From be1869c7a0d15434a493cdf8376311e60b60217b Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Tue, 2 Dec 2025 17:37:27 +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?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 LinTasks.c | 101 +++++++++++++++++++++++++++--------------------------
 1 file changed, 52 insertions(+), 49 deletions(-)

diff --git a/LinTasks.c b/LinTasks.c
index acd73ff..32eb9e6 100644
--- a/LinTasks.c
+++ b/LinTasks.c
@@ -657,80 +657,83 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
         }
     }
 
-    lin_event_id_t res;
-
     for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
 
-        res = ISSR_x(env->linIo, env->linData,
+        ret = ISSR_x(env->linIo, env->linData,
                      i,
                      &env->linStateActuator[i].BLOCK_MT,
                      &env->linStateActuator[i].CPOS_ALL,
                      &env->linStateActuator[i].DIAGNOSE_MT);
 
-        ret = DFR_STA_x(env->linIo, env->linData, i);
-
-        if (ret == LIN_TX_COMPLETED) {
-
-            uint8_t BUS_ADR;
-            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;
+        if (ret == LIN_RX_COMPLETED) {
 
             if ((env->linStateActuator[i].DIAGNOSE_MT) || (env->linCommandActuator[i].isRFR_STA)) {
 
                 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);
+                ret = DFR_STA_x(env->linIo, env->linData, i);
 
-                if (ret == LIN_RX_COMPLETED) {
+                if (ret == LIN_TX_COMPLETED) {
+
+                    uint8_t BUS_ADR;
+                    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;
+
+                    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 {
+                return ret;
             }
 
         } else {
             return ret;
         }
-
     }
 
-    if ((res == LIN_TX_COMPLETED) || (res == LIN_RX_COMPLETED)) {
+    if ((ret == LIN_TX_COMPLETED) || (ret == LIN_RX_COMPLETED)) {
 
     } else {
         return ret;