+// Пример Обычный адрес: 0x01, 0x02, 0x03 .. 0x09
+// Смешанный тип адреса не допустим
+
+// COM - Команда
+
+typedef enum {
+    LIN_ACT_CFR_MOD = 0,
+    LIN_ACT_CFR_INI = 1,
+    LIN_ACT_CFR_SET = 2,
+    LIN_ACT_CFR_PRG = 3,
+} eLinCOM;
+
+typedef struct {
+    uint16_t POS;
+    uint8_t BUS_ADR;
+    eMode_Mod MODE;
+    eLinCOM COM; // Является защелкой (триггером), которую контроллер сбросит, когда заберет данные
+    eStall_SET Stall_SET;
+    eLnoise_SET Lnoise_SET;
+    eAutos_SET Autos_SET;
+    eSpeed_SET Speed_SET;
+    eCoils_Stop_SET Coils_Stop_SET;
+} tLinCommandActuator;
+
 typedef struct {
 
     tLinIO *linIo;
     osMutexId_t access;
 
-    tLinStateActuator linStateActuator[9];
+    uint8_t busy; // Устройство занято
+    uint8_t errorConnect; // Ошибка соединения (устройство не отвечает)
+
+    tLinStateFullActuator linStateActuator[9];
+    tLinCommandActuator linCommandActuator[9];
 
     tLinData *linData;