Изменены интерфейсы UDS (добавлено управление актуаторами)

Model_Task.c

@@ -95,6 +95,226 @@ void ModelTask_Init(
 
 }
 
+
+static bool getActProc(tModelTask *env, uint8_t numAct, uint8_t numIndex, uint16_t maxPos, uint16_t proc) {
+    uint16_t pos = (maxPos * proc) / 1000;
+
+    if (numAct == 1) {
+
+        env->triggerActuatorCmdBus_1.BUS_ADR[numIndex] = numIndex + 1;
+        env->triggerActuatorCmdBus_1.POS[numIndex] = pos;
+        env->triggerActuatorCmdBus_1.MODE[numIndex] = 0;
+        env->triggerActuatorCmdBus_1.COM[numIndex] = 3;
+        env->triggerActuatorCmdBus_1.Stall_SET[numIndex] = 0;
+        env->triggerActuatorCmdBus_1.Lnoise_SET[numIndex] = 0;
+        env->triggerActuatorCmdBus_1.Autos_SET[numIndex] = 3;
+        env->triggerActuatorCmdBus_1.Speed_SET[numIndex] = 3;
+        env->triggerActuatorCmdBus_1.Coils_Stop_SET[numIndex] = 3;
+
+
+        return true;
+    }
+
+    if (numAct == 2) {
+        env->triggerActuatorCmdBus_2.BUS_ADR[numIndex] = numIndex + 1;
+        env->triggerActuatorCmdBus_2.POS[numIndex] = pos;
+        env->triggerActuatorCmdBus_2.MODE[numIndex] = 0;
+        env->triggerActuatorCmdBus_2.COM[numIndex] = 3;
+        env->triggerActuatorCmdBus_2.Stall_SET[numIndex] = 0;
+        env->triggerActuatorCmdBus_2.Lnoise_SET[numIndex] = 0;
+        env->triggerActuatorCmdBus_2.Autos_SET[numIndex] = 3;
+        env->triggerActuatorCmdBus_2.Speed_SET[numIndex] = 3;
+        env->triggerActuatorCmdBus_2.Coils_Stop_SET[numIndex] = 3;
+
+        return true;
+    }
+
+    if (numAct == 3) {
+        env->triggerActuatorCmdBus_3.BUS_ADR[numIndex] = numIndex + 1;
+        env->triggerActuatorCmdBus_3.POS[numIndex] = pos;
+        env->triggerActuatorCmdBus_3.MODE[numIndex] = 0;
+        env->triggerActuatorCmdBus_3.COM[numIndex] = 3;
+        env->triggerActuatorCmdBus_3.Stall_SET[numIndex] = 0;
+        env->triggerActuatorCmdBus_3.Lnoise_SET[numIndex] = 0;
+        env->triggerActuatorCmdBus_3.Autos_SET[numIndex] = 3;
+        env->triggerActuatorCmdBus_3.Speed_SET[numIndex] = 3;
+        env->triggerActuatorCmdBus_3.Coils_Stop_SET[numIndex] = 3;
+
+        return true;
+    }
+
+    return false;
+}
+
+static bool isUDS_Captured(tModelTask *env, uint8_t index, uint8_t numAct) {
+
+
+    if (numAct == 1) {
+
+
+        if ((index == 0) && (model_Status_Set_For_Model_output.Motor_Def)) {
+            getActProc(env, numAct, 0, rtY.Status_Actuator_model_IO.Motor_Def,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Def);
+            return true;
+        }
+
+        if ((index == 1) && (model_Status_Set_For_Model_output.Motor_REC)) {
+            getActProc(env, numAct, 1, rtY.Status_Actuator_model_IO.Motor_REC,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_REC);
+            return true;
+        }
+
+        if ((index == 2) && (model_Status_Set_For_Model_output.Motor_OSA)) {
+            getActProc(env, numAct, 2, rtY.Status_Actuator_model_IO.Motor_OSA,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_OSA);
+            return true;
+        }
+
+        if ((index == 3) && (model_Status_Set_For_Model_output.Motor_Temp1_FL)) {
+            getActProc(env, numAct, 3, rtY.Status_Actuator_model_IO.Motor_Temp1_FL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Temp1_FL);
+            return true;
+        }
+
+        if ((index == 4) && (model_Status_Set_For_Model_output.Motor_Vent_CFL)) {
+            getActProc(env, numAct, 4, rtY.Status_Actuator_model_IO.Motor_Vent_CFL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_CFL);
+            return true;
+        }
+
+
+        if ((index == 5) && (model_Status_Set_For_Model_output.Motor_Vent_SFL)) {
+            getActProc(env, numAct, 5, rtY.Status_Actuator_model_IO.Motor_Vent_SFL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_SFL);
+            return true;
+        }
+
+        if ((index == 6) && (model_Status_Set_For_Model_output.Motor_Temp2_FL)) {
+            getActProc(env, numAct, 6, rtY.Status_Actuator_model_IO.Motor_Temp2_FL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Temp2_FL);
+            return true;
+        }
+
+        if ((index == 7) && (model_Status_Set_For_Model_output.Motor_Foot_1FL)) {
+            getActProc(env, numAct, 7, rtY.Status_Actuator_model_IO.Motor_Foot_1FL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Foot_1FL);
+            return true;
+        }
+
+        if ((index == 8) && (model_Status_Set_For_Model_output.Motor_Foot_2FL)) {
+            getActProc(env, numAct, 8, rtY.Status_Actuator_model_IO.Motor_Foot_2FL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Foot_2FL);
+            return true;
+        }
+
+    }
+
+
+    if (numAct == 2) {
+
+
+        if ((index == 0) && (model_Status_Set_For_Model_output.Motor_Temp1_FR)) {
+            getActProc(env, numAct, 0, rtY.Status_Actuator_model_IO.Motor_Temp1_FR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Temp1_FR);
+            return true;
+        }
+
+        if ((index == 1) && (model_Status_Set_For_Model_output.Motor_Vent_CFR)) {
+            getActProc(env, numAct, 1, rtY.Status_Actuator_model_IO.Motor_Vent_CFR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_CFR);
+            return true;
+        }
+
+        if ((index == 2) && (model_Status_Set_For_Model_output.Motor_Vent_SFR)) {
+            getActProc(env, numAct, 2, rtY.Status_Actuator_model_IO.Motor_Vent_SFR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_SFR);
+            return true;
+        }
+
+        if ((index == 3) && (model_Status_Set_For_Model_output.Motor_Temp2_FR)) {
+            getActProc(env, numAct, 3, rtY.Status_Actuator_model_IO.Motor_Temp2_FR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Temp2_FR);
+            return true;
+        }
+
+        if ((index == 4) && (model_Status_Set_For_Model_output.Motor_Foot_1FR)) {
+            getActProc(env, numAct, 4, rtY.Status_Actuator_model_IO.Motor_Foot_1FR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Foot_1FR);
+            return true;
+        }
+
+        if ((index == 5) && (model_Status_Set_For_Model_output.Motor_Foot_2FR)) {
+            getActProc(env, numAct, 5, rtY.Status_Actuator_model_IO.Motor_Foot_2FR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Foot_2FR);
+            return true;
+        }
+
+    }
+
+
+    if (numAct == 3) {
+
+
+        if ((index == 0) && (model_Status_Set_For_Model_output.Motor_Temp_RR)) {
+            getActProc(env, numAct, 0, rtY.Status_Actuator_model_IO.Motor_Temp_RR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Temp_RR);
+            return true;
+        }
+
+        if ((index == 1) && (model_Status_Set_For_Model_output.Motor_Temp_RL)) {
+            getActProc(env, numAct, 1, rtY.Status_Actuator_model_IO.Motor_Temp_RL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Temp_RL);
+            return true;
+        }
+
+        if ((index == 2) && (model_Status_Set_For_Model_output.Motor_Vent_SRL)) {
+            getActProc(env, numAct, 2, rtY.Status_Actuator_model_IO.Motor_Vent_SRL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_SRL);
+            return true;
+        }
+
+        if ((index == 3) && (model_Status_Set_For_Model_output.Motor_Foot_RL)) {
+            getActProc(env, numAct, 3, rtY.Status_Actuator_model_IO.Motor_Foot_RL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Foot_RL);
+            return true;
+        }
+
+        if ((index == 4) && (model_Status_Set_For_Model_output.Motor_Vent_CRL)) {
+            getActProc(env, numAct, 4, rtY.Status_Actuator_model_IO.Motor_Vent_CRL,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_CRL);
+            return true;
+        }
+
+        if ((index == 5) && (model_Status_Set_For_Model_output.Motor_Vent_CRR)) {
+            getActProc(env, numAct, 5, rtY.Status_Actuator_model_IO.Motor_Vent_CRR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_CRR);
+            return true;
+        }
+
+        if ((index == 6) && (model_Status_Set_For_Model_output.Motor_Foot_RR)) {
+            getActProc(env, numAct, 6, rtY.Status_Actuator_model_IO.Motor_Foot_RR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Foot_RR);
+            return true;
+        }
+
+        if ((index == 7) && (model_Status_Set_For_Model_output.Motor_Vent_SRR)) {
+            getActProc(env, numAct, 7, rtY.Status_Actuator_model_IO.Motor_Vent_SRR,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_Vent_SRR);
+            return true;
+        }
+
+        if ((index == 8) && (model_Status_Set_For_Model_output.Motor_SealingValve)) {
+            getActProc(env, numAct, 8, rtY.Status_Actuator_model_IO.Motor_SealingValve,
+                       model_Status_Actuator_DoorsActuator_For_Model_output.Motor_SealingValve);
+            return true;
+        }
+
+    }
+
+
+    return false;
+}
+
 static bool setActuatorBusy(tModelTask *env) {
 
 
@@ -102,33 +322,297 @@ static bool setActuatorBusy(tModelTask *env) {
 
 
         for (uint8_t i = 0; i < env->linTaskActuator1->LIN_ISSR_ALL; ++i) {
-            if (rtY.Actuator_Ch0_Command_Model_out.COM[i] != 0) {
+            bool isCaptured = isUDS_Captured(env, i, 1);
+
+
+            if (isCaptured) {
+                asm("nop");
+            }
+
+            if ((rtY.Actuator_Ch0_Command_Model_out.COM[i] != 0) || isCaptured) {
 
                 env->triggerCommand1 = true;
 
-                memcpy(&env->triggerActuatorCmdBus_1, &rtY.Actuator_Ch0_Command_Model_out, sizeof(ActuatorCmdBus));
+                if (isCaptured) {
+
+#if (LOG_LIN_ACTUATOR == 1)
+#if (LOG_LIN1_ACTUATOR == 1)
+
+                    LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                      "LIN1 (ADR[%d] = %d): UDS CAPTURED", i,
+                                      env->triggerActuatorCmdBus_1.BUS_ADR[i])
+#endif
+#endif
+
+                } else {
+
+                    env->triggerActuatorCmdBus_1.BUS_ADR[i] = rtY.Actuator_Ch0_Command_Model_out.BUS_ADR[i];
+                    env->triggerActuatorCmdBus_1.POS[i] = rtY.Actuator_Ch0_Command_Model_out.POS[i];
+                    env->triggerActuatorCmdBus_1.MODE[i] = rtY.Actuator_Ch0_Command_Model_out.MODE[i];
+                    env->triggerActuatorCmdBus_1.COM[i] = rtY.Actuator_Ch0_Command_Model_out.COM[i];
+                    env->triggerActuatorCmdBus_1.Stall_SET[i] = rtY.Actuator_Ch0_Command_Model_out.Stall_SET[i];
+                    env->triggerActuatorCmdBus_1.Lnoise_SET[i] = rtY.Actuator_Ch0_Command_Model_out.Lnoise_SET[i];
+                    env->triggerActuatorCmdBus_1.Autos_SET[i] = rtY.Actuator_Ch0_Command_Model_out.Autos_SET[i];
+                    env->triggerActuatorCmdBus_1.Speed_SET[i] = rtY.Actuator_Ch0_Command_Model_out.Speed_SET[i];
+                    env->triggerActuatorCmdBus_1.Coils_Stop_SET[i] = rtY.Actuator_Ch0_Command_Model_out.Coils_Stop_SET[i];
+
+//                    memcpy(&env->triggerActuatorCmdBus_1, &rtY.Actuator_Ch0_Command_Model_out, sizeof(ActuatorCmdBus));
+                }
+
+#if (LOG_LIN_ACTUATOR == 1)
+#if (LOG_LIN1_ACTUATOR == 1)
+
+                switch (env->triggerActuatorCmdBus_1.COM[i]) {
+                    case LIN_ACT_CFR_MOD: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_1.BUS_ADR[i])
+                        break;
+                    }
+                    case LIN_ACT_CFR_INI: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_1.BUS_ADR[i])
+                        break;
+                    }
+
+                    case LIN_ACT_CFR_SET: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_1.BUS_ADR[i])
+                        break;
+                    }
+
+                    case LIN_ACT_CFR_NONE: {
+
+                        break;
+                    }
+
+                    default: {
+                        LoggerFormatError(LOGGER, LOG_SIGN,
+                                          "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)",
+                                          i,
+                                          env->triggerActuatorCmdBus_1.BUS_ADR[i],
+                                          env->triggerActuatorCmdBus_1.COM[i])
+                    }
+                }
+
+#endif
+#endif
+
+
+                Actuator_Ch0_Status_Model.Busy = 1;
+//                break;
+            }
+        }
+    }
+
+
+    if (env->triggerCommand2 == false) {
+
+        for (uint8_t i = 0; i < env->linTaskActuator2->LIN_ISSR_ALL; ++i) {
+            bool isCaptured = isUDS_Captured(env, i, 2);
+            if ((rtY.Actuator_Ch1_Command_Mode_out.COM[i] != 0) || isCaptured) {
+
+                env->triggerCommand2 = true;
+
+                if (isCaptured) {
+
+#if (LOG_LIN_ACTUATOR == 1)
+#if (LOG_LIN2_ACTUATOR == 1)
+
+                    LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                      "LIN2 (ADR[%d] = %d): UDS CAPTURED", i,
+                                      env->triggerActuatorCmdBus_2.BUS_ADR[i])
+#endif
+#endif
+
+                } else {
+                    env->triggerActuatorCmdBus_2.BUS_ADR[i] = rtY.Actuator_Ch1_Command_Mode_out.BUS_ADR[i];
+                    env->triggerActuatorCmdBus_2.POS[i] = rtY.Actuator_Ch1_Command_Mode_out.POS[i];
+                    env->triggerActuatorCmdBus_2.MODE[i] = rtY.Actuator_Ch1_Command_Mode_out.MODE[i];
+                    env->triggerActuatorCmdBus_2.COM[i] = rtY.Actuator_Ch1_Command_Mode_out.COM[i];
+                    env->triggerActuatorCmdBus_2.Stall_SET[i] = rtY.Actuator_Ch1_Command_Mode_out.Stall_SET[i];
+                    env->triggerActuatorCmdBus_2.Lnoise_SET[i] = rtY.Actuator_Ch1_Command_Mode_out.Lnoise_SET[i];
+                    env->triggerActuatorCmdBus_2.Autos_SET[i] = rtY.Actuator_Ch1_Command_Mode_out.Autos_SET[i];
+                    env->triggerActuatorCmdBus_2.Speed_SET[i] = rtY.Actuator_Ch1_Command_Mode_out.Speed_SET[i];
+                    env->triggerActuatorCmdBus_2.Coils_Stop_SET[i] = rtY.Actuator_Ch1_Command_Mode_out.Coils_Stop_SET[i];
+
+//                    memcpy(&env->triggerActuatorCmdBus_2, &rtY.Actuator_Ch1_Command_Mode_out, sizeof(ActuatorCmdBus));
+                }
+
+#if (LOG_LIN_ACTUATOR == 1)
+#if (LOG_LIN2_ACTUATOR == 1)
+
+
+                switch (env->triggerActuatorCmdBus_2.COM[i]) {
+                    case LIN_ACT_CFR_MOD: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_2.BUS_ADR[i])
+                        break;
+                    }
+                    case LIN_ACT_CFR_INI: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_2.BUS_ADR[i])
+                        break;
+                    }
+
+                    case LIN_ACT_CFR_SET: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_2.BUS_ADR[i])
+                        break;
+                    }
+
+                    case LIN_ACT_CFR_NONE: {
+
+                        break;
+                    }
+
+                    default: {
+                        LoggerFormatError(LOGGER, LOG_SIGN,
+                                          "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)",
+                                          i,
+                                          env->triggerActuatorCmdBus_2.BUS_ADR[i],
+                                          env->triggerActuatorCmdBus_2.COM[i])
+                    }
+                }
+
+#endif
+#endif
+
+
+                Actuator_Ch1_Status_Model.Busy = 1;
+//                break;
+            }
+        }
+    }
+
+
+    if (env->triggerCommand3 == false) {
+
+        for (uint8_t i = 0; i < env->linTaskActuator3->LIN_ISSR_ALL; ++i) {
+            bool isCaptured = isUDS_Captured(env, i, 3);
+            if ((rtY.Actuator_Ch2_Command_Model_out.COM[i] != 0) || isCaptured) {
+
+                env->triggerCommand3 = true;
+
+                if (isCaptured) {
+
+#if (LOG_LIN_ACTUATOR == 1)
+#if (LOG_LIN3_ACTUATOR == 1)
+
+                    LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                      "LIN3 (ADR[%d] = %d): UDS CAPTURED", i,
+                                      env->triggerActuatorCmdBus_3.BUS_ADR[i])
+#endif
+#endif
+
+                } else {
+                    env->triggerActuatorCmdBus_3.BUS_ADR[i] = rtY.Actuator_Ch2_Command_Model_out.BUS_ADR[i];
+                    env->triggerActuatorCmdBus_3.POS[i] = rtY.Actuator_Ch2_Command_Model_out.POS[i];
+                    env->triggerActuatorCmdBus_3.MODE[i] = rtY.Actuator_Ch2_Command_Model_out.MODE[i];
+                    env->triggerActuatorCmdBus_3.COM[i] = rtY.Actuator_Ch2_Command_Model_out.COM[i];
+                    env->triggerActuatorCmdBus_3.Stall_SET[i] = rtY.Actuator_Ch2_Command_Model_out.Stall_SET[i];
+                    env->triggerActuatorCmdBus_3.Lnoise_SET[i] = rtY.Actuator_Ch2_Command_Model_out.Lnoise_SET[i];
+                    env->triggerActuatorCmdBus_3.Autos_SET[i] = rtY.Actuator_Ch2_Command_Model_out.Autos_SET[i];
+                    env->triggerActuatorCmdBus_3.Speed_SET[i] = rtY.Actuator_Ch2_Command_Model_out.Speed_SET[i];
+                    env->triggerActuatorCmdBus_3.Coils_Stop_SET[i] = rtY.Actuator_Ch2_Command_Model_out.Coils_Stop_SET[i];
+
+//                    memcpy(&env->triggerActuatorCmdBus_3, &rtY.Actuator_Ch2_Command_Model_out, sizeof(ActuatorCmdBus));
+                }
+
+#if (LOG_LIN_ACTUATOR == 1)
+#if (LOG_LIN3_ACTUATOR == 1)
+
+
+                switch (env->triggerActuatorCmdBus_3.COM[i]) {
+                    case LIN_ACT_CFR_MOD: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_3.BUS_ADR[i])
+                        break;
+                    }
+                    case LIN_ACT_CFR_INI: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_3.BUS_ADR[i])
+                        break;
+                    }
+
+                    case LIN_ACT_CFR_SET: {
+                        LoggerFormatTrace(LOGGER, LOG_SIGN,
+                                          "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", i,
+                                          env->triggerActuatorCmdBus_3.BUS_ADR[i])
+                        break;
+                    }
+
+                    case LIN_ACT_CFR_NONE: {
+
+                        break;
+                    }
+
+                    default: {
+                        LoggerFormatError(LOGGER, LOG_SIGN,
+                                          "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)",
+                                          i,
+                                          env->triggerActuatorCmdBus_3.BUS_ADR[i],
+                                          env->triggerActuatorCmdBus_3.COM[i])
+                    }
+                }
+
+
+#endif
+#endif
+
+                Actuator_Ch2_Status_Model.Busy = 1;
+//                break;
+            }
+        }
+    }
+
+
+    return false;
+}
+
+
+/*
+static bool setActuatorBusy(tModelTask *env) {
+
+
+    if (env->triggerCommand1 == false) {
+
+
+        for (uint8_t i = 0; i < env->linTaskActuator1->LIN_ISSR_ALL; ++i) {
+            if (Actuator_Ch0_Command_Model.COM[i] != 0) {
+
+                env->triggerCommand1 = true;
+
+                memcpy(&env->triggerActuatorCmdBus_1, &Actuator_Ch0_Command_Model, sizeof(ActuatorCmdBus));
 
 #if (LOG_LIN_ACTUATOR == 1)
 #if (LOG_LIN1_ACTUATOR == 1)
                 for (uint8_t j = 0; j < env->linTaskActuator1->LIN_ISSR_ALL; ++j) {
-                    switch (rtY.Actuator_Ch0_Command_Model_out.COM[j]) {
+                    switch (Actuator_Ch0_Command_Model.COM[j]) {
                         case LIN_ACT_CFR_MOD: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", j,
-                                              rtY.Actuator_Ch0_Command_Model_out.BUS_ADR[j])
+                                              Actuator_Ch0_Command_Model.BUS_ADR[j])
                             break;
                         }
                         case LIN_ACT_CFR_INI: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", j,
-                                              rtY.Actuator_Ch0_Command_Model_out.BUS_ADR[j])
+                                              Actuator_Ch0_Command_Model.BUS_ADR[j])
                             break;
                         }
 
                         case LIN_ACT_CFR_SET: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", j,
-                                              rtY.Actuator_Ch0_Command_Model_out.BUS_ADR[j])
+                                              Actuator_Ch0_Command_Model.BUS_ADR[j])
                             break;
                         }
 
@@ -141,8 +625,8 @@ static bool setActuatorBusy(tModelTask *env) {
                             LoggerFormatError(LOGGER, LOG_SIGN,
                                               "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)",
                                               j,
-                                              rtY.Actuator_Ch0_Command_Model_out.BUS_ADR[j],
+                                              Actuator_Ch0_Command_Model.BUS_ADR[j],
-                                              rtY.Actuator_Ch0_Command_Model_out.COM[j])
+                                              Actuator_Ch0_Command_Model.COM[j])
                         }
                     }
                 }
@@ -160,34 +644,34 @@ static bool setActuatorBusy(tModelTask *env) {
     if (env->triggerCommand2 == false) {
 
         for (uint8_t i = 0; i < env->linTaskActuator2->LIN_ISSR_ALL; ++i) {
-            if (rtY.Actuator_Ch1_Command_Mode_out.COM[i] != 0) {
+            if (Actuator_Ch1_Command_Model.COM[i] != 0) {
 
                 env->triggerCommand2 = true;
 
-                memcpy(&env->triggerActuatorCmdBus_2, &rtY.Actuator_Ch1_Command_Mode_out, sizeof(ActuatorCmdBus));
+                memcpy(&env->triggerActuatorCmdBus_2, &Actuator_Ch1_Command_Model, sizeof(ActuatorCmdBus));
 
 #if (LOG_LIN_ACTUATOR == 1)
 #if (LOG_LIN2_ACTUATOR == 1)
 
                 for (uint8_t j = 0; j < env->linTaskActuator2->LIN_ISSR_ALL; ++j) {
-                    switch (rtY.Actuator_Ch1_Command_Mode_out.COM[j]) {
+                    switch (Actuator_Ch1_Command_Model.COM[j]) {
                         case LIN_ACT_CFR_MOD: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", j,
-                                              rtY.Actuator_Ch1_Command_Mode_out.BUS_ADR[j])
+                                              Actuator_Ch1_Command_Model.BUS_ADR[j])
                             break;
                         }
                         case LIN_ACT_CFR_INI: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", j,
-                                              rtY.Actuator_Ch1_Command_Mode_out.BUS_ADR[j])
+                                              Actuator_Ch1_Command_Model.BUS_ADR[j])
                             break;
                         }
 
                         case LIN_ACT_CFR_SET: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", j,
-                                              rtY.Actuator_Ch1_Command_Mode_out.BUS_ADR[j])
+                                              Actuator_Ch1_Command_Model.BUS_ADR[j])
                             break;
                         }
 
@@ -200,8 +684,8 @@ static bool setActuatorBusy(tModelTask *env) {
                             LoggerFormatError(LOGGER, LOG_SIGN,
                                               "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)",
                                               j,
-                                              rtY.Actuator_Ch1_Command_Mode_out.BUS_ADR[j],
+                                              Actuator_Ch1_Command_Model.BUS_ADR[j],
-                                              rtY.Actuator_Ch1_Command_Mode_out.COM[j])
+                                              Actuator_Ch1_Command_Model.COM[j])
                         }
                     }
                 }
@@ -219,34 +703,34 @@ static bool setActuatorBusy(tModelTask *env) {
     if (env->triggerCommand3 == false) {
 
         for (uint8_t i = 0; i < env->linTaskActuator3->LIN_ISSR_ALL; ++i) {
-            if (rtY.Actuator_Ch2_Command_Model_out.COM[i] != 0) {
+            if (Actuator_Ch2_Command_Model.COM[i] != 0) {
 
                 env->triggerCommand3 = true;
 
-                memcpy(&env->triggerActuatorCmdBus_3, &rtY.Actuator_Ch2_Command_Model_out, sizeof(ActuatorCmdBus));
+                memcpy(&env->triggerActuatorCmdBus_3, &Actuator_Ch2_Command_Model, sizeof(ActuatorCmdBus));
 
 #if (LOG_LIN_ACTUATOR == 1)
 #if (LOG_LIN3_ACTUATOR == 1)
 
                 for (uint8_t j = 0; j < env->linTaskActuator3->LIN_ISSR_ALL; ++j) {
-                    switch (rtY.Actuator_Ch2_Command_Model_out.COM[j]) {
+                    switch (Actuator_Ch2_Command_Model.COM[j]) {
                         case LIN_ACT_CFR_MOD: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", j,
-                                              rtY.Actuator_Ch2_Command_Model_out.BUS_ADR[j])
+                                              Actuator_Ch2_Command_Model.BUS_ADR[j])
                             break;
                         }
                         case LIN_ACT_CFR_INI: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", j,
-                                              rtY.Actuator_Ch2_Command_Model_out.BUS_ADR[j])
+                                              Actuator_Ch2_Command_Model.BUS_ADR[j])
                             break;
                         }
 
                         case LIN_ACT_CFR_SET: {
                             LoggerFormatTrace(LOGGER, LOG_SIGN,
                                               "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", j,
-                                              rtY.Actuator_Ch2_Command_Model_out.BUS_ADR[j])
+                                              Actuator_Ch2_Command_Model.BUS_ADR[j])
                             break;
                         }
 
@@ -259,8 +743,8 @@ static bool setActuatorBusy(tModelTask *env) {
                             LoggerFormatError(LOGGER, LOG_SIGN,
                                               "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)",
                                               j,
-                                              rtY.Actuator_Ch2_Command_Model_out.BUS_ADR[j],
+                                              Actuator_Ch2_Command_Model.BUS_ADR[j],
-                                              rtY.Actuator_Ch2_Command_Model_out.COM[j])
+                                              Actuator_Ch2_Command_Model.COM[j])
                         }
                     }
                 }
@@ -277,6 +761,7 @@ static bool setActuatorBusy(tModelTask *env) {
 
     return false;
 }
+*/
 
 __attribute__((section(".save_data"))) volatile CmdCAN_CCU_STAT1_Bus CCU_STAT1_MODEL_SAVE;
 __attribute__((section(".save_data"))) volatile CmdCAN_CCU_STAT2_Bus CCU_STAT2_MODEL_SAVE;
@@ -366,9 +851,12 @@ static _Noreturn void ModelTask_Thread(tModelTask *env) {
 
 //начало-------------------------------------------------SlEEP----------------------------------------------------------
 
-            memcpy((void *) &rtDW.CCU_STAT1_WAKEUP_MODEL, (void *) &CCU_STAT1_MODEL_SAVE, sizeof(CmdCAN_CCU_STAT1_WakeUp_Bus));
+            memcpy((void *) &rtDW.CCU_STAT1_WAKEUP_MODEL, (void *) &CCU_STAT1_MODEL_SAVE,
-            memcpy((void *) &rtDW.CCU_STAT2_WAKEUP_MODEL, (void *) &CCU_STAT2_MODEL_SAVE, sizeof(CmdCAN_CCU_STAT2_WakeUp_Bus));
+                   sizeof(CmdCAN_CCU_STAT1_WakeUp_Bus));
-            memcpy((void *) &rtDW.CCU_STAT3_WAKEUP_MODEL, (void *) &CCU_STAT3_MODEL_SAVE, sizeof(CmdCAN_CCU_STAT3_WakeUp_Bus));
+            memcpy((void *) &rtDW.CCU_STAT2_WAKEUP_MODEL, (void *) &CCU_STAT2_MODEL_SAVE,
+                   sizeof(CmdCAN_CCU_STAT2_WakeUp_Bus));
+            memcpy((void *) &rtDW.CCU_STAT3_WAKEUP_MODEL, (void *) &CCU_STAT3_MODEL_SAVE,
+                   sizeof(CmdCAN_CCU_STAT3_WakeUp_Bus));
             memcpy((void *) &rtDW.CCU_Msg1_WakeUp_model, (void *) &CCU_MSG1_MODEL_SAVE, sizeof(CCU_Msg1_WakeUp_Bus));
 
 
@@ -387,6 +875,7 @@ static _Noreturn void ModelTask_Thread(tModelTask *env) {
 
             CanUdsOutput_Get_Model(env->canUds);
 
+
             setActuatorBusy(env);
 
 
@@ -638,7 +1127,7 @@ static _Noreturn void ModelTask_Thread(tModelTask *env) {
             LoggerErrorStatic(LOGGER, LOG_SIGN, "Access error ModelTask_Thread");
         }
 
-       SystemDelayMs(10);
+        SystemDelayMs(10);
 
 
     }