From 930ea864c71ab359633d9205015ab55fa2bae661 Mon Sep 17 00:00:00 2001
From: pavel <pav9551@yandex.ru>
Date: Wed, 15 Apr 2026 23:55:09 +0300
Subject: [PATCH] added files

---
 FOExp.v               | 1108 +++++++++++++++++++++++++++++++++++++++++
 UML/Activity.plantuml |   31 ++
 UML/Sequence.plantuml |   20 +
 UML/Sequence.png      |  Bin 0 -> 16620 bytes
 UML/State.plantuml    |   19 +
 UML/State.png         |  Bin 0 -> 38943 bytes
 6 files changed, 1178 insertions(+)
 create mode 100644 FOExp.v
 create mode 100644 UML/Activity.plantuml
 create mode 100644 UML/Sequence.plantuml
 create mode 100644 UML/Sequence.png
 create mode 100644 UML/State.plantuml
 create mode 100644 UML/State.png

diff --git a/FOExp.v b/FOExp.v
new file mode 100644
index 0000000..77b1e53
--- /dev/null
+++ b/FOExp.v
@@ -0,0 +1,1108 @@
+// Unit name to specify here - UNIT1, UNIT2, UNIT3 or UNIT4
+`define UNIT4
+
+module FOExp (SKiiP_EN, SKiiP_CTRL, SKiiP_ERR, PCON_IN, PCON_OUT, PCON_OUT_EN , SENS_IN, clock, DINPUT, DOUTPUT, INP_1V2OK, INP_2V5OK, INP_3V3OK);
+
+output [4:1] SKiiP_EN;
+output [4:1] SKiiP_CTRL; 
+input [2:1] SKiiP_ERR;
+
+input PCON_IN;
+output PCON_OUT;
+output PCON_OUT_EN;
+
+input [6:1] SENS_IN;
+
+input clock;
+
+input [4:1] DINPUT;
+output [2:1] DOUTPUT;
+
+input INP_1V2OK;
+input INP_2V5OK;
+input INP_3V3OK;
+
+reg [2:1] SKiiP_ERR_DATA;
+reg PCON_IN_DATA;
+reg [6:1] SENS_IN_DATA;
+reg [4:1] DINPUT_DATA;
+reg INP_1V2OK_DATA;
+reg INP_2V5OK_DATA;
+reg INP_3V3OK_DATA;
+
+reg [4:1] SKiiP_ENABLE;
+reg [4:1] SKiiP_CONTROL;
+reg [2:1] DIGITAL_OUTPUT;
+
+reg [4:1] SKiiP_EN_BUF;
+reg [4:1] SKiiP_CTRL_BUF;
+reg [2:1] DOUTPUT_BUF;
+reg PCON_OUT_BUF;
+reg PCON_OUT_EN_BUF;
+
+
+reg [25:0] clock_div;
+reg [5:0] clock_div2;
+
+wire [15:0] CHOPP_CURR_IN;
+reg [11:0] CHOPPER_CURRENT /*synthesis preserve */;
+reg [31:0] CHOPPER_CURRENT_ADC;
+wire CHOPP_CURR_DATA_READY;
+wire [1:0] CHOPPER_CURR_ERR;
+
+wire [15:0] BRAKE_CURR_IN;
+reg [11:0] BRAKE_CURRENT /*synthesis preserve */;
+reg [31:0] BRAKE_CURRENT_ADC;
+wire BRAKE_CURR_DATA_READY;
+wire [1:0] BRAKE_CURR_ERR;
+
+wire [15:0] INPUT_VOLTAGE_IN;
+reg [11:0] INPUT_VOLTAGE /*synthesis preserve */;
+reg [31:0] INPUT_VOLTAGE_ADC;
+wire INPUT_VOLTAGE_DATA_READY;
+wire [1:0] INPUT_VOLTAGE_ERR;
+
+wire [15:0] OUTPUT_VOLTAGE_IN;
+reg [11:0] OUTPUT_VOLTAGE /*synthesis preserve */;
+reg [31:0] OUTPUT_VOLTAGE_ADC;
+wire OUTPUT_VOLTAGE_DATA_READY;
+wire [1:0] OUTPUT_VOLTAGE_ERR;
+
+wire [11:0] SKIIP_CHOPP_CURRENT_IN;
+reg [11:0] SKIIP_CHOPP_CURRENT /*synthesis preserve */;
+reg [31:0] SKIIP_CHOPP_CURRENT_ADC;
+wire [11:0] SKIIP_CHOPP_TEMP_IN;
+reg [11:0] SKIIP_CHOPP_TEMP  /*synthesis preserve */;
+reg [31:0] SKIIP_CHOPP_TEMP_ADC;
+wire SKIIP_CHOPP_DATA_READY;
+wire [1:0] SKIIP_CHOPP_ERR;
+
+wire [11:0] SKIIP_BRAKE_CURRENT_IN;
+reg [11:0] SKIIP_BRAKE_CURRENT /*synthesis preserve */;
+reg [31:0] SKIIP_BRAKE_CURRENT_ADC;
+wire [11:0] SKIIP_BRAKE_TEMP_IN;
+reg [11:0] SKIIP_BRAKE_TEMP  /*synthesis preserve */;
+reg [31:0] SKIIP_BRAKE_TEMP_ADC;
+wire SKIIP_BRAKE_DATA_READY;
+wire [1:0] SKIIP_BRAKE_ERR;
+
+reg [155:0] DATA_TO_PCON;
+wire [155:0] DATA_FROM_PCON_wire;
+reg [155:0] DATA_FROM_PCON;
+wire PCON_DATA_READY;
+wire [2:0] PCON_IO_ERR;
+
+reg [15:0] CALC_SM_COUNTER;
+reg [4:0] CALC_SM_STATE;
+reg CALC_ERROR_FLAG;
+
+reg [7:0] CRITICAL_DATA_INPUT;
+reg [11:0] FO_INPUT_VAL1;
+reg [11:0] FO_INPUT_VAL2;
+reg [11:0] FO_INPUT_VAL3;
+reg [11:0] FO_INPUT_VAL4;
+reg [11:0] FO_INPUT_VAL5;
+reg [11:0] FO_INPUT_VAL6;
+reg [11:0] FO_INPUT_VAL7;
+reg [7:0] FO_SLOW_INPUT_VAL1;
+reg [7:0] FO_SLOW_INPUT_VAL2;
+reg [7:0] FO_SLOW_INPUT_VAL3;
+reg [7:0] FO_SLOW_INPUT_VAL4;
+reg [7:0] FO_SLOW_INPUT_VAL5;
+reg [7:0] FO_SLOW_INPUT_VAL6;
+reg [7:0] FO_SLOW_INPUT_VAL7;
+reg [7:0] FO_SLOW_INPUT_VAL8;
+
+reg [23:0] ERROR_FLAGS /*synthesis preserve */;
+reg [23:0] ERROR_LATCH /*synthesis preserve */;
+reg GlobalError /*synthesis preserve */;
+reg [15:0] Error_Reset_Counter;
+
+reg [63:0] BRAKE_ENERGY_STOCK = 12000000;
+reg [63:0] BRAKE_ENERGY_APPLIED;
+reg [63:0] BRAKE_ENERGY_DISSIPATED;
+reg [15:0] BRAKE_ENERGY_ON;
+reg [15:0] BRAKE_ENERGY_OFF;
+reg [15:0] BRAKE_ENERGY_COUNTER;
+reg [15:0] BREAK_OUTPUT_VOLTAGE;
+
+//reg REACTOR_OVERHEAT_ERROR1;
+//reg REACTOR_OVERHEAT_ERROR2;
+//reg BRAKE_RESISTANCE_OVERHEAT;
+
+reg INP_OVERVOLTAGE_ERR;
+reg OUT_OVERVOLTAGE_ERR;
+reg CHOPP_OVERCURRENT_ERR;
+reg BRAKE_OVERCURRENT_ERR;
+reg OVERTEMP_ERR;
+reg BRAKE_OVERLOAD_ERR=1;
+reg PCON_ERROR_FLAG;
+reg ERROR_RESET_FLAG;
+
+reg [32:0] FAN_START_COUNTER;
+
+reg BRAKE_ENABLE;
+reg [15:0] BRAKE_PWM_COUNTER;
+reg [15:0] BRAKE_PWM_WIDTH;
+
+reg CHOPPER_ENABLE;
+reg [15:0] CHOPPER_PWM_COUNTER;
+reg [15:0] CHOPPER_PWM_WIDTH;
+
+reg CHOPP_TOP_IGBT;
+reg CHOPP_BOT_IGBT;
+
+reg BRAKE_TOP_IGBT;
+reg BRAKE_BOT_IGBT;
+
+reg [4:1] DINPUT_FILTERED;
+reg [15:0] DFILTER_COUNTER;
+reg [15:0] DINP_FILTER1;
+reg [15:0] DINP_FILTER2;
+reg [15:0] DINP_FILTER3;
+reg [15:0] DINP_FILTER4;
+
+reg signed [31:0] REG_INTEGRATOR_LIMIT = 0;
+reg signed [31:0]  CHOPPER_VOLTAGE_SETPOINT=0/*synthesis preserve */;
+reg signed [31:0]  REG_VOLTAGE_INPUT=0;
+reg signed [31:0]  REG_INPUT=0;
+reg signed [31:0]  REG_INTEGRATOR=0;
+reg signed [31:0]  REG_OUTPUT=0/*synthesis preserve */;
+reg signed [31:0]  REG_ERROR = 1;
+reg signed [31:0]  REG_PROP_OUTPUT = 0;
+reg signed [31:0]  REG_INTEGRATOR_OUTPUT = 0;
+reg signed [31:0]  REG_PROP = 5; // A/V
+reg signed [31:0]  REG_INT = 15; //~x0.1 40 = 40 * 10000/1024 = 390 A/V/s
+reg signed [31:0]  REG_INT_T = 4; //~x0.1 40 = 40 * 10000/1024 = 390 A/V/s
+reg signed [31:0]  REG_RESULT = 1/*synthesis preserve */;
+reg [15:0] REG_INTEGRATOR_COUNTER = 0;
+reg signed [31:0]  	CHOPPER_CURRENT_LIMIT = 0/*synthesis preserve */;
+reg signed [31:0] 	REG_CURRENT_LIMIT = 0/*synthesis preserve */; 
+reg  [31:0] REG_DC_POWER = 0/*synthesis preserve */; 
+
+/*reg signed	[12:0]	INPV_FILTER_INPUT;
+reg INPV_FILTER_DATA_INP_READY;
+reg [1:0] INPV_FILTER_DATA_INP_ERROR;	
+wire [26:0] INPV_FILTER_OUTPUT;					
+wire INPV_FILTER_DATA_OUTP_READY;
+wire [1:0] INPV_FILTER_DATA_OUTP_ERROR;
+reg signed [26:0] INPUT_VOLTAGE_FILTERED;
+reg [15:0] FILTERS_COUNTER;
+reg [1:0] FILTER_ERROR;
+reg FILTER_DATA_READY;
+reg filter_reset;
+*/
+
+reg [11:0] VIN_FILTER_INPUT /*synthesis preserve */;
+reg [11:0] VIN_FILTER_OUTPUT /*synthesis preserve */;
+wire [11:0] VIN_FILTER_OUTPUT_wire;
+
+reg [11:0] VOUT_FILTER_INPUT /*synthesis preserve */;
+reg [11:0] VOUT_FILTER_OUTPUT /*synthesis preserve */;
+wire [11:0] VOUT_FILTER_OUTPUT_wire;
+
+reg [11:0] CURRENT_FILTER_INPUT /*synthesis preserve */;
+reg [11:0] CURRENT_FILTER_OUTPUT /*synthesis preserve */;
+wire [11:0] CURRENT_FILTER_OUTPUT_wire;
+reg [15:0]  MEAN_CHOPPER_CURRENT;
+
+reg signed [31:0] INPUT_VOLTAGE_MAXPWM;
+reg signed [31:0] OUTPUT_VOLTAGE_MAXPWM;
+reg signed [31:0] CHOPPER_PWM_WIDTH_MAX;
+reg signed [31:0] INPUT_VOLTAGE_PWM_WIDTH_MAX;
+reg signed [31:0] CHOPPER_PWM_WIDTH_MAX_N_MULT;
+reg signed [31:0] CHOPPER_PWM_WIDTH_MAX_N_DIV;
+reg [15:0] CHOPPER_PWM_WIDTH_LIMIT;
+reg [15:0] CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER=0;
+
+
+reg [31:0] TEST_COUNTER=0;
+reg TEST_DIRECTION=0;
+reg [11:0] TEST_OUTPUT=0;
+
+reg [15:0] REG_CALC_COUNTER=0;
+
+reg BRAKE_ERROR; 
+reg [31:0] BRAKE_ENABLE_COUNTER = 0;
+
+reg [11:0] BRAKE_CURRENT_MAX;
+reg [11:0] BRAKE_CURRENT_MAX_CYCLE;
+
+reg [11:0] SKIIP_BRAKE_CURRENT_MAX;
+reg [11:0] SKIIP_BRAKE_CURRENT_MAX_CYCLE;
+
+reg [15:0] MAXCURR_COUNTER=0;
+
+PCON_DATA_IO MAIN_FO_IO(.clockin(clock), .FO_INPUT(PCON_IN), .FO_OUTP(PCON_OUT),
+								.DATA_TO_SEND(DATA_TO_PCON), 
+								.DATA_RECIEVED(DATA_FROM_PCON_wire), 
+								.DATA_CLOCK(PCON_DATA_READY), .IO_ERR(PCON_IO_ERR));
+
+SKIIPInput CHOPPER_SKIIP_INPUT(.clockin(clock), .FO_INPUT(SENS_IN[1]), 
+				.CURRENT_OUTPUT(SKIIP_CHOPP_CURRENT_IN), 
+				.TEMP_OUTPUT(SKIIP_CHOPP_TEMP_IN), 
+				.DATA_CLOCK(SKIIP_CHOPP_DATA_READY), 
+				.SENSOR_ERR(SKIIP_CHOPP_ERR));
+				
+SKIIPInput BRAKE_SKIIP_INPUT(.clockin(clock), .FO_INPUT(SENS_IN[2]), 
+				.CURRENT_OUTPUT(SKIIP_BRAKE_CURRENT_IN), 
+				.TEMP_OUTPUT(SKIIP_BRAKE_TEMP_IN), 
+				.DATA_CLOCK(SKIIP_BRAKE_DATA_READY), 
+				.SENSOR_ERR(SKIIP_BRAKE_ERR));
+
+SensorInput CHOPPER_CURRENT_SENSOR_INP(.clockin(clock), .FO_INPUT(SENS_IN[3]),
+								.DATA_OUTPUT(CHOPP_CURR_IN), .DATA_CLOCK(CHOPP_CURR_DATA_READY), .SENSOR_ERR(CHOPPER_CURR_ERR));
+SensorInput BRAKE_CURRENT_SENSOR_INP(.clockin(clock), .FO_INPUT(SENS_IN[4]), 
+								.DATA_OUTPUT(BRAKE_CURR_IN), .DATA_CLOCK(BRAKE_CURR_DATA_READY), .SENSOR_ERR(BRAKE_CURR_ERR));
+SensorInput INP_VOLTAGE_SENSOR_INP(.clockin(clock), .FO_INPUT(SENS_IN[5]), 
+								.DATA_OUTPUT(INPUT_VOLTAGE_IN), .DATA_CLOCK(INPUT_VOLTAGE_DATA_READY), .SENSOR_ERR(INPUT_VOLTAGE_ERR));
+SensorInput OUTP_VOLTAGE_SENSOR_INP(.clockin(clock), .FO_INPUT(SENS_IN[6]), 
+								.DATA_OUTPUT(OUTPUT_VOLTAGE_IN), .DATA_CLOCK(OUTPUT_VOLTAGE_DATA_READY), .SENSOR_ERR(OUTPUT_VOLTAGE_ERR));
+
+
+MeanFilter VIN_FILTER(.clockin(clock), .DATA_INPUT(VIN_FILTER_INPUT), .DATA_OUTPUT(VIN_FILTER_OUTPUT_wire));	
+MeanFilter VOUT_FILTER(.clockin(clock), .DATA_INPUT(VOUT_FILTER_INPUT), .DATA_OUTPUT(VOUT_FILTER_OUTPUT_wire));
+MeanFilter CHOPPER_CURRENT_FILTER(.clockin(clock), .DATA_INPUT(CURRENT_FILTER_INPUT), .DATA_OUTPUT(CURRENT_FILTER_OUTPUT_wire));
+								
+assign SKiiP_EN = SKiiP_EN_BUF;
+assign SKiiP_CTRL = SKiiP_CTRL_BUF;
+assign PCON_OUT_EN = PCON_OUT_EN_BUF;
+assign DOUTPUT = DOUTPUT_BUF;
+
+initial
+begin
+SKiiP_EN_BUF = 0;
+SKiiP_CTRL_BUF = 0;
+PCON_OUT_EN_BUF = 0;
+DOUTPUT_BUF = 0;
+CALC_ERROR_FLAG=0;
+end
+
+always@*
+begin
+
+SKiiP_CONTROL[1] = CHOPP_TOP_IGBT;
+SKiiP_CONTROL[2] = CHOPP_BOT_IGBT;
+
+SKiiP_CONTROL[3] = BRAKE_TOP_IGBT;
+SKiiP_CONTROL[4] = BRAKE_BOT_IGBT;
+
+
+ERROR_FLAGS[0] = CHOPPER_CURR_ERR[0]|CHOPPER_CURR_ERR[1];
+
+`ifdef UNIT3
+ERROR_FLAGS[1] = 0;//BRAKE_CURR_ERR[0]|BRAKE_CURR_ERR[1]; 		//TEMPLOCK U3!!!!
+`else
+ERROR_FLAGS[1] = BRAKE_CURR_ERR[0]|BRAKE_CURR_ERR[1];				//NORMAL U1,2,4!!!!
+`endif
+
+ERROR_FLAGS[2] = INPUT_VOLTAGE_ERR[0]|INPUT_VOLTAGE_ERR[1];
+ERROR_FLAGS[3] = OUTPUT_VOLTAGE_ERR[0]|OUTPUT_VOLTAGE_ERR[1];
+ERROR_FLAGS[4] = SKIIP_CHOPP_ERR[0]|SKIIP_CHOPP_ERR[1];
+
+`ifdef UNIT2
+ERROR_FLAGS[5] = 0;															//TEMPLOCK U2!!!!
+`else
+ERROR_FLAGS[5] = SKIIP_BRAKE_ERR[0]|SKIIP_BRAKE_ERR[1];			//NORMAL U1,3,4!!!!
+`endif
+
+ERROR_FLAGS[6] = ~SKiiP_ERR[1];
+ERROR_FLAGS[7] = ~SKiiP_ERR[2];
+ERROR_FLAGS[8] = PCON_IO_ERR[0]|PCON_IO_ERR[1]|PCON_IO_ERR[2];
+ERROR_FLAGS[9] = CALC_ERROR_FLAG;
+
+`ifdef UNIT4
+ERROR_FLAGS[10] = (~INP_1V2OK)|(~INP_2V5OK);  //TEMPLOCK U4!!!!
+`else
+ERROR_FLAGS[10] = (~INP_1V2OK)|(~INP_2V5OK)|INP_3V3OK;  //NORMAL U1,2,3!!!!
+`endif
+
+ERROR_FLAGS[11] = 0;
+
+ERROR_FLAGS[12] = ~DINPUT_FILTERED[1]; // 
+ERROR_FLAGS[13] = ~DINPUT_FILTERED[2]; //
+ERROR_FLAGS[14] = ~DINPUT_FILTERED[3]; //
+ERROR_FLAGS[15] = DINPUT_FILTERED[4];
+ERROR_FLAGS[16] = INP_OVERVOLTAGE_ERR;
+ERROR_FLAGS[17] = OUT_OVERVOLTAGE_ERR;
+ERROR_FLAGS[18] = CHOPP_OVERCURRENT_ERR;
+ERROR_FLAGS[19] = BRAKE_OVERCURRENT_ERR;
+ERROR_FLAGS[20] = OVERTEMP_ERR;
+ERROR_FLAGS[21] = BRAKE_OVERLOAD_ERR;
+ERROR_FLAGS[22] = PCON_ERROR_FLAG;
+ERROR_FLAGS[23] = GlobalError;
+
+if ((ERROR_LATCH & (24'b001111111111111111111111)) == 0) begin BRAKE_ERROR = 0; end
+else begin BRAKE_ERROR = 1; end
+
+//BRAKE_ERROR = 	ERROR_LATCH[1]|ERROR_LATCH[3]|ERROR_LATCH[5]|ERROR_LATCH[6]|ERROR_LATCH[7]|
+//					ERROR_LATCH[8]|ERROR_LATCH[9]|ERROR_LATCH[10]|ERROR_LATCH[14]|
+//					ERROR_LATCH[19]|ERROR_LATCH[20]|ERROR_LATCH[21];
+
+if (Error_Reset_Counter == 0) 
+	begin
+	ERROR_LATCH = ERROR_LATCH | ERROR_FLAGS;
+	end
+else 
+	begin
+	ERROR_LATCH = ERROR_FLAGS & (24'b001111111111111111111111);
+	end
+	
+if ((ERROR_LATCH == 0))
+		begin
+		GlobalError=0;
+		SKiiP_EN_BUF[1] = 0;
+		SKiiP_EN_BUF[2] = 0;
+		SKiiP_EN_BUF[3] = 1;
+		SKiiP_EN_BUF[4] = 1;
+		SKiiP_CTRL_BUF[1] = ~SKiiP_CONTROL[1];
+		SKiiP_CTRL_BUF[2] = ~SKiiP_CONTROL[2];
+		SKiiP_CTRL_BUF[3] = 1;
+		SKiiP_CTRL_BUF[4] = 1;
+		DOUTPUT_BUF = ~DIGITAL_OUTPUT;
+		end
+else
+		begin
+		SKiiP_EN_BUF[1] = 1;
+		SKiiP_EN_BUF[2] = 1;
+		SKiiP_EN_BUF[3] = 0;
+		SKiiP_EN_BUF[4] = 0;
+		SKiiP_CTRL_BUF[1] = 1;
+		SKiiP_CTRL_BUF[2] = 1;
+		SKiiP_CTRL_BUF[3] = ~SKiiP_CONTROL[3];
+		SKiiP_CTRL_BUF[4] = ~SKiiP_CONTROL[4];
+		DOUTPUT_BUF = ~DIGITAL_OUTPUT;
+		GlobalError=1;
+		end
+
+end
+
+
+always@(posedge clock)
+begin
+
+
+
+DATA_FROM_PCON = DATA_FROM_PCON_wire;
+PCON_OUT_EN_BUF = 0;
+
+//DINP FILTERS -----------------------------------
+
+if (DFILTER_COUNTER>5000)
+	begin
+	DFILTER_COUNTER = 0;
+	DINP_FILTER1 = 0;
+	DINP_FILTER2 = 0;
+	DINP_FILTER3 = 0;
+	DINP_FILTER4 = 0;
+	end
+else if (DFILTER_COUNTER>4950)
+	begin
+	if (DINP_FILTER1>2500) begin DINPUT_FILTERED[1]=1; end else  begin DINPUT_FILTERED[1]=0; end
+	if (DINP_FILTER2>2500) begin DINPUT_FILTERED[2]=1; end else  begin DINPUT_FILTERED[2]=0; end
+	if (DINP_FILTER3>2500) begin DINPUT_FILTERED[3]=1; end else  begin DINPUT_FILTERED[3]=0; end
+	if (DINP_FILTER4>2500) begin DINPUT_FILTERED[4]=1; end else  begin DINPUT_FILTERED[4]=0; end
+	DFILTER_COUNTER = DFILTER_COUNTER + 1;
+	end
+else 
+	begin
+	if (DINPUT[1]==1) begin DINP_FILTER1 = DINP_FILTER1 + 1; end
+	if (DINPUT[2]==1) begin DINP_FILTER2 = DINP_FILTER2 + 1; end
+	if (DINPUT[3]==1) begin DINP_FILTER3 = DINP_FILTER3 + 1; end
+	if (DINPUT[4]==1) begin DINP_FILTER4 = DINP_FILTER4 + 1; end
+	DFILTER_COUNTER = DFILTER_COUNTER + 1;
+	end
+
+
+//----------SENSOR VALUES CALCULATIONS ----------------------------
+
+if (CALC_SM_STATE==0)
+	begin
+	CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+	CHOPPER_CURRENT_ADC=0;
+	BRAKE_CURRENT_ADC=0;
+	INPUT_VOLTAGE_ADC=0;
+	OUTPUT_VOLTAGE_ADC=0;
+	SKIIP_CHOPP_CURRENT_ADC=0;
+	SKIIP_CHOPP_TEMP_ADC=0;
+	SKIIP_BRAKE_CURRENT_ADC=0;
+	SKIIP_BRAKE_TEMP_ADC=0;
+	
+	if (CALC_SM_COUNTER>5) begin CALC_SM_STATE=1; CALC_SM_COUNTER=0; end
+	end
+else if (CALC_SM_STATE==1)
+	begin
+	CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+	
+	CHOPPER_CURRENT_ADC[14:0] = CHOPP_CURR_IN[14:0];
+	
+	`ifdef UNIT3
+	BRAKE_CURRENT_ADC[14:0] = 16560; 						//TEMPLOCK U3!!!!
+	`else
+	BRAKE_CURRENT_ADC[14:0] = BRAKE_CURR_IN[14:0];	//NORMAL U1,2,4!!!!
+	`endif
+
+	INPUT_VOLTAGE_ADC[14:0] = INPUT_VOLTAGE_IN[14:0];
+	OUTPUT_VOLTAGE_ADC[14:0] = OUTPUT_VOLTAGE_IN[14:0];
+	
+	SKIIP_CHOPP_CURRENT_ADC[11:0] = SKIIP_CHOPP_CURRENT_IN;
+	SKIIP_CHOPP_TEMP_ADC[11:0] = SKIIP_CHOPP_TEMP_IN;
+	
+	`ifdef UNIT2
+	SKIIP_BRAKE_CURRENT_ADC[11:0] = 1707; 							//TEMPLOCK U2!!!!
+	SKIIP_BRAKE_TEMP_ADC[11:0] = 1707;								//TEMPLOCK U2!!!!
+	`else
+	SKIIP_BRAKE_CURRENT_ADC[11:0] = SKIIP_BRAKE_CURRENT_IN;	//NORMAL U1,3,4!!!!
+	SKIIP_BRAKE_TEMP_ADC[11:0] = SKIIP_BRAKE_TEMP_IN;			//NORMAL U1,3,4!!!!
+	`endif
+	
+	CHOPPER_CURRENT_ADC[31:15] = 0;
+	BRAKE_CURRENT_ADC[31:15] = 0;
+	INPUT_VOLTAGE_ADC[31:15] = 0;
+	OUTPUT_VOLTAGE_ADC[31:15] = 0;
+	SKIIP_CHOPP_CURRENT_ADC[31:12] = 0;
+	SKIIP_CHOPP_TEMP_ADC[31:12] = 0;
+	SKIIP_BRAKE_CURRENT_ADC[31:12] = 0;
+	SKIIP_BRAKE_TEMP_ADC[31:12] = 0;
+	if (CALC_SM_COUNTER>5) begin CALC_SM_STATE=2; CALC_SM_COUNTER=0; end
+	end
+else if (CALC_SM_STATE==2)
+	begin
+	CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+	if (CALC_SM_COUNTER==1)
+		begin
+		
+		`ifdef UNIT1
+		if (CHOPPER_CURRENT_ADC>=16585) begin CHOPPER_CURRENT_ADC = CHOPPER_CURRENT_ADC - 16585; end //U1=16585 //U2 = 16560 //U3 = 16590 //U4 = 16580 
+		else begin CHOPPER_CURRENT_ADC = 16585 - CHOPPER_CURRENT_ADC; end
+		`endif
+		
+		`ifdef UNIT2
+		if (CHOPPER_CURRENT_ADC>=16560) begin CHOPPER_CURRENT_ADC = CHOPPER_CURRENT_ADC - 16560; end 
+		else begin CHOPPER_CURRENT_ADC = 16560 - CHOPPER_CURRENT_ADC; end
+		`endif
+		
+		`ifdef UNIT3
+		if (CHOPPER_CURRENT_ADC>=16590) begin CHOPPER_CURRENT_ADC = CHOPPER_CURRENT_ADC - 16590; end
+		else begin CHOPPER_CURRENT_ADC = 16590 - CHOPPER_CURRENT_ADC; end
+		`endif
+		
+		`ifdef UNIT4
+		if (CHOPPER_CURRENT_ADC>=16580) begin CHOPPER_CURRENT_ADC = CHOPPER_CURRENT_ADC - 16580; end  
+		else begin CHOPPER_CURRENT_ADC = 16580 - CHOPPER_CURRENT_ADC; end
+		`endif
+		
+		`ifdef UNIT4
+		BRAKE_CURRENT_ADC = 0;
+		`else
+		if (BRAKE_CURRENT_ADC>=16560) begin BRAKE_CURRENT_ADC = BRAKE_CURRENT_ADC - 16560; end
+		else begin BRAKE_CURRENT_ADC = 16560 - BRAKE_CURRENT_ADC; end
+		`endif
+		
+		
+		if (INPUT_VOLTAGE_ADC>=16384) begin INPUT_VOLTAGE_ADC = INPUT_VOLTAGE_ADC - 16384; end
+		else begin INPUT_VOLTAGE_ADC = 16384 - INPUT_VOLTAGE_ADC; end
+		
+		if (OUTPUT_VOLTAGE_ADC>=16384) begin OUTPUT_VOLTAGE_ADC = OUTPUT_VOLTAGE_ADC - 16384; end
+		else begin OUTPUT_VOLTAGE_ADC = 16384 - OUTPUT_VOLTAGE_ADC; end
+		
+		if (SKIIP_CHOPP_CURRENT_ADC>=1707) begin SKIIP_CHOPP_CURRENT_ADC = SKIIP_CHOPP_CURRENT_ADC - 1707; end
+		else begin SKIIP_CHOPP_CURRENT_ADC = 1707 - SKIIP_CHOPP_CURRENT_ADC; end
+		
+		if (SKIIP_CHOPP_TEMP_ADC>=1707) begin SKIIP_CHOPP_TEMP_ADC = SKIIP_CHOPP_TEMP_ADC - 1707; end
+		else begin SKIIP_CHOPP_TEMP_ADC = 1707 - SKIIP_CHOPP_TEMP_ADC; end
+		
+		if (SKIIP_BRAKE_CURRENT_ADC>=1707) begin SKIIP_BRAKE_CURRENT_ADC = SKIIP_BRAKE_CURRENT_ADC - 1707; end
+		else begin SKIIP_BRAKE_CURRENT_ADC = 1707 - SKIIP_BRAKE_CURRENT_ADC; end
+		
+		if (SKIIP_BRAKE_TEMP_ADC>=1707) begin SKIIP_BRAKE_TEMP_ADC = SKIIP_BRAKE_TEMP_ADC - 1707; end
+		else begin SKIIP_BRAKE_TEMP_ADC = 1707 - SKIIP_BRAKE_TEMP_ADC; end
+		end
+		
+	if (CALC_SM_COUNTER>5) begin CALC_SM_STATE=3; CALC_SM_COUNTER=0; end
+	end
+else if (CALC_SM_STATE==3)
+	begin
+	CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+	if (CALC_SM_COUNTER==1)
+		begin
+		CHOPPER_CURRENT_ADC = CHOPPER_CURRENT_ADC*256;
+		BRAKE_CURRENT_ADC=BRAKE_CURRENT_ADC*256;
+		INPUT_VOLTAGE_ADC=INPUT_VOLTAGE_ADC*256;
+		OUTPUT_VOLTAGE_ADC=OUTPUT_VOLTAGE_ADC*256;
+		SKIIP_CHOPP_CURRENT_ADC=SKIIP_CHOPP_CURRENT_ADC*256;
+		SKIIP_CHOPP_TEMP_ADC=SKIIP_CHOPP_TEMP_ADC*256;
+		SKIIP_BRAKE_CURRENT_ADC=SKIIP_BRAKE_CURRENT_ADC*256;
+		SKIIP_BRAKE_TEMP_ADC=SKIIP_BRAKE_TEMP_ADC*256;
+		end
+	if (CALC_SM_COUNTER>20) begin CALC_SM_STATE=4; CALC_SM_COUNTER=0; end
+	end
+else if (CALC_SM_STATE==4)
+	begin
+	CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+	if (CALC_SM_COUNTER==1)
+		begin
+		CHOPPER_CURRENT_ADC = CHOPPER_CURRENT_ADC/1006;
+		BRAKE_CURRENT_ADC=BRAKE_CURRENT_ADC/1006;
+		INPUT_VOLTAGE_ADC=INPUT_VOLTAGE_ADC/1610;
+		OUTPUT_VOLTAGE_ADC=OUTPUT_VOLTAGE_ADC/1610;
+		SKIIP_CHOPP_CURRENT_ADC=SKIIP_CHOPP_CURRENT_ADC/175;
+		SKIIP_CHOPP_TEMP_ADC= 20 + SKIIP_CHOPP_TEMP_ADC/4369;
+		SKIIP_BRAKE_CURRENT_ADC=SKIIP_BRAKE_CURRENT_ADC/175;
+		SKIIP_BRAKE_TEMP_ADC= 20 + SKIIP_BRAKE_TEMP_ADC/4369;
+		end
+	if (CALC_SM_COUNTER>20) begin CALC_SM_STATE=5; CALC_SM_COUNTER=0; end
+	end
+else if (CALC_SM_STATE==5)
+	begin
+	CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+	if (CHOPPER_CURRENT_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else if (BRAKE_CURRENT_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else if (INPUT_VOLTAGE_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else if (OUTPUT_VOLTAGE_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else if (SKIIP_CHOPP_CURRENT_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else if (SKIIP_CHOPP_TEMP_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else if (SKIIP_BRAKE_CURRENT_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else if (SKIIP_BRAKE_TEMP_ADC>4095) begin CALC_ERROR_FLAG=1; end
+	else begin CALC_ERROR_FLAG=0; end
+	
+	if (CALC_SM_COUNTER>5) begin CALC_SM_STATE=6; CALC_SM_COUNTER=0; end
+	end
+else if (CALC_SM_STATE==6)
+	begin
+	CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+	//if (CALC_ERROR_FLAG==0)
+	//	begin
+		CHOPPER_CURRENT<=CHOPPER_CURRENT_ADC[11:0];
+		BRAKE_CURRENT<=BRAKE_CURRENT_ADC[11:0];
+		INPUT_VOLTAGE<=INPUT_VOLTAGE_ADC[11:0];
+		OUTPUT_VOLTAGE<=OUTPUT_VOLTAGE_ADC[11:0];
+		SKIIP_CHOPP_CURRENT<=SKIIP_CHOPP_CURRENT_ADC[11:0];
+		SKIIP_CHOPP_TEMP<=SKIIP_CHOPP_TEMP_ADC[11:0];
+		SKIIP_BRAKE_CURRENT<=SKIIP_BRAKE_CURRENT_ADC[11:0];
+		SKIIP_BRAKE_TEMP<=SKIIP_BRAKE_TEMP_ADC[11:0];
+	//	end
+	if (CALC_SM_COUNTER>5) begin CALC_SM_STATE=0; CALC_SM_COUNTER=0; end
+	end
+	
+//----------SENSOR VALUES CALCULATIONS ----------------------------	
+
+//-----------------FILTERS-------------------------------
+
+VIN_FILTER_INPUT = INPUT_VOLTAGE;
+VIN_FILTER_OUTPUT = VIN_FILTER_OUTPUT_wire;  
+
+VOUT_FILTER_INPUT = OUTPUT_VOLTAGE;
+VOUT_FILTER_OUTPUT = VOUT_FILTER_OUTPUT_wire;
+
+MEAN_CHOPPER_CURRENT = (CHOPPER_CURRENT+SKIIP_CHOPP_CURRENT)/2;
+CURRENT_FILTER_INPUT = MEAN_CHOPPER_CURRENT;
+CURRENT_FILTER_OUTPUT = CURRENT_FILTER_OUTPUT_wire;
+REG_DC_POWER = CURRENT_FILTER_OUTPUT*VIN_FILTER_INPUT/1000;
+//----------PROTECTIONS -------------------------------------------
+
+
+if (
+	(CHOPPER_ENABLE==1 && ((CHOPPER_CURRENT>1000) || (SKIIP_CHOPP_CURRENT>1200)))
+	|| (CHOPPER_CURRENT>1500)
+	|| (SKIIP_CHOPP_CURRENT>1800)
+	) begin CHOPP_OVERCURRENT_ERR = 1; end
+else begin CHOPP_OVERCURRENT_ERR = 0; end
+
+if (
+	(BRAKE_ENABLE==1 && ((BRAKE_CURRENT>1500) || (SKIIP_BRAKE_CURRENT>1200)))
+	|| (BRAKE_CURRENT>1500)
+	|| (SKIIP_BRAKE_CURRENT>2000)
+	) begin BRAKE_OVERCURRENT_ERR = 1; end
+else begin BRAKE_OVERCURRENT_ERR = 0; end
+
+
+if (INPUT_VOLTAGE>1100 || VIN_FILTER_OUTPUT>1000) begin INP_OVERVOLTAGE_ERR=1; end 
+else begin INP_OVERVOLTAGE_ERR=0; end
+
+if (OUTPUT_VOLTAGE>1100 || VOUT_FILTER_OUTPUT>1000) begin OUT_OVERVOLTAGE_ERR=1; end 
+else begin OUT_OVERVOLTAGE_ERR=0; end
+
+if ((SKIIP_BRAKE_TEMP>70) || (SKIIP_CHOPP_TEMP>70)) begin OVERTEMP_ERR = 1; end
+else begin OVERTEMP_ERR = 0; end
+
+if (BRAKE_ENERGY_COUNTER>50000)
+	begin
+	BRAKE_ENERGY_COUNTER = 0;
+	BRAKE_ENERGY_ON = 0;
+	BRAKE_ENERGY_OFF = 0;
+	BREAK_OUTPUT_VOLTAGE = VOUT_FILTER_OUTPUT;
+	//BREAK_OUTPUT_VOLTAGE = 700;
+	end
+if (BRAKE_ENERGY_COUNTER==49990)
+	begin
+	 if (BRAKE_ENERGY_STOCK<20000000)  begin BRAKE_ENERGY_STOCK = BRAKE_ENERGY_STOCK + BRAKE_ENERGY_APPLIED; end
+	 else begin BRAKE_ENERGY_STOCK = 20000000; end
+	end
+if (BRAKE_ENERGY_COUNTER==49995)
+	begin
+	if (BRAKE_ENERGY_STOCK>BRAKE_ENERGY_DISSIPATED)
+		begin
+		BRAKE_ENERGY_STOCK = BRAKE_ENERGY_STOCK - BRAKE_ENERGY_DISSIPATED;
+		end
+	else
+		begin
+		BRAKE_ENERGY_STOCK = 0;
+		end
+	end
+
+BRAKE_ENERGY_APPLIED = (BRAKE_ENERGY_ON*BREAK_OUTPUT_VOLTAGE*BREAK_OUTPUT_VOLTAGE)/50000000;
+BRAKE_ENERGY_DISSIPATED = (BRAKE_ENERGY_STOCK/200000)+1; // 75000kW/15000000MJ/1000ms = 1/200/1000 = 1/200000
+BRAKE_ENERGY_COUNTER = BRAKE_ENERGY_COUNTER + 1;
+
+if (BRAKE_TOP_IGBT==1)
+	begin
+	BRAKE_ENERGY_ON = BRAKE_ENERGY_ON + 1;
+	end
+else
+	begin
+	BRAKE_ENERGY_OFF = BRAKE_ENERGY_OFF + 1;
+	end
+	
+if (BRAKE_ENERGY_STOCK>12000000) //12MJ limit = 12000000
+	begin
+	BRAKE_OVERLOAD_ERR = 1;
+	end
+else
+	begin
+	BRAKE_OVERLOAD_ERR = 0;
+	end
+
+	PCON_ERROR_FLAG = ~CRITICAL_DATA_INPUT[0];
+
+	
+	if ((ERROR_RESET_FLAG == 0) && (CRITICAL_DATA_INPUT[1]==1)) //ERROR RESET
+		begin
+		Error_Reset_Counter = 15000; 
+		ERROR_RESET_FLAG = 1;
+		end
+	if ((ERROR_RESET_FLAG == 1) && (CRITICAL_DATA_INPUT[1]==0))
+		begin
+		ERROR_RESET_FLAG = 0;
+		end
+	if (Error_Reset_Counter>0)
+		begin
+		Error_Reset_Counter = Error_Reset_Counter - 1;
+		end
+	
+//----------PROTECTIONS -------------------------------------------
+	
+//----------CONTROL AND PWM GENERATION-----------------------------
+//CHOPPER CONTROL
+CHOPPER_ENABLE = CRITICAL_DATA_INPUT[2];
+CHOPP_TOP_IGBT=0;
+
+//TEST--------------------------------------------
+/*
+if (TEST_COUNTER>50000) begin TEST_COUNTER=0; end
+else begin TEST_COUNTER = TEST_COUNTER + 1; end
+if (TEST_COUNTER==0)	
+begin
+if (CURRENT_FILTER_OUTPUT > 500) begin TEST_DIRECTION=1; CURRENT_FILTER_OUTPUT=500; end
+if (CURRENT_FILTER_OUTPUT == 0) begin TEST_DIRECTION=0; CURRENT_FILTER_OUTPUT = 1; end
+else 
+	begin 
+		if (TEST_DIRECTION==0) begin CURRENT_FILTER_OUTPUT = CURRENT_FILTER_OUTPUT + 1;  end
+		else begin CURRENT_FILTER_OUTPUT = CURRENT_FILTER_OUTPUT - 1; end
+	end
+end
+*/
+//TEST--------------------------------------------
+
+CHOPPER_VOLTAGE_SETPOINT = FO_INPUT_VAL1;
+CHOPPER_CURRENT_LIMIT = FO_INPUT_VAL2;
+REG_INTEGRATOR_LIMIT = CHOPPER_CURRENT_LIMIT*1024;
+REG_VOLTAGE_INPUT = VOUT_FILTER_OUTPUT;
+
+	`ifdef UNIT1
+	 REG_PROP = 1; //A/V
+	 REG_INT = 9; //~x0.1 10 = 10 * 10000/1024 = 95 A/V/s	= 9500A/100V/s = 950A/100ms
+	 `endif
+	
+	 `ifdef UNIT2
+	 REG_PROP = 1; //A/V
+	 REG_INT = 10; //
+	 `endif
+	
+	`ifdef UNIT3
+	 REG_PROP = 1; //A/V
+	 REG_INT = 11; //
+	`endif 
+	 
+	`ifdef UNIT4
+	 REG_PROP = 1; //A/V
+	 REG_INT = 12; //
+	`endif
+
+
+if (CHOPPER_ENABLE==1 && GlobalError==0)
+	begin
+	//TEST--------------------------------------------
+	//if (TEST_COUNTER>2000000) begin TEST_COUNTER=0; end
+	//else begin TEST_COUNTER = TEST_COUNTER + 1; end
+	//if (TEST_COUNTER<1000000) begin REG_INPUT = 5; end
+	//else begin REG_INPUT = -5; end
+	//TEST--------------------------------------------
+	
+	/*if (REG_CALC_COUNTER>50) begin REG_CALC_COUNTER=0; end
+	else begin REG_CALC_COUNTER = REG_CALC_COUNTER + 1; end
+
+	if (REG_CALC_COUNTER<20)
+	begin
+	REG_PROP = REG_PROP;
+	REG_INT = REG_INT;
+	if (REG_DC_POWER>50)
+		begin
+			if (REG_DC_POWER>100)
+				begin
+				REG_PROP_T = 1; //A/V
+				REG_INT_T = 20; //~x0.1 20 = 20 * 10000/1024 = 195 A/V/s	
+				end
+			else
+				begin
+					if (REG_DC_POWER<75)
+						begin
+						REG_PROP_T = 2; //A/V
+						REG_INT_T = 30; //~x0.1 30 = 30 * 10000/1024 = 293 A/V/s
+						end
+					else 
+						begin
+						REG_PROP_T = REG_PROP_T; 
+						REG_INT_T = REG_INT_T; 
+						end
+				end
+		end
+	else
+		begin
+			if (REG_DC_POWER<25) 
+				begin 
+					REG_PROP_T = 5; //A/V
+					REG_INT_T = 40; //~x0.1 40 = 40 * 10000/1024 = 390 A/V/s
+				end
+			else 
+				begin 
+					REG_PROP_T = REG_PROP_T; 
+					REG_INT_T = REG_INT_T; 
+				end	
+		end
+	end
+	else if (REG_CALC_COUNTER>30)
+	begin
+	REG_PROP = REG_PROP_T;
+	REG_INT = REG_INT_T;
+	end
+	else
+	begin
+	REG_PROP = REG_PROP;
+	REG_INT = REG_INT;
+	end*/
+	
+	REG_INPUT = CHOPPER_VOLTAGE_SETPOINT - REG_VOLTAGE_INPUT;
+
+	if (REG_INPUT>100) begin REG_ERROR = 100; end
+	else if (REG_INPUT<-100)  begin REG_ERROR = -100; end
+	else begin REG_ERROR = REG_INPUT;  end
+
+	REG_PROP_OUTPUT = REG_ERROR*REG_PROP;
+
+	if (REG_INTEGRATOR_COUNTER==5000)
+		begin
+		REG_INTEGRATOR = REG_INTEGRATOR + REG_ERROR*REG_INT_T; //Integrator x1024
+		REG_INTEGRATOR_COUNTER = 0;
+		REG_INT_T = REG_INT_T;
+		end
+	else if (REG_INTEGRATOR_COUNTER>5000)
+		begin
+		REG_INTEGRATOR_COUNTER = 0;
+		REG_INTEGRATOR = REG_INTEGRATOR;
+		REG_INT_T = REG_INT_T;
+		end
+	else
+		begin
+		REG_INTEGRATOR_COUNTER = REG_INTEGRATOR_COUNTER + 1;
+		if (REG_INTEGRATOR>REG_INTEGRATOR_LIMIT) begin REG_INTEGRATOR = REG_INTEGRATOR_LIMIT; end //Integrator x1024
+		else if (REG_INTEGRATOR<0) begin REG_INTEGRATOR = 0; end
+		else begin REG_INTEGRATOR = REG_INTEGRATOR; end
+		
+		if (CURRENT_FILTER_OUTPUT>200) begin REG_INT_T = REG_INT; end
+		else if (CURRENT_FILTER_OUTPUT<50) begin REG_INT_T = 4;  end
+		else begin REG_INT_T = REG_INT_T; end
+		
+		end
+		
+		
+	REG_INTEGRATOR_OUTPUT = REG_INTEGRATOR/1024;
+	REG_RESULT = REG_PROP_OUTPUT + REG_INTEGRATOR_OUTPUT;
+	if (REG_RESULT>850) begin REG_OUTPUT = 850; end
+	else if (REG_RESULT<0) begin REG_OUTPUT = 0; end
+	else begin REG_OUTPUT = REG_RESULT; end
+	if (REG_OUTPUT<CHOPPER_CURRENT_LIMIT)		begin			REG_CURRENT_LIMIT = REG_OUTPUT;		end
+	else		begin			REG_CURRENT_LIMIT = CHOPPER_CURRENT_LIMIT;		end
+	
+	end
+else
+	begin
+	if (CHOPPER_CURRENT>SKIIP_CHOPP_CURRENT)
+		begin
+		REG_INTEGRATOR=CHOPPER_CURRENT*1024;
+		end
+	else 
+		begin
+		REG_INTEGRATOR=SKIIP_CHOPP_CURRENT*1024;
+		end
+	REG_INT_T = 4;	
+	REG_INPUT = 0;
+	REG_ERROR=0;
+	REG_PROP_OUTPUT=0;
+	REG_INTEGRATOR_COUNTER=0;
+	REG_RESULT=0;
+	REG_OUTPUT=0;
+	REG_CURRENT_LIMIT = 0;
+	end
+
+//if (FO_INPUT_VAL1<50) begin CHOPPER_PWM_WIDTH = 0; end
+//else begin CHOPPER_PWM_WIDTH = FO_INPUT_VAL1*4;  end
+//if (VIN_FILTER_OUTPUT>10) begin INPUT_VOLTAGE_MAXPWM = VIN_FILTER_OUTPUT; end
+//else begin INPUT_VOLTAGE_MAXPWM = 10; end
+//if (VOUT_FILTER_OUTPUT>10) 
+//	begin
+//	if (VOUT_FILTER_OUTPUT<800) begin OUTPUT_VOLTAGE_MAXPWM = VOUT_FILTER_OUTPUT+100; end
+//	else begin OUTPUT_VOLTAGE_MAXPWM = 900; end
+//	end
+//else begin OUTPUT_VOLTAGE_MAXPWM = 110; end
+//CHOPPER_PWM_WIDTH_MAX = 15000 - (15000*INPUT_VOLTAGE_MAXPWM)/OUTPUT_VOLTAGE_MAXPWM;
+
+//TEST--------------------------------------------
+/*
+if (TEST_COUNTER>50000) begin TEST_COUNTER=0; end
+else begin TEST_COUNTER = TEST_COUNTER + 1; end
+if (TEST_COUNTER==0)	
+begin
+if (TEST_OUTPUT > 800) begin TEST_DIRECTION=1; TEST_OUTPUT=800; end
+if (TEST_OUTPUT == 0) begin TEST_DIRECTION=0; TEST_OUTPUT = 1; end
+else 
+	begin 
+		if (TEST_DIRECTION==0) begin TEST_OUTPUT = TEST_OUTPUT + 1;  end
+		else begin TEST_OUTPUT = TEST_OUTPUT - 1; end
+	end
+end
+*/
+//TEST--------------------------------------------
+
+
+
+if (CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER>250) begin CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER=0; end
+else begin CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER = CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER+1; end
+
+//if (CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER==0) begin INPUT_VOLTAGE_PWM_WIDTH_MAX = TEST_OUTPUT; end 	//TEST!!
+if (CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER==0) begin INPUT_VOLTAGE_PWM_WIDTH_MAX = VIN_FILTER_OUTPUT; end
+else begin INPUT_VOLTAGE_PWM_WIDTH_MAX = INPUT_VOLTAGE_PWM_WIDTH_MAX; end
+
+if (CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER==50) begin CHOPPER_PWM_WIDTH_MAX_N_MULT = INPUT_VOLTAGE_PWM_WIDTH_MAX*15000; end
+else begin CHOPPER_PWM_WIDTH_MAX_N_MULT = CHOPPER_PWM_WIDTH_MAX_N_MULT; end
+
+if (CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER==100) begin CHOPPER_PWM_WIDTH_MAX_N_DIV = CHOPPER_PWM_WIDTH_MAX_N_MULT/800; end
+else begin CHOPPER_PWM_WIDTH_MAX_N_DIV = CHOPPER_PWM_WIDTH_MAX_N_DIV; end
+
+if (CHOPPER_PWM_WIDTH_MAX_CALC_COUNTER==200) begin CHOPPER_PWM_WIDTH_MAX = 15000 - CHOPPER_PWM_WIDTH_MAX_N_DIV; end
+else begin CHOPPER_PWM_WIDTH_MAX = CHOPPER_PWM_WIDTH_MAX; end
+
+if (CHOPPER_PWM_WIDTH_MAX>12000) begin CHOPPER_PWM_WIDTH_LIMIT = 12000; end
+else if (CHOPPER_PWM_WIDTH_MAX<200) begin CHOPPER_PWM_WIDTH_LIMIT = 0; end
+else begin CHOPPER_PWM_WIDTH_LIMIT = CHOPPER_PWM_WIDTH_MAX;  end
+
+//CHOPPER_PWM_WIDTH_LIMIT = 12000;
+
+if (GlobalError==1 || CHOPPER_ENABLE==0) begin CHOPP_BOT_IGBT = 0; CHOPPER_PWM_COUNTER = 0; end
+else
+	begin
+	
+		if (CHOPPER_PWM_COUNTER>15000) //300uS cycle, 3333Hz
+			begin 
+			CHOPPER_PWM_COUNTER = 0;
+			CHOPP_BOT_IGBT = 0;	
+			end 
+		else if (CHOPPER_PWM_COUNTER == 0)
+			begin
+				if (CHOPPER_CURRENT<REG_CURRENT_LIMIT && SKIIP_CHOPP_CURRENT<REG_CURRENT_LIMIT && CHOPPER_PWM_WIDTH_LIMIT>200)
+					begin
+					CHOPP_BOT_IGBT = 1;
+					CHOPPER_PWM_COUNTER = 1;
+					end
+				else
+					begin
+					CHOPP_BOT_IGBT = 0;
+					CHOPPER_PWM_COUNTER = 0;
+					end
+			end
+		else 
+		begin 
+		CHOPPER_PWM_COUNTER = CHOPPER_PWM_COUNTER + 1; 
+		if (CHOPPER_CURRENT>REG_CURRENT_LIMIT || SKIIP_CHOPP_CURRENT>REG_CURRENT_LIMIT || CHOPPER_PWM_COUNTER>CHOPPER_PWM_WIDTH_LIMIT)
+			begin
+				if (CHOPPER_PWM_COUNTER>200) begin CHOPP_BOT_IGBT = 0; end
+				else begin CHOPP_BOT_IGBT = CHOPP_BOT_IGBT; end
+			end
+		else
+			begin
+			CHOPP_BOT_IGBT = CHOPP_BOT_IGBT;
+			end
+		end
+
+	end
+
+//BRAKE CONTROL
+BRAKE_BOT_IGBT=0; 
+
+if (FO_INPUT_VAL3<25) begin BRAKE_PWM_WIDTH = 0; end
+else begin BRAKE_PWM_WIDTH = FO_INPUT_VAL3*8;  end
+
+//BRAKE_PWM_WIDTH = 25000; 
+
+if (GlobalError==0) begin BRAKE_ENABLE_COUNTER = 0; BRAKE_ENABLE=0; end 
+else	
+	begin
+	if (BRAKE_ENABLE_COUNTER<3000000000) // 3000000000 = 60s, 
+		begin 
+			if (BRAKE_ENABLE_COUNTER>5000000) 
+				begin 
+				BRAKE_ENABLE = CRITICAL_DATA_INPUT[3]; 
+				end
+			else 
+				begin 
+				BRAKE_ENABLE = 0; 
+				end
+		BRAKE_ENABLE_COUNTER = BRAKE_ENABLE_COUNTER + 1;
+		end
+	else
+		begin
+		BRAKE_ENABLE = 0;
+		BRAKE_ENABLE_COUNTER = 3000000000;
+		end
+	end
+
+if (MAXCURR_COUNTER>30000) 
+	begin 
+	MAXCURR_COUNTER = 0;
+	BRAKE_CURRENT_MAX = BRAKE_CURRENT_MAX_CYCLE; 
+	SKIIP_BRAKE_CURRENT_MAX = SKIIP_BRAKE_CURRENT_MAX_CYCLE;
+	end
+else if (MAXCURR_COUNTER == 0) 
+	begin
+	MAXCURR_COUNTER = MAXCURR_COUNTER + 1;
+	BRAKE_CURRENT_MAX_CYCLE = 0;
+	SKIIP_BRAKE_CURRENT_MAX_CYCLE = 0;
+	end
+else
+	begin
+	MAXCURR_COUNTER = MAXCURR_COUNTER + 1;
+	if (BRAKE_CURRENT>BRAKE_CURRENT_MAX_CYCLE) begin BRAKE_CURRENT_MAX_CYCLE = BRAKE_CURRENT;  end
+	if (SKIIP_BRAKE_CURRENT>SKIIP_BRAKE_CURRENT_MAX_CYCLE) begin SKIIP_BRAKE_CURRENT_MAX_CYCLE = SKIIP_BRAKE_CURRENT; end
+	end
+	
+if (GlobalError==0 || BRAKE_ENABLE==0 || BRAKE_ERROR==1) begin BRAKE_TOP_IGBT = 0; BRAKE_PWM_COUNTER = 0; end
+else
+	begin
+	
+	if (BRAKE_PWM_COUNTER>30000) //1000uS cycle, 1000Hz
+		begin 
+		BRAKE_PWM_COUNTER = 0; 
+		end 
+	else 
+		begin 
+		BRAKE_PWM_COUNTER = BRAKE_PWM_COUNTER + 1; 
+		end
+	
+	if (BRAKE_PWM_COUNTER<BRAKE_PWM_WIDTH)		begin	BRAKE_TOP_IGBT = 1;	end
+	else begin	BRAKE_TOP_IGBT = 0;	end
+	
+	end
+
+	if (CHOPPER_ENABLE || BRAKE_ENABLE || (VOUT_FILTER_OUTPUT>100) || (VIN_FILTER_OUTPUT>100))
+		begin
+		if (FAN_START_COUNTER<50000000) begin FAN_START_COUNTER = FAN_START_COUNTER + 1; end
+		else begin DIGITAL_OUTPUT[2] = 1; end //FAN OUTP
+		end
+	else
+		begin
+		if (FAN_START_COUNTER>0) begin FAN_START_COUNTER = FAN_START_COUNTER - 1; end
+		else 
+			begin 
+			if ((VIN_FILTER_OUTPUT<50) && (VOUT_FILTER_OUTPUT<50)) begin DIGITAL_OUTPUT[2] = 0; end //FAN OUTP
+			end 
+		end
+
+	//if (CHOPPER_ENABLE || BRAKE_ENABLE || (VOUT_FILTER_OUTPUT>100) || (VIN_FILTER_OUTPUT>100))
+	//begin DIGITAL_OUTPUT[2] = 1;  end //FAN OUTP
+	//else begin DIGITAL_OUTPUT[2] = 0; end
+	//DIGITAL_OUTPUT[2] = CHOPPER_ENABLE || BRAKE_ENABLE; 
+
+//----------CONTROL AND PWM GENERATION-----------------------------
+
+//-------------------------------DATA IO-------------------------
+DATA_TO_PCON[0] = ~GlobalError;
+DATA_TO_PCON[1] = BRAKE_ENABLE;
+DATA_TO_PCON[2] = CHOPPER_ENABLE;
+DATA_TO_PCON[3] = ~BRAKE_ERROR;
+DATA_TO_PCON[4] = 0;
+DATA_TO_PCON[5] = 0;
+DATA_TO_PCON[6] = 0;
+DATA_TO_PCON[7] = 0;
+
+DATA_TO_PCON[19:8] = CHOPPER_CURRENT;
+DATA_TO_PCON[31:20] = BRAKE_CURRENT_MAX;
+DATA_TO_PCON[43:32] = VIN_FILTER_OUTPUT;
+DATA_TO_PCON[55:44] = VOUT_FILTER_OUTPUT;
+DATA_TO_PCON[67:56] = SKIIP_CHOPP_CURRENT;
+DATA_TO_PCON[79:68] = SKIIP_BRAKE_CURRENT_MAX;
+DATA_TO_PCON[91:80] = REG_CURRENT_LIMIT;
+
+//DATA_TO_PCON[91:80] = BRAKE_ENERGY_STOCK/10000;
+
+//DATA_TO_PCON[19:8] = CHOPPER_CURRENT;
+//DATA_TO_PCON[31:20] = BRAKE_CURRENT;
+//DATA_TO_PCON[43:32] = VIN_FILTER_OUTPUT;
+//DATA_TO_PCON[55:44] = VOUT_FILTER_OUTPUT;
+//DATA_TO_PCON[67:56] = SKIIP_CHOPP_CURRENT;
+//DATA_TO_PCON[79:68] = SKIIP_BRAKE_CURRENT;
+//DATA_TO_PCON[91:80] = REG_CURRENT_LIMIT;
+
+
+DATA_TO_PCON[99:92] = SKIIP_CHOPP_TEMP[7:0];
+DATA_TO_PCON[107:100] = SKIIP_BRAKE_TEMP[7:0];
+DATA_TO_PCON[115:108] = ERROR_LATCH[7:0];
+DATA_TO_PCON[123:116] = ERROR_LATCH[15:8];
+DATA_TO_PCON[131:124] = ERROR_LATCH[23:16];
+DATA_TO_PCON[139:132] = ERROR_FLAGS[7:0];
+DATA_TO_PCON[147:140] = ERROR_FLAGS[15:8];
+DATA_TO_PCON[155:148] = ERROR_FLAGS[23:16];
+
+CRITICAL_DATA_INPUT = DATA_FROM_PCON[7:0];
+FO_INPUT_VAL1 = DATA_FROM_PCON[19:8];
+FO_INPUT_VAL2 = DATA_FROM_PCON[31:20];
+FO_INPUT_VAL3 = DATA_FROM_PCON[43:32];
+FO_INPUT_VAL4 = DATA_FROM_PCON[55:44];
+FO_INPUT_VAL5 = DATA_FROM_PCON[67:56];
+FO_INPUT_VAL6 = DATA_FROM_PCON[79:68];
+FO_INPUT_VAL7 = DATA_FROM_PCON[91:80];
+
+
+FO_SLOW_INPUT_VAL1 = DATA_FROM_PCON[99:92];
+FO_SLOW_INPUT_VAL2 = DATA_FROM_PCON[107:100];
+FO_SLOW_INPUT_VAL3 = DATA_FROM_PCON[115:108];
+FO_SLOW_INPUT_VAL4 = DATA_FROM_PCON[123:116];
+FO_SLOW_INPUT_VAL5 = DATA_FROM_PCON[131:124];
+FO_SLOW_INPUT_VAL6 = DATA_FROM_PCON[139:132];
+FO_SLOW_INPUT_VAL7 = DATA_FROM_PCON[147:140];
+FO_SLOW_INPUT_VAL8 = DATA_FROM_PCON[155:148];
+
+//-------------------------------DATA IO-------------------------
+
+end
+
+endmodule
\ No newline at end of file
diff --git a/UML/Activity.plantuml b/UML/Activity.plantuml
new file mode 100644
index 0000000..a7f7d1e
--- /dev/null
+++ b/UML/Activity.plantuml
@@ -0,0 +1,31 @@
+@startuml
+start
+
+:Считать DATA_FROM_PCON;
+:Обновить фильтры DINPUT (DFILTER_COUNTER, DINP_FILTER*);
+:Обработать CALC_SM_STATE (0..6)\nADC -> физ. величины;
+
+:Обновить VIN/VOUT/CURRENT фильтры;
+:Рассчитать защиты\n(OVERCURRENT, OVERVOLTAGE, OVERTEMP);
+:Обновить BRAKE_ENERGY_*;
+
+if (CHOPPER_ENABLE && !GlobalError) then (yes)
+  :PI-регулятор\n(REG_INPUT, REG_OUTPUT, REG_CURRENT_LIMIT);
+else (no)
+  :Сброс регулятора\n(REG_INTEGRATOR и др.);
+endif
+
+:Расчёт CHOPPER_PWM_WIDTH_LIMIT;
+:Генерация ШИМ для CHOPP_BOT_IGBT;
+
+if (GlobalError || !BRAKE_ENABLE || BRAKE_ERROR) then (off)
+  :BRAKE_TOP_IGBT = 0;
+else (on)
+  :Генерация ШИМ для BRAKE_TOP_IGBT;
+endif
+
+:Логика вентилятора (DIGITAL_OUTPUT[2]);
+:Формирование DATA_TO_PCON\nи разбор DATA_FROM_PCON;
+
+stop
+@enduml
diff --git a/UML/Sequence.plantuml b/UML/Sequence.plantuml
new file mode 100644
index 0000000..87be1e4
--- /dev/null
+++ b/UML/Sequence.plantuml
@@ -0,0 +1,20 @@
+@startuml
+participant "PCON_DATA_IO" as PCON
+participant "FOExp" as FO
+participant "CHOPPER_SKIIP_INPUT" as SK_CH
+participant "BRAKE_SKIIP_INPUT" as SK_BR
+participant "MeanFilter VIN" as VIN_F
+
+PCON -> FO : DATA_FROM_PCON
+FO -> SK_CH : read SENS_IN[1]
+SK_CH --> FO : SKIIP_CHOPP_CURRENT_IN, SKIIP_CHOPP_TEMP_IN
+
+FO -> VIN_F : VIN_FILTER_INPUT = INPUT_VOLTAGE
+VIN_F --> FO : VIN_FILTER_OUTPUT
+
+FO -> FO : CALC_SM_STATE 0..6 (ADC->физ.величины)
+FO -> FO : PI-регулятор (REG_INPUT, REG_OUTPUT)
+FO -> FO : PWM (CHOPPER_PWM_COUNTER, CHOPP_BOT_IGBT)
+
+FO -> PCON : DATA_TO_PCON
+@enduml
diff --git a/UML/Sequence.png b/UML/Sequence.png
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literal 0
HcmV?d00001

diff --git a/UML/State.plantuml b/UML/State.plantuml
new file mode 100644
index 0000000..1453947
--- /dev/null
+++ b/UML/State.plantuml
@@ -0,0 +1,19 @@
+@startuml
+[*] --> S0
+
+state "S0_Init" as S0
+state "S1_Sample" as S1
+state "S2_Offset" as S2
+state "S3_Scale" as S3
+state "S4_Convert" as S4
+state "S5_Check" as S5
+state "S6_Latch" as S6
+
+S0 --> S1 : CALC_SM_COUNTER>5
+S1 --> S2 : CALC_SM_COUNTER>5
+S2 --> S3 : CALC_SM_COUNTER>5
+S3 --> S4 : CALC_SM_COUNTER>20
+S4 --> S5 : CALC_SM_COUNTER>20
+S5 --> S6 : CALC_SM_COUNTER>5
+S6 --> S0 : CALC_SM_COUNTER>5
+@enduml
diff --git a/UML/State.png b/UML/State.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a2a0d0f37dd75597ab0d952b1662687e0bf6581
GIT binary patch
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