From bfb5f7fd5bb3b80c782f11bad79a98be42e4a18d Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Wed, 22 Apr 2026 12:18:45 +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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---
 LinActuatorTasks.c | 27 ++++++++++++++-------------
 LinActuatorTasks.h |  2 +-
 2 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/LinActuatorTasks.c b/LinActuatorTasks.c
index c555321..42d148a 100644
--- a/LinActuatorTasks.c
+++ b/LinActuatorTasks.c
@@ -711,7 +711,8 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
             if (env->linCommandActuator[i].BUS_ADR == 0) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
                                  env->linCommandActuator[i].BUS_ADR, i + 1,
                                  env->linCommandActuator[i].MODE)
 #endif
@@ -740,7 +741,8 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
                 } else {
 #if (LOG_LIN_ACTUATOR == 1)
-                    LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
                                      env->linCommandActuator[i].BUS_ADR, i,
                                      env->linCommandActuator[i].MODE)
 #endif
@@ -755,7 +757,8 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
             if (env->linCommandActuator[i].BUS_ADR == 0) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Let's skip the command: LIN_ACT_CFR_INI (ADR = %d (%d) POS = %d)",
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "Let's skip the command: LIN_ACT_CFR_INI (ADR = %d (%d) POS = %d)",
                                  env->linCommandActuator[i].BUS_ADR, i + 1,
                                  env->linCommandActuator[i].POS)
 #endif
@@ -985,7 +988,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
                         (env->linStateActuator[BUS_ADR].Emrf_Slave != Emrf_Slave) ||
                         (env->linStateActuator[BUS_ADR].Mode_Slave != Mode_Slave) ||
 
-                            (env->linStateActuator[BUS_ADR].Reset_Slave != Reset_Slave) ||
+                        (env->linStateActuator[BUS_ADR].Reset_Slave != Reset_Slave) ||
 
                         (env->linStateActuator[BUS_ADR].Error1_Supply_Slave != Error1_Supply_Slave) ||
                         (env->linStateActuator[BUS_ADR].Error2_Communication_Slave != Error2_Communication_Slave) ||
@@ -995,9 +998,10 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
                             ) {
 #if (LOG_LIN_ACTUATOR == 1)
                         LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                         "State: ADR = %d CPOS = %d Emrf = %d Mode = %d Reset = %d ErrSupply = %d ErrComm = %d ErrTemp = %d ErrElect = %d",
+                                         "State: ADR = %d CPOS = %d Stall_Slave = %d Emrf = %d Mode = %d Reset = %d ErrSupply = %d ErrComm = %d ErrTemp = %d ErrElect = %d",
                                          BUS_ADR + 1,
                                          CPOS_ALL,
+                                         Stall_Slave,
                                          Emrf_Slave,
                                          Mode_Slave,
                                          Reset_Slave,
@@ -1018,18 +1022,15 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
                     env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
 
                     //  Для защелкивания (после считывания Stall_Slave сбросится)
-                    if (env->linStateActuator[BUS_ADR].Stall_Slave == LIN_STALL_STA_OFF) {
+                    if (Stall_Slave == LIN_STALL_STA_ON) {
                         env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
-
 #if (LOG_LIN_ACTUATOR == 1)
-                        if (Stall_Slave == LIN_STALL_STA_ON) {
-                            LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Detect STALL: (ADR = %d POS = %d)",
-                                             BUS_ADR + 1,
-                                             CPOS_ALL)
-                        }
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Detect STALL: (ADR = %d POS = %d)",
+                                         BUS_ADR + 1,
+                                         CPOS_ALL)
 #endif
-                    }
 
+                    }
 
                     env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
 
diff --git a/LinActuatorTasks.h b/LinActuatorTasks.h
index d99e931..40de08e 100644
--- a/LinActuatorTasks.h
+++ b/LinActuatorTasks.h
@@ -10,7 +10,7 @@
 #include "LinIO.h"
 #include "LoggerInterface.h"
 
-#define LOG_LIN_ACTUATOR 0
+#define LOG_LIN_ACTUATOR 1
 
 typedef struct __attribute__ ((packed)) {
     uint8_t BUS_ADR;