diff --git a/FOExp.v b/FOExp.v
index 77b1e53..4945e8c 100644
--- a/FOExp.v
+++ b/FOExp.v
@@ -467,60 +467,68 @@ else if (CALC_SM_STATE==1)
 	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
+    begin
+    CALC_SM_COUNTER = CALC_SM_COUNTER + 1;
+    if (CALC_SM_COUNTER==1)
+        begin
+
+        // Калибровка тока чоппера для блока UNIT1:
+        // вычитаем смещение 16585 или берём модуль отклонения относительно этой точки
+        `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
+
+        // Калибровка тока чоппера для блока UNIT4:
+        // аналогично UNIT1, но используется своё смещение 16580
+        `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
+
+        // Для UNIT4 тормозной ток BRAKE_CURRENT_ADC полностью игнорируется:
+        // принудительно обнуляется перед дальнейшими расчётами
+        `ifdef UNIT4
+        BRAKE_CURRENT_ADC = 0;
+        // Для всех остальных блоков (UNIT1, UNIT2, UNIT3) тормозной ток калибруется:
+        // вычитаем смещение 16560 или берём модуль отклонения относительно этой точки
+        `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;
@@ -714,30 +722,34 @@ 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;
+    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
+    // Настройка ПИ-регулятора для UNIT1:
+    // REG_PROP — пропорциональный коэффициент, REG_INT — интегральный
+    `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
+
+    // Настройка ПИ-регулятора для UNIT4:
+    // немного другое интегральное усиление (12) под конкретный модуль
+    `ifdef UNIT4
+     REG_PROP = 1; //A/V
+     REG_INT = 12; //
+    `endif
 
 
 if (CHOPPER_ENABLE==1 && GlobalError==0)