From 7b6c99c81a9edcd54a2a9504f238d25bc73d101a Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Tue, 2 Dec 2025 17:33:58 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=BB=D0=B5?=
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---
 LinTasks.c | 65 +++++++++++++++++++++++++++++-------------------------
 LinTasks.h |  2 ++
 2 files changed, 37 insertions(+), 30 deletions(-)

diff --git a/LinTasks.c b/LinTasks.c
index eaa6063..acd73ff 100644
--- a/LinTasks.c
+++ b/LinTasks.c
@@ -682,41 +682,46 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
             eStall_STA Stall_Slave;
             eReset_STA Reset_Slave;
 
-            ret = RFR_STA_x(env->linIo, env->linData,
-                            &BUS_ADR,
-                            &CPOS_ALL,
-                            &Emrf_Slave,
-                            &Mode_Slave,
-                            &Error1_Supply_Slave,
-                            &Error2_Communication_Slave,
-                            &Error3_Temperature_Slave,
-                            &Error4_Permanent_Electrical_Slave,
-                            &Stall_Slave,
-                            &Reset_Slave);
+            if ((env->linStateActuator[i].DIAGNOSE_MT) || (env->linCommandActuator[i].isRFR_STA)) {
 
-            if (ret == LIN_RX_COMPLETED) {
+                env->linCommandActuator[i].isRFR_STA = 0;
+
+                ret = RFR_STA_x(env->linIo, env->linData,
+                                &BUS_ADR,
+                                &CPOS_ALL,
+                                &Emrf_Slave,
+                                &Mode_Slave,
+                                &Error1_Supply_Slave,
+                                &Error2_Communication_Slave,
+                                &Error3_Temperature_Slave,
+                                &Error4_Permanent_Electrical_Slave,
+                                &Stall_Slave,
+                                &Reset_Slave);
+
+                if (ret == LIN_RX_COMPLETED) {
+
+                    if (BUS_ADR != i) {
+                        asm("nop");
+                    }
+
+                    if (BUS_ADR < LIN0_ISSR_ALL) {
+                        env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
+                        env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
+                        env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
+                        env->linStateActuator[BUS_ADR].Error1_Supply_Slave = Error1_Supply_Slave;
+                        env->linStateActuator[BUS_ADR].Error2_Communication_Slave = Error2_Communication_Slave;
+                        env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = Error3_Temperature_Slave;
+                        env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
+                        env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
+                        env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
+                    } else {
+                        asm("nop");
+                    }
 
-                if (BUS_ADR != i) {
-                    asm("nop");
-                }
 
-                if (BUS_ADR < LIN0_ISSR_ALL) {
-                    env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
-                    env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
-                    env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
-                    env->linStateActuator[BUS_ADR].Error1_Supply_Slave = Error1_Supply_Slave;
-                    env->linStateActuator[BUS_ADR].Error2_Communication_Slave = Error2_Communication_Slave;
-                    env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = Error3_Temperature_Slave;
-                    env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
-                    env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
-                    env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
                 } else {
-                    asm("nop");
+                    return ret;
                 }
-
-
-            } else {
-                return ret;
             }
 
         } else {
diff --git a/LinTasks.h b/LinTasks.h
index 68bf893..471f833 100644
--- a/LinTasks.h
+++ b/LinTasks.h
@@ -440,6 +440,8 @@ typedef struct {
     uint8_t Baudrate;
     uint8_t Version_CFR;
 
+    uint8_t isRFR_STA;
+
 } tLinCommandActuator;
 
 typedef struct {