@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