From 5782440e397c8df4ab6a76805755d9878b356324 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Tue, 25 Nov 2025 16:18:02 +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?=
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---
 LinTasks.c | 101 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
 LinTasks.h |   8 ++++-
 2 files changed, 107 insertions(+), 2 deletions(-)

diff --git a/LinTasks.c b/LinTasks.c
index b7a92fb..5645555 100644
--- a/LinTasks.c
+++ b/LinTasks.c
@@ -6,6 +6,7 @@
 #include "CmsisRtosThreadUtils.h"
 #include "CanPorts.h"
 #include "fc7xxx_driver_lin.h"
+#include "Lins.h"
 
 //начало----------------------------------------- LIN 0 ----------------------------------------------------------------
 //начало----------------------------------------- LIN 0 ----------------------------------------------------------------
@@ -101,6 +102,99 @@ void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
     osMessageQueuePut(env->rxDataQueue, (uint8_t *) &pXferState->currentEventId, 0x0, 0U);
 }
 
+static lin_event_id_t SEND_ACTUATOR_COM_x(tLinTaskActuator *env, uint8_t adr) {
+    lin_event_id_t res = env->linIo->runCommand(env->linIo->env, adr, 50);
+    SystemDelayMs(20);
+    return res;
+}
+
+lin_event_id_t DFR_STA_x(tLinTaskActuator *env, uint8_t ADR) {
+    lin_event_id_t res;
+
+    env->linData->direction = LIN_DIRECTION_SET;
+    env->linData->g_aTxBufferLen = sizeof(ACT_DFR_STA);
+    env->linData->g_aRxBufferLen = 0;
+
+    ACT_DFR_STA *ACT_DFR_STA_ = (ACT_DFR_STA *)env->linData->g_aTxBuffer;
+    ACT_DFR_STA_->BUS_ADR = ADR;
+    ACT_DFR_STA_->Data1_DFR_STA = 0xFF;
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, DFR_STA);
+
+        if (res == LIN_TX_COMPLETED) {
+            break;
+        }
+
+        --retry;
+    }
+
+    return res;
+}
+
+lin_event_id_t RFR_STA_x(tLinTaskActuator *env, uint8_t ADR) {
+    lin_event_id_t res;
+
+    env->linData->direction = LIN_DIRECTION_GET;
+
+    env->linData->g_aTxBufferLen = 0;
+    env->linData->g_aRxBufferLen = sizeof(ACT_RFR_STA);
+
+    ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *)env->linData->g_aRxBuffer;
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, RFR_STA);
+
+        if (res == LIN_RX_COMPLETED) {
+
+
+            break;
+        }
+
+        --retry;
+    }
+
+    return res;
+}
+
+lin_event_id_t ISSR_x(tLinTaskActuator *env, uint8_t ADR) {
+    lin_event_id_t res;
+
+    env->linData->direction = LIN_DIRECTION_GET;
+    env->linData->g_aTxBufferLen = 0;
+    env->linData->g_aRxBufferLen = sizeof(ACT_RFR_ISSR);
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, ADR);
+
+        if (res == LIN_RX_COMPLETED) {
+
+            ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *)env->linData->g_aRxBuffer;
+
+            if (ACT_RFR_ISSR_->DIAGNOSE_MT) {
+                DFR_STA_x(env, ADR);
+                RFR_STA_x(env, ADR);
+            }
+
+            break;
+        }
+
+        --retry;
+    }
+
+
+    return res;
+
+}
 
 void Lin_0_Init(tLinTaskActuator *env,
                 tLinData *linData,
@@ -118,10 +212,15 @@ void Lin0_Scheduler(tLinTaskActuator *env) {
 
     if (osMutexAcquire(env->access, 100) == osOK) {
 
+
+        for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
+            lin_event_id_t res = ISSR_x(env, i);
+        }
+
+
         osMutexRelease(env->access);
     }
 
-    env->linIo->runCommand(env->linIo->env, 0x11, 1000);
 
 }
 
diff --git a/LinTasks.h b/LinTasks.h
index ad502bd..d44abc6 100644
--- a/LinTasks.h
+++ b/LinTasks.h
@@ -114,9 +114,11 @@ typedef enum {
     LIN_MODE_STOP = 2
 } eMode_Mod;
 
+
 typedef struct __attribute__ ((packed)) {
     uint8_t BUS_ADR;
-    eMode_Mod Mode;
+    eMode_Mod Mode_Slave: 2;
+    uint8_t Unused: 6; // Установить в 0xFF
     uint8_t Data2_Mod; // Установить в 0xFF
     uint8_t Data3_Mod; // Установить в 0xFF
 } ACT_CFR_MOD;
@@ -356,6 +358,10 @@ typedef struct __attribute__ ((packed)) {
     uint8_t DIAGNOSE_MT: 1;
 } ACT_RFR_ISSR;
 
+#define LIN0_ISSR_ALL 0x09
+#define LIN1_ISSR_ALL 0x06
+#define LIN2_ISSR_ALL 0x08
+
 typedef struct {
 
     tLinIO *linIo;