From eb2ff799329605d3ce7c5fc21a9987991a035230 Mon Sep 17 00:00:00 2001
From: andrey <frimanservice@gmail.com>
Date: Wed, 23 Sep 2026 01:28:11 +0300
Subject: [PATCH] =?UTF-8?q?=D0=A3=D1=81=D1=82=D1=80=D0=B0=D0=BD=D0=B5?=
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Фронты START/STOP обрабатываются при принятии командного слова CAN/RS,
а окончание импульса обслуживается таймером. STOP имеет приоритет,
перекрытие выходов исключено, сохранена защита от самопуска при включении.
Загрузка параметров больше не подменяет живые команды нагрузки.

Добавлены подробные русские комментарии во все собственные C-модули
и основные заголовки, описание поведения и host-тест автомата.
Обновлены файлы прошивки. Полная сборка TI 22.6.1.LTS и тесты пройдены;
проверка на физической плате не выполнялась.
---
 Bin/UKSSTMS320F28335.bin                   |  Bin 27312 -> 30166 bytes
 Bin/UKSSTMS320F28335.hex                   | 1818 ++++++++++----------
 Bin/UKSSTMS320F28335.map                   |   12 +-
 Bin/UKSSTMS320F28335.out                   |  Bin 304602 -> 308870 bytes
 Doc/SIFU_START_STOP.md                     |  104 ++
 Doc/START_STOP_weak_points.md              |    4 +
 Doc/UMP_LOGGER.md                          |    4 +
 Source/Internal/ADC.c                      |    6 +
 Source/Internal/DAC.c                      |   26 +-
 Source/Internal/Include/ADC.h              |    3 +
 Source/Internal/Include/DAC.h              |   12 +-
 Source/Internal/Include/GPIO_table.h       |    3 +
 Source/Internal/Include/RS485.h            |    3 +
 Source/Internal/Include/bios_dsp.h         |    3 +
 Source/Internal/Include/caliber.h          |    3 +
 Source/Internal/Include/cntrl_adr.h        |    3 +
 Source/Internal/Include/crc16.h            |    3 +
 Source/Internal/Include/ecan.h             |    3 +
 Source/Internal/Include/filter_bat2.h      |    3 +
 Source/Internal/Include/kanal.h            |    3 +
 Source/Internal/Include/log_to_mem.h       |    3 +
 Source/Internal/Include/measure.h          |    3 +
 Source/Internal/Include/message.h          |    3 +
 Source/Internal/Include/package.h          |   11 +-
 Source/Internal/Include/peripher.h         |    4 +
 Source/Internal/Include/pulto.h            |    3 +
 Source/Internal/Include/spise2p.h          |    3 +
 Source/Internal/Include/tools.h            |    3 +
 Source/Internal/Include/ump_control_impl.h |   83 +
 Source/Internal/Include/ump_pulse.h        |   69 +
 Source/Internal/RS485.c                    |    9 +
 Source/Internal/bios.c                     |    6 +
 Source/Internal/cntrl_adr.c                |    5 +
 Source/Internal/crc16.c                    |    6 +
 Source/Internal/ecan.c                     |   26 +-
 Source/Internal/filter_bat2.c              |    5 +
 Source/Internal/kanal.c                    |    5 +
 Source/Internal/log_to_mem.c               |    6 +
 Source/Internal/main.c                     |   33 +-
 Source/Internal/measure.c                  |    8 +
 Source/Internal/message.c                  |   35 +-
 Source/Internal/peripher.c                 |    6 +
 Source/Internal/pulto.c                    |    5 +
 Source/Internal/spise2p.c                  |   12 +
 Source/Internal/tools.c                    |    5 +
 tests/ump_logger/recorder_test.c           |    3 +-
 tests/ump_logger/stubs/DAC.h               |    3 +-
 tests/ump_pulse/control_test.c             |   97 ++
 tests/ump_pulse/run_test.py                |   38 +
 49 files changed, 1564 insertions(+), 950 deletions(-)
 create mode 100644 Doc/SIFU_START_STOP.md
 create mode 100644 Source/Internal/Include/ump_control_impl.h
 create mode 100644 Source/Internal/Include/ump_pulse.h
 create mode 100644 tests/ump_pulse/control_test.c
 create mode 100644 tests/ump_pulse/run_test.py

diff --git a/Bin/UKSSTMS320F28335.bin b/Bin/UKSSTMS320F28335.bin
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diff --git a/Bin/UKSSTMS320F28335.hex b/Bin/UKSSTMS320F28335.hex
index 12a5d2a..3c69ee1 100644
--- a/Bin/UKSSTMS320F28335.hex
+++ b/Bin/UKSSTMS320F28335.hex
@@ -1,4 +1,4 @@
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diff --git a/Bin/UKSSTMS320F28335.map b/Bin/UKSSTMS320F28335.map
index a2ea084..2671665 100644
--- a/Bin/UKSSTMS320F28335.map
+++ b/Bin/UKSSTMS320F28335.map
@@ -2,7 +2,7 @@
 TMS320C2000 Hex Converter                                                 v5.2.7
 ********************************************************************************
 
-INPUT FILE NAME: <UKSSTMS320F28335.out>
+INPUT FILE NAME: <c:\Temp\166-sifu-build-vq3o6iha\UKSSTMS320F28335.out>
 OUTPUT FORMAT:   Binary
 
 PHYSICAL MEMORY PARAMETERS
@@ -12,18 +12,18 @@ PHYSICAL MEMORY PARAMETERS
 
 BOOT LOADER PARAMETERS
    Table Type:		  SERIAL PORT (SCI 8 bit Mode)
-   Entry Point:		  0x0000b4b9
+   Entry Point:		  0x0000b56a
 
 
 OUTPUT TRANSLATION MAP
 --------------------------------------------------------------------------------
 00000000..003fffff  Page=0  Memory Width=8  ROM Width=8
 --------------------------------------------------------------------------------
-   OUTPUT FILES: UKSSTMS320F28335_e8cb0244.bin [b0..b7]
+   OUTPUT FILES: c:\Temp\166-sifu-build-vq3o6iha\UKSSTMS320F28335.bin [b0..b7]
 
-   CONTENTS: 00000000..00007485   BOOT TABLE
-                           .cinit : dest=0000b667  size=0000026a  width=00000002
-                            .text : dest=00008000  size=00003667  width=00000002
+   CONTENTS: 00000000..000075d5   BOOT TABLE
+                           .cinit : dest=0000b717  size=00000262  width=00000002
+                            .text : dest=00008000  size=00003717  width=00000002
                           .econst : dest=0000c000  size=00000112  width=00000002
                           .switch : dest=0000c112  size=00000048  width=00000002
 
diff --git a/Bin/UKSSTMS320F28335.out b/Bin/UKSSTMS320F28335.out
index 738d25ad60188f62de4e664f262d26d90c56beb1..7bba3383e8b4f3cec193862c98624ebdba8a4770 100644
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diff --git a/Doc/SIFU_START_STOP.md b/Doc/SIFU_START_STOP.md
new file mode 100644
index 0000000..db0e27e
--- /dev/null
+++ b/Doc/SIFU_START_STOP.md
@@ -0,0 +1,104 @@
+# START/STOP СИФУ в 166: обработка без ожидания основного цикла
+
+## Что изменено
+
+До исправления main опрашивал последнее состояние команды. Короткий ноль
+между двумя единицами мог не попасть в опрос; запись EEPROM задерживала
+как выдачу, так и снятие дискрета. Теперь каждое принятое по CAN слово 127
+передаётся в UMP_commands_write прямо в CAN ISR. Полный подтверждённый
+CRC RS-пакет вызывает ту же функцию из ReceiveCommandModbus6.
+
+История фронтов общая для CAN и RS. Повторная передача единицы не является
+новым событием. Новое 0→1 обрабатывается сразу, без очереди и ожидания main.
+Это не гарантирует приём каждого физического CAN-кадра при перегрузке шины;
+обрабатываются кадры, которые действительно дошли до Handlai.
+
+| Событие | Результат |
+|---|---|
+| START 0→1, STOP=0 | START_DPTB включается, RES_OUT_2 активируется |
+| START остаётся 1 | Импульс не продлевается |
+| Новый START 0→1 во время START | Оставшееся время снова 1000 тиков |
+| STOP 0→1 во время START | START снимается, включается STOP, RES_OUT_2 снимается |
+| START и STOP пришли одновременно | Только STOP, без кратковременного START |
+| START изменяется при STOP=1 | Пуск подавляется и не ставится в очередь |
+| STOP снят, START остался 1 | Самопуска нет; нужен новый 0→1 START |
+| STOP снят и пришёл свежий фронт START | Переключение STOP→START без перекрытия |
+| Истекли 1000 тиков | Активный дискрет снимается; RES_OUT_2 сохраняет состояние |
+
+Таймер 1 кГц вызывает UMP_pulse_tick перед Load_runner. main больше не
+пишет START/STOP и не отсчитывает IMPowse. Номинальная длительность импульса
+около секунды (фаза первого тика даёт до 1 мс разброса). Задержки/запреты IRQ
+могут удлинять реальное время: это не аппаратный одновибратор.
+
+Функции автомата используют короткий запрет IRQ с восстановлением старой
+маски. В них нет EEPROM, передачи UART, ожидания ACK или обхода массива.
+volatile описывает общие данные; целостность изменения состояния обеспечивает
+критическая секция, а не само ключевое слово.
+
+## Включение платы и параметры
+
+До UMP_pulse_init команды записываются в карту, но не выдают дискрет.
+Инициализация после Load_params/Setup_DAC_time снимает выходы и запоминает
+текущую команду. Уже активная единица не запускает СИФУ задним числом.
+При начальном нуле первая свежая единица принимается без предварительного
+прохода основного цикла. Потерю/перезапуск питания контроллер должен учитывать
+своим протоколом: перед новым запуском передать ноль.
+
+Default_params и Load_params для dsk_LOAD не копируют и не обнуляют слово
+127 как обычный параметр. Служебные биты сбрасываются отдельно, START/STOP
+сохраняются. Поэтому чтение EEPROM не подменяет живую команду старым значением
+даже на один тик прерывания. Остальные типы платы сохраняют прежний сброс.
+
+## Что ещё может задерживаться
+
+- RS: байты принимает ISR, но CRC и исполнение FC06 происходят в main.
+  Если main ждёт EEPROM, RS-команда ещё не считается принятой обработчиком.
+- EEPROM: синхронное ожидание без тайм-аута сохранено. Оно не задерживает
+  уже принятые CAN-пуски и снятие импульса, пока обслуживаются прерывания.
+- ЦАП: начальная пауза примерно 3 с и профиль 6..16 мА сохранены.
+  LOAD_TIME=30 с ускорением второй половины даёт около 22.5 с разгона.
+  START/STOP дискреты и расчёт ЦАП — разные механизмы; приоритет STOP
+  относится к дискретам, не переписывает алгоритм аналогового задания.
+- Повторный фронт во время активного START продлевает высокий уровень,
+  не создаёт отдельный электрический импульс с паузой между ними.
+- Произвольная запись памяти сервисным загрузчиком не считается обычной
+  CAN/RS-командой и не проходит автомат фронтов.
+
+## Код и комментарии
+
+- Include/ump_pulse.h — проверяемый автомат без GPIO.
+- Include/ump_control_impl.h — аппаратная обёртка, подключённая только в DAC.c.
+- ecan.c/message.c — точки приёма полного командного слова.
+- measure.c — владелец временной базы дискретов.
+- package.h/DAC.h — volatile-доступ к команде и диагностическому IMPowse.
+
+Во всех 17 собственных C-модулях и основных заголовках добавлены русские
+комментарии: назначения, контексты main/ISR, единицы и ограничения.
+Кодировки исходников сохранены (CP1251). Код TI и внешние библиотеки не менялись.
+29 файлов с изменением только комментариев проверены сравнением токенов
+с HEAD после удаления комментариев: исполняемый текст в них совпадает.
+
+## Проверка
+
+- Host-тест tests/ump_pulse/control_test.c включает настоящий автомат и
+  аппаратную обёртку с подменёнными GPIO/IRQ. Проверяет стартовую защиту,
+  короткий ноль, удержание, повторный фронт, STOP, отсутствие перекрытия
+  на каждой записи GPIO, завершение без main, параметры и вложенный запрет IRQ.
+- Тест регистратора tests/ump_logger прошёл; существующие 7 тестов модели
+  ограничения DAC проекта 167 также прошли (это отдельный исторический анализ).
+- Все 27 C/ASM-файлов собраны и слинкованы TI C2000 22.6.1.LTS, Debug/O1,
+  COFF/FPU32. Остались шесть прежних предупреждений measure.c/peripher.c.
+- MAP: RAML0 занято 0x3979 из 0x4000 слов, RAML5 — 0xFAB из 0x3000;
+  .logg — 0xFA00 слов во внешней памяти. Стек выделен 0x3F0 слов;
+  максимальное реальное использование стека на устройстве не измерялось.
+- Из проверенной сборки обновлены штатные OUT/HEX/BIN и карта преобразования.
+
+Запуск тестов на Windows: `py -3 tests/ump_pulse/run_test.py` и
+`py -3 tests/ump_logger/run_test.py`; нужен Clang/lld либо MSVC в PATH,
+или параметр `--compiler "полный путь к cl.exe"`.
+
+Проверка на плате не выполнялась. На стенде проверить GPIO62/GPIO58 и
+RES_OUT_2 осциллографом: CAN-пуск во время Save_params, короткий сброс,
+одновременный START/STOP, останов во время пуска, длительность импульса
+при нагрузке CAN и работа с включённым логгером. Привязать результат к
+принятым CAN-командам и выходам в архиве SetGUI.
diff --git a/Doc/START_STOP_weak_points.md b/Doc/START_STOP_weak_points.md
index 88436cf..093b1c4 100644
--- a/Doc/START_STOP_weak_points.md
+++ b/Doc/START_STOP_weak_points.md
@@ -1,5 +1,9 @@
 # Слабые места обработки START/STOP
 
+> Исторический анализ до переноса обработки в приём команды и таймер.
+> Текущее поведение, исправления и оставшиеся ограничения описаны в
+> [SIFU_START_STOP.md](SIFU_START_STOP.md).
+
 Дата: 22.09.2026. Проверен код проекта 166 после переноса исправления
 из коммита `799e6ba` проекта 167. Документ описывает результаты просмотра
 кода; сценарии на устройстве не воспроизводились. Предлагаемые ниже
diff --git a/Doc/UMP_LOGGER.md b/Doc/UMP_LOGGER.md
index c2ee27c..a05af57 100644
--- a/Doc/UMP_LOGGER.md
+++ b/Doc/UMP_LOGGER.md
@@ -1,5 +1,9 @@
 # Логгер запуска и отключения УМП: прошивка Бальзам 166 и SetGUI
 
+Текущая логика дискретов описана в [SIFU_START_STOP.md](SIFU_START_STOP.md):
+CAN-фронты обрабатываются при приёме, импульсы снимаются таймером, STOP
+имеет приоритет. Формат записи v2 и интерфейс SetGUI сохранены.
+
 ## Назначение и работа оператора
 
 В SetGUI открыть **periph_28335 → rs232_periph_28335 → Настройки**,
diff --git a/Source/Internal/ADC.c b/Source/Internal/ADC.c
index 9877a08..753f799 100644
--- a/Source/Internal/ADC.c
+++ b/Source/Internal/ADC.c
@@ -1,3 +1,9 @@
+/* ��������� ��� � ��������� ���������� �������. adc_isr ���������
+ * adc_table_lem[0..3] �� ADCRESULT2..5 >> 4 � �������� ������ ���������.
+ * READY � 166 �������� ��������� �� ����, �� ������ ����������.
+ * WAKE ����� ��������� ����� ������������ ������������� �����.
+ * �� ��������� �������� EEPROM/UART � ���������� �������.
+ */
 #include "DSP2833x_Device.h"     // DSP281x Headerfile Include File
 #include "DSP2833x_Examples.h"   // DSP281x Examples Include File
 #include "DSP2833x_SWPrioritizedIsrLevels.h"
diff --git a/Source/Internal/DAC.c b/Source/Internal/DAC.c
index 31f14f9..5a67284 100644
--- a/Source/Internal/DAC.c
+++ b/Source/Internal/DAC.c
@@ -1,3 +1,10 @@
+/* ��� �������� � ���������� ������ ��������� ����. Load_runner
+ * ���������� �������� 1 ���, ������ ��� ������� �� DAC_FREQ.
+ * ������� 166 ����� ������������� ������ 6..16 ��. DAC_min/max
+ * ��������� ��������� � ���, cCalibrDac �������� ������ ���.
+ * WAKEpowse ��������� � ���, �� �������� ����������� �������� �������.
+ * ������� ���� ��������� � ����� ����� ����� ump_control_impl.h.
+ */
 #include "DSP2833x_Device.h"     // DSP281x Headerfile Include File
 #include "DSP2833x_SWPrioritizedIsrLevels.h" 
 #include "filter_bat2.h"
@@ -11,6 +18,7 @@
 
 #include "peripher.h"
 #include "log_to_mem.h"
+#include "ump_pulse.h"
 
 #define dCLK_1()	GpioDataRegs.GPBSET.bit.GPIO63=1
 #define dCLK_0()	GpioDataRegs.GPBCLEAR.bit.GPIO63=1
@@ -18,9 +26,12 @@
 #define dCS_0()		GpioDataRegs.GPBCLEAR.bit.GPIO59=1
 
 unsigned long WAKEpowse;
-unsigned long IMPowse;
+volatile unsigned long IMPowse;
 unsigned int period_dac, time_dac;
 
+/* �������������, �� ��������� ������� START. 601 ������ ��� 200 ��
+ * ���� ����� 3 ������ �� �������� ������� ��� ����� ���������.
+ */
 void Setup_DAC_time(void)
 {
 	WAKEpowse = 3L * DAC_FREQ +1;
@@ -65,6 +76,10 @@ void Init_DAC(void)
 	dSEND(0x9002|0x0000); toggle_RES_OUT_1();
 }       
 
+/* vrot/maxx � ���� ��������� ����� ������ 4 � 20 ��. ����� 0xFFF
+ * ��������� 12 ���, �� �� �������� ����������. modbus[0x1C] ��������
+ * ��������� �������, �� ���������� ��� �� �������� �������.
+ */
 void Anal_output(long vrot, long maxx)
 {
   long out;
@@ -101,13 +116,17 @@ Log_to_mem(modbus[0x1D]);
 
 }
 
+/* ����� �������� time_dac ������� ����� ������ �� �����. �������
+ * LOAD_TIME=30 ��� �������� 22.5 � �� ����� ������� ��� 200 ��.
+ * ������������ ������� 166 ����������� �������� ���� �� ������.
+ */
 void Load_runner()
 {
   static unsigned int count_dac=0, count_load=0, x=1;
   float sinus=0;
   int kod;
 
-	if(IMPowse) IMPowse--;
+	/* IMPowse ����������� UMP_pulse_tick(), � �� ���������� ���. */
 	if(++count_dac >= period_dac)
 	{
 		count_dac=0;
@@ -158,3 +177,6 @@ void Load_runner()
 
 	   			Anal_output(kod, time_dac);
 }	}	}	}
+
+
+#include "ump_control_impl.h"
diff --git a/Source/Internal/Include/ADC.h b/Source/Internal/Include/ADC.h
index 479c307..9d9ba53 100644
--- a/Source/Internal/Include/ADC.h
+++ b/Source/Internal/Include/ADC.h
@@ -1,3 +1,6 @@
+/* ������� ������� ��������� ADC ISR. ������������� ������ ����������
+ * ������� ������� ������ �����������, ������ ��������� ������������.
+ */
 
 
 extern Uint16 adc_table_lem[];
diff --git a/Source/Internal/Include/DAC.h b/Source/Internal/Include/DAC.h
index 257b94f..7c960a1 100644
--- a/Source/Internal/Include/DAC.h
+++ b/Source/Internal/Include/DAC.h
@@ -1,8 +1,18 @@
+/* ��������� ��� � ����. �������� ������� � UMP_commands_write,
+ * ��������� �������� � UMP_pulse_tick. IMPowse ������ ��� �����������.
+ */
 void Load_runner(void);
 void Anal_output(long vrot, long maxx);
 void Init_DAC(void);
 void Setup_DAC_time(void);
 
 /* ������� ��������� �������� � �������� ������������� �������� �������. */
-extern unsigned long IMPowse, WAKEpowse;
+extern volatile unsigned long IMPowse;
+extern unsigned long WAKEpowse;
 extern unsigned int period_dac, time_dac;
+
+/* ��� �������� ��������� ��� ������ �� main � ������������ IRQ. */
+void UMP_pulse_init(void);
+void UMP_commands_write(unsigned int commands);
+void UMP_pulse_tick(void);
+void UMP_reset_parameter_commands(void);
diff --git a/Source/Internal/Include/GPIO_table.h b/Source/Internal/Include/GPIO_table.h
index ac37198..6a40e7d 100644
--- a/Source/Internal/Include/GPIO_table.h
+++ b/Source/Internal/Include/GPIO_table.h
@@ -1,3 +1,6 @@
+/* ����������� GPIO ��� ���������� ����������. ������� ��������
+ * �����; �������� ���������� ������ peripher.h � ����� �����.
+ */
 #define COMM_gpio00_dir	0L
 #define COMM_gpio01_dir	0L
 #define COMM_gpio02_dir	0L
diff --git a/Source/Internal/Include/RS485.h b/Source/Internal/Include/RS485.h
index ff3a413..3cb18d4 100644
--- a/Source/Internal/Include/RS485.h
+++ b/Source/Internal/Include/RS485.h
@@ -1,3 +1,6 @@
+/* ������ UART ����������� ISR � main. main ������������
+ * ����������� RS_Header. ������� ������� � 16-������ ABI DSP.
+ */
 #ifndef _RS485
 #define _RS485
 
diff --git a/Source/Internal/Include/bios_dsp.h b/Source/Internal/Include/bios_dsp.h
index 75477d7..71c3c3b 100644
--- a/Source/Internal/Include/bios_dsp.h
+++ b/Source/Internal/Include/bios_dsp.h
@@ -1,3 +1,6 @@
+/* ���� CMD_* �������� ������ ������� ������ � ��. ����� �������
+ * ����������� ��� ������������� ������������ ��������.
+ */
 #ifndef _BIOS_DSP
 #define _BIOS_DSP
 
diff --git a/Source/Internal/Include/caliber.h b/Source/Internal/Include/caliber.h
index 03afaa9..4e7ed21 100644
--- a/Source/Internal/Include/caliber.h
+++ b/Source/Internal/Include/caliber.h
@@ -1,3 +1,6 @@
+/* ��������� ���������� �� ������ BALSAM � ���� �����. �����
+ * ������������ �������, � �� ������ extern; �� ����������� �����������.
+ */
 #if BALSAM == 166	//-------------------------------------------------------------
   int def_cal[][8] = {
 
diff --git a/Source/Internal/Include/cntrl_adr.h b/Source/Internal/Include/cntrl_adr.h
index 2a8567c..af5fb23 100644
--- a/Source/Internal/Include/cntrl_adr.h
+++ b/Source/Internal/Include/cntrl_adr.h
@@ -1,3 +1,6 @@
+/* �����������, ����� � ����������� ������ ����������������� ������.
+ * main ����� ������ ����� set_cntrl_addr �� ������ ������.
+ */
 #ifndef _CNTRL_ADR
 #define _CNTRL_ADR
 
diff --git a/Source/Internal/Include/crc16.h b/Source/Internal/Include/crc16.h
index a1787cc..8885beb 100644
--- a/Source/Internal/Include/crc16.h
+++ b/Source/Internal/Include/crc16.h
@@ -1,3 +1,6 @@
+/* ���������� CRC. ��������� ����� ����� � ������ ���� EEPROM;
+ * ��������� ������� �� ������� ��������� ������.
+ */
 typedef unsigned short WORD;
 typedef unsigned char byte;
 
diff --git a/Source/Internal/Include/ecan.h b/Source/Internal/Include/ecan.h
index 36cf526..bf17d0a 100644
--- a/Source/Internal/Include/ecan.h
+++ b/Source/Internal/Include/ecan.h
@@ -1,3 +1,6 @@
+/* ���������� eCAN � ������� ������ ������� �������.
+ * UMP_CAN_service ���������� �� main, �� �� �������� IRQ.
+ */
 void InitCan(int Port, int DevNum);
 void CAN_send(int Port, int data[], int Addr);
 extern int CAN_input_data[];
diff --git a/Source/Internal/Include/filter_bat2.h b/Source/Internal/Include/filter_bat2.h
index 9357ab2..50f6879 100644
--- a/Source/Internal/Include/filter_bat2.h
+++ b/Source/Internal/Include/filter_bat2.h
@@ -1,3 +1,6 @@
+/* ������������ � ���������� ������� �������. ������ �����������
+ * ����� ������ ����� ��������� ��������� FILTERBAT.
+ */
 #ifndef _FILTER_BAT2
 #define _FILTER_BAT2
 
diff --git a/Source/Internal/Include/kanal.h b/Source/Internal/Include/kanal.h
index fce5473..94917d8 100644
--- a/Source/Internal/Include/kanal.h
+++ b/Source/Internal/Include/kanal.h
@@ -1 +1,4 @@
+/* ��������� ������ ���������. �� �� ��������� START_DPTB
+ * � �� ������ �������������� ������ ������� ���������� ���������.
+ */
 void kanal_Send(int adr, long dat, int dot);
diff --git a/Source/Internal/Include/log_to_mem.h b/Source/Internal/Include/log_to_mem.h
index a4afb52..57c36c4 100644
--- a/Source/Internal/Include/log_to_mem.h
+++ b/Source/Internal/Include/log_to_mem.h
@@ -1,3 +1,6 @@
+/* �������� ������� � SetGUI: ������ ������, ������ � ������.
+ * ������ ������ ����� ���������� �� IRQ �� ������� RS/CAN �����������.
+ */
 #ifndef _LOG_TO_MEM
 #define _LOG_TO_MEM     
 
diff --git a/Source/Internal/Include/measure.h b/Source/Internal/Include/measure.h
index 37eb02d..f81b792 100644
--- a/Source/Internal/Include/measure.h
+++ b/Source/Internal/Include/measure.h
@@ -1,3 +1,6 @@
+/* ������� � ��������� ���������. READY � 166 � ������� �� ����.
+ * READY_FREQ ����� ������ ����, DAC_FREQ � ������ ���.
+ */
 #ifndef _MEASURE
 #define _MEASURE
 
diff --git a/Source/Internal/Include/message.h b/Source/Internal/Include/message.h
index 878b4c7..2ddb361 100644
--- a/Source/Internal/Include/message.h
+++ b/Source/Internal/Include/message.h
@@ -1,3 +1,6 @@
+/* ��������������� �������� � Modbus. ANSWER_LEN ������������
+ * ������ modbus; ������� ������� 0x1000 ������������� ��� ������.
+ */
 #ifndef MESSAGE_H
 #define MESSAGE_H
 
diff --git a/Source/Internal/Include/package.h b/Source/Internal/Include/package.h
index cad7f2d..dd97020 100644
--- a/Source/Internal/Include/package.h
+++ b/Source/Internal/Include/package.h
@@ -1,3 +1,7 @@
+/* ������� ���������� � ����� ����� modbus, �� � ��������� ������.
+ * START/STOP �������� ����� volatile. �������� ������ ����� 127
+ * ������ ������ UMP_commands_write ��� �������� ������.
+ */
 #ifndef PACKAGE
 #define PACKAGE
 
@@ -131,7 +135,8 @@
 
 #define LastMode	Modbus[126].all
 
-#define Commands	Modbus[127].all
+/* ����� �������� �� CAN/RS; ������ ������� �� ������ ������������. */
+#define Commands	(((volatile WORDE *)modbus)[127].all)
 #define cTestLamp	Modbus[127].bit.bit0
 #define cDefParam	Modbus[127].bit.bit1
 #define cSaveParam	Modbus[127].bit.bit2
@@ -140,8 +145,8 @@
 #define cTermoCal	Modbus[127].bit.bit4
 #define cKoefCalc	Modbus[127].bit.bit5
 
-#define cUMPreset	Modbus[127].bit.bit6
-#define cUMPstart	Modbus[127].bit.bit7
+#define cUMPreset	(((volatile WORDE *)modbus)[127].bit.bit6)
+#define cUMPstart	(((volatile WORDE *)modbus)[127].bit.bit7)
 #define cInitDac	Modbus[127].bit.bit8
 #define cCalibrDac	Modbus[127].bit.bit9
 
diff --git a/Source/Internal/Include/peripher.h b/Source/Internal/Include/peripher.h
index e157654..b482fd8 100644
--- a/Source/Internal/Include/peripher.h
+++ b/Source/Internal/Include/peripher.h
@@ -1,3 +1,7 @@
+/* ���������� GPIO � ������ ������ � ����������. set ��������
+ * ������������ �������, �� ������ ��������� 1. START/STOP ��������
+ * ������� ��������, RES_OUT_2 ����. ���������� ������� ������� ����.
+ */
 #include "DSP2833x_Device.h"     // DSP281x Headerfile Include File
 
 extern int Mode,Desk,TermoAD,TermoRS,TermoSW,Kurrent,Kalibro;
diff --git a/Source/Internal/Include/pulto.h b/Source/Internal/Include/pulto.h
index fb41363..f3f1bb9 100644
--- a/Source/Internal/Include/pulto.h
+++ b/Source/Internal/Include/pulto.h
@@ -1,3 +1,6 @@
+/* ��������� ������ dsk_EPLT. ���������� ������� ��������
+ * �������� �������� � measure.c.
+ */
 //void  what_is(void);
 
 interrupt void cpu_timer1_isr_PULT(void);
diff --git a/Source/Internal/Include/spise2p.h b/Source/Internal/Include/spise2p.h
index 286c879..0f84d10 100644
--- a/Source/Internal/Include/spise2p.h
+++ b/Source/Internal/Include/spise2p.h
@@ -1,3 +1,6 @@
+/* ������� SPI EEPROM ���������� ������ 2. ���������� ��������
+ * ������� ����������� IRQ. PAGE_LEN/WORD_LEN ������ ��������� �������.
+ */
 #ifndef __SPISE2P_H__
 
 #define __SPISE2P_H__ 
diff --git a/Source/Internal/Include/tools.h b/Source/Internal/Include/tools.h
index 27df89b..bdb03f9 100644
--- a/Source/Internal/Include/tools.h
+++ b/Source/Internal/Include/tools.h
@@ -1,3 +1,6 @@
+/* ������������� ������ � ��������. pause_us �� ������������
+ * ��� ������������ ���������; �� ����������� ���������� ������.
+ */
 #ifndef TOOLS_H
 #define TOOLS_H
 
diff --git a/Source/Internal/Include/ump_control_impl.h b/Source/Internal/Include/ump_control_impl.h
new file mode 100644
index 0000000..de544fe
--- /dev/null
+++ b/Source/Internal/Include/ump_control_impl.h
@@ -0,0 +1,83 @@
+/* ������������ ������ �� DAC.c; � host-����� � � �������� GPIO/IRQ. */
+#ifndef UMP_CONTROL_IMPL_H
+#define UMP_CONTROL_IMPL_H
+/* ���������� ������ ��������. ������ � � ������������ DAC.c, �����
+ * ������ ������ CCS � ����� CCS12 �������� ���������� ����� ����������.
+ * ��� ����� ���� ��������� ������� ����� IRQ; ������ ������ ������ EINT
+ * ��� ������, ��������� ����� �������� �� ��� ����������� �����������. */
+static volatile UMP_PULSE_STATE ump_pulse;
+static volatile unsigned int ump_pulse_enabled;
+
+static void UMP_apply_outputs(unsigned int previous_output, unsigned int previous_relay)
+{
+    if (previous_output != ump_pulse.output) {
+        /* ������� ������� ������ ������, ����� ���������� �����.
+         * ������������� ��������� � ��� ���������, � �� ��� ��������. */
+        clear_START_DPTB();
+        clear_STOP_DPTB();
+        if (ump_pulse.output == UMP_PULSE_START) set_START_DPTB();
+        if (ump_pulse.output == UMP_PULSE_STOP) set_STOP_DPTB();
+    }
+    if (previous_relay != ump_pulse.relay) {
+        if (ump_pulse.relay) set_RES_OUT_2();
+        else clear_RES_OUT_2();
+    }
+    /* ������ ��� ��������� ��� ��������� �������. ��� ������ ���������
+     * ������� ��������, � �� ����������, ������� ������������ ������ main. */
+    IMPowse = ump_pulse.remaining;
+}
+
+void UMP_pulse_init(void)
+{
+    unsigned int saved = __disable_interrupts();
+    if (Desk == dsk_LOAD) {
+        ump_pulse_init(&ump_pulse, Commands);
+        clear_START_DPTB(); clear_STOP_DPTB(); clear_RES_OUT_2();
+        IMPowse = 0;
+        /* ��������� ��������� ������ ����� �������� ���������� � ���������
+         * ���. ������� �� ���� ����� �� ����������� ������ ������. */
+        ump_pulse_enabled = 1;
+    }
+    __restore_interrupts(saved);
+}
+
+void UMP_commands_write(unsigned int commands)
+{
+    unsigned int saved = __disable_interrupts();
+    unsigned int output = ump_pulse.output, relay = ump_pulse.relay;
+    Commands = commands;
+    if (Desk == dsk_LOAD && ump_pulse_enabled) {
+        /* ��������� ����� � ������ �������� �����. ��� �������, �������
+         * main ������ �������� ����� ����������� ��������� � EEPROM.
+         * ����� ������ ��������� �������� � �������/GPIO, ��� ��������. */
+        ump_pulse_accept(&ump_pulse, commands, (unsigned int)READY_FREQ);
+        UMP_apply_outputs(output, relay);
+    }
+    __restore_interrupts(saved);
+}
+
+void UMP_pulse_tick(void)
+{
+    unsigned int saved = __disable_interrupts();
+    unsigned int output = ump_pulse.output, relay = ump_pulse.relay;
+    if (Desk == dsk_LOAD && ump_pulse_enabled) {
+        ump_pulse_tick(&ump_pulse);
+        UMP_apply_outputs(output, relay);
+    }
+    __restore_interrupts(saved);
+}
+
+void UMP_reset_parameter_commands(void)
+{
+    unsigned int saved = __disable_interrupts();
+    /* EEPROM �������� ���������, �� �� �������� ���������� ������ �����.
+     * ��������� ��������� �������� START/STOP � ������� ������� ��������.
+     * ������ �������� �� ��� Load/Default: ������ ��� ������ ��� �� �������,
+     * � ��������� ������ ������ � �������� �� ������ ����� ������ �������.
+     * ������ ������ ����� ��������� ������� ��������� ������� ������. */
+    if (Desk == dsk_LOAD) Commands &= UMP_START_MASK | UMP_STOP_MASK;
+    else Commands = 0;
+    __restore_interrupts(saved);
+}
+
+#endif
diff --git a/Source/Internal/Include/ump_pulse.h b/Source/Internal/Include/ump_pulse.h
new file mode 100644
index 0000000..408446f
--- /dev/null
+++ b/Source/Internal/Include/ump_pulse.h
@@ -0,0 +1,69 @@
+/* ���������� ���������� ����. ������ ������� ��� ������� � GPIO.
+ * ���� � ��� �� ��� ������������ ��������� � host-������.
+ * �����: ���������� ������� ����������� init/accept/tick �������� IRQ.
+ * volatile ������������ ��������� � ������ ���������, �� �� ��������
+ * ����������� ������: ���������� ���������� ����� �� �������� ���������.
+ */
+#ifndef UMP_PULSE_H
+#define UMP_PULSE_H
+#define UMP_START_MASK 0x0080U
+#define UMP_STOP_MASK  0x0040U
+#define UMP_PULSE_NONE  0U
+#define UMP_PULSE_START 1U
+#define UMP_PULSE_STOP  2U
+
+typedef struct {
+    unsigned int previous;
+    unsigned int remaining;
+    unsigned int output;
+    unsigned int relay;
+} UMP_PULSE_STATE;
+
+static void ump_pulse_init(volatile UMP_PULSE_STATE *s, unsigned int commands)
+{
+    /* ��� �������� ������� ��� ��������� �������� �� �������� ����� ������.
+     * ������� ���������� ������ �������� � ���������� ������.
+     * ���� ��������� ����� �������, ������ ������ ������� ����� �������:
+     * ������ �� ����� ��������� ������ main, �������� ��������� ����. */
+    s->previous = commands;
+    s->remaining = 0;
+    s->output = UMP_PULSE_NONE;
+    s->relay = 0;
+}
+
+static void ump_pulse_accept(volatile UMP_PULSE_STATE *s,
+                             unsigned int commands, unsigned int ticks)
+{
+    unsigned int rising = commands & ~s->previous;
+    /* ������� ��������� � ������� ��������� ����� CAN/RS, � �� � ������
+     * ������� main. ������� ���� 1->0->1 ����� ��������� main ����������.
+     * ��������� ������ � ������������ �������� �� ���������� �������. */
+    s->previous = commands;
+    if (commands & UMP_STOP_MASK) {
+        /* STOP ����� ��������� ���� ��� ������������� ������ START.
+         * ��� ��������� ��������� ����� START. ����������� ���� �� ������
+         * � �������: ������ STOP �� ������ ���������� ��������� ����. */
+        if (rising & UMP_STOP_MASK) {
+            s->output = UMP_PULSE_STOP;
+            s->remaining = ticks;
+            s->relay = 0;
+        }
+    } else if (rising & UMP_START_MASK) {
+        /* ����� START ����� ������ ������� STOP ����������� ������.
+         * ����� ����� �� ����� START ���������� ������������ �������,
+         * ��� ������; ��������� ������������� ����� ����� �� ���������. */
+        s->output = UMP_PULSE_START;
+        s->remaining = ticks;
+        s->relay = 1;
+    }
+}
+
+static void ump_pulse_tick(volatile UMP_PULSE_STATE *s)
+{
+    /* ������������ �������� ������� � ������ 1 ���. main �� ���������
+     * � ���������� ��������, ������� EEPROM �� ����������� ���.
+     * RES_OUT_2 ��������� ��������� ��������� ����� ����� ��������. */
+    if (s->remaining && --s->remaining == 0)
+        s->output = UMP_PULSE_NONE;
+}
+#endif
diff --git a/Source/Internal/RS485.c b/Source/Internal/RS485.c
index 91a8248..b91e8ac 100644
--- a/Source/Internal/RS485.c
+++ b/Source/Internal/RS485.c
@@ -1,3 +1,9 @@
+/* �������������� UART ���� ������. RX ISR �������� RS_Header,
+ * TX ISR ���������� ��������. RS_DataReady ������� ������� ����
+ * � main ��� �������� CRC; ���� ������ ��� �� �������� ����������.
+ * RS_Send �������� �������� UART � �� ��������� � �������� ���� ����.
+ * ������� ������� ����� �������� � ������ 16-������ ABI C2000.
+ */
 //#include "big_dsp_module.h"
 
 
@@ -321,6 +327,9 @@ void RS_SetBitMode(RS_DATA *rs_arr,int n)
  @param buf ����� �������
  @param len ���������� ���� 
  @see RS_BSend, RS_TRANSMIT_INTR */
+/* �������� ���������� TX ISR. ����� ���� ������ ����������� �����
+ * � �������� UART: �� �������� �� CAN ISR ��� ������ �������� ����.
+ */
 int RS_Send(RS_DATA *rs_arr,unsigned int *pBuf,unsigned long len)
 {
   unsigned int i;
diff --git a/Source/Internal/bios.c b/Source/Internal/bios.c
index 02eb806..f16d6ad 100644
--- a/Source/Internal/bios.c
+++ b/Source/Internal/bios.c
@@ -1,3 +1,9 @@
+/* ��������� ������� ������� � ������ � ��������. get_command
+ * ��������� ����������� RS-���� � CRC ����� ���������������� � main.
+ * ������������ ������ ������ ��������� �������� �� ��������
+ * ������� ������� ����. ������ CMD_* ���������� � ����������� ��;
+ * ������ ���������������� ������� ��� ���������� ���������.
+ */
 #include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
 #include "RS485.h"
 #include "bios_dsp.h" 
diff --git a/Source/Internal/cntrl_adr.c b/Source/Internal/cntrl_adr.c
index c7c7a96..1328ae0 100644
--- a/Source/Internal/cntrl_adr.c
+++ b/Source/Internal/cntrl_adr.c
@@ -1,3 +1,8 @@
+/* ��������� ����������������� ���������. set_cntrl_addr �����
+ * ����������� � ����� �����. CAN ID ����������� �������� �� Mode.
+ * ����� RS-����� �� �������� ����������� �� ���� �������: ���
+ * ������� SetGUI ������������ ����������� ����� ����� (������ 5/6).
+ */
 #include "cntrl_adr.h"
 
 #define ADDR_FOR_ALL_DEF	10
diff --git a/Source/Internal/crc16.c b/Source/Internal/crc16.c
index 756fa01..0e32263 100644
--- a/Source/Internal/crc16.c
+++ b/Source/Internal/crc16.c
@@ -1,3 +1,9 @@
+/* CRC ������ ������ � ���������� EEPROM. get_crc_16 ��������
+ * � �������������� ������ ���������, get_crc16 ������������ ���
+ * ����� ������� ����� ����������. ������� ������ �����������.
+ * ������ �������� ��� ������� ����������� ��� �� ��� ��������
+ * ������������� ������ � ������������ 16-������ ABI C2000.
+ */
 #include "crc16.h"
 #define MAKE_TABS 0 /* Builds tables below */
 #define FAST_CRC 1 /* If fast CRC should be used */
diff --git a/Source/Internal/ecan.c b/Source/Internal/ecan.c
index cf586c7..f3aa798 100644
--- a/Source/Internal/ecan.c
+++ b/Source/Internal/ecan.c
@@ -1,3 +1,9 @@
+/* ������� � ���������� eCAN. MBOX1 ��������� �����, MBOX0 �������
+ * ��������������� ��������, MBOX2 ������� ��� ������ �������.
+ * ����� 127 �������� UMP_commands_write ��������������� � CAN ISR.
+ * ������ ������ ISR ���� ������ �� ������������; ������������
+ * ������� ����������� UMP_CAN_service �� �������� �����.
+ */
 #include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
 #include "DSP2833x_SWPrioritizedIsrLevels.h"
 
@@ -13,6 +19,7 @@
 #include "peripher.h"
 #include "log_to_mem.h"
 #include "ump_can_protocol.h"
+#include "DAC.h"
 
 
 // Prototype statements for functions found within this file.
@@ -162,6 +169,9 @@ void InitCan(int Port, int DevNum)
 	MessageTransivedCount=0;
 }
 
+/* ��� ������� MBOX0 ������������ ��� �������� ACK � �����.
+ * ��� ���������� �� ����������� UART/EEPROM �������� main.
+ */
 void CAN_send(int Port, int data[], int Addr)
 {
   unsigned long hiword,loword;
@@ -234,9 +244,19 @@ void Handlai(volatile struct ECAN_MBOXES * ECanMboxes)
 	Data[1] = (loword>>16) & 0xffff;
 	Data[2] = (loword    ) & 0xffff;
 	
-	if(bit[0]) if(adr < ANSWER_LEN) modbus[adr] = Data[0]; adr++;
-	if(bit[1]) if(adr < ANSWER_LEN) modbus[adr] = Data[1]; adr++;
-	if(bit[2]) if(adr < ANSWER_LEN) modbus[adr] = Data[2];
+    /* ������ ����������� ����� ����� ����������� �����. �� ����������
+     * Commands ����� ����� ����������: ����� ���������� �� ������
+     * ���������� ���������� ����� ���������� � ��������� �����.
+     * ����� 127 �������� ����� ������ ���������� ������� �����. */
+    {
+        unsigned int i;
+        for (i = 0; i < 3; i++, adr++) {
+            if (bit[i] && adr < ANSWER_LEN) {
+                if (adr == 127) UMP_commands_write((unsigned int)Data[i]);
+                else modbus[adr] = Data[i];
+            }
+        }
+    }
 
 	/* ��������� ����������� ������� �� ������ �� ����������� CAN. */
 	ump_log_can((unsigned int)(hiword >> 16), Data[0], Data[1], Data[2]);
diff --git a/Source/Internal/filter_bat2.c b/Source/Internal/filter_bat2.c
index a577836..b462f22 100644
--- a/Source/Internal/filter_bat2.c
+++ b/Source/Internal/filter_bat2.c
@@ -1,3 +1,8 @@
+/* ����������� ������. FILTERBAT ������ ������������ � �������
+ * ���� ������/�������; ������ ����� �������� ���������� ���������.
+ * ����������� ������� ����� ��������� ���������. �������������
+ * ����� ���: ����� ������������� ������������� ���������� ���.
+ */
 #include "filter_bat2.h"
 
 float filterbat(FILTERBAT *b, float InpVarCurr)
diff --git a/Source/Internal/kanal.c b/Source/Internal/kanal.c
index c719f08..b45382c 100644
--- a/Source/Internal/kanal.c
+++ b/Source/Internal/kanal.c
@@ -1,3 +1,8 @@
+/* ����������� ����� ���������. digits/readr ������ ������� � �����
+ * ���������, DCLK/DOUT � kanal_Send ��������� ������������������ GPIO.
+ * ��� ������ ���������, ��� dCLK/dCS � DAC.c. ������� ����� ��
+ * �������� ����� ��� ��� ����� ����� ������� ��������.
+ */
 #include "DSP2833x_Device.h"     // DSP281x Headerfile Include File
 #include "DSP2833x_SWPrioritizedIsrLevels.h" 
 #include "filter_bat2.h"
diff --git a/Source/Internal/log_to_mem.c b/Source/Internal/log_to_mem.c
index 301e969..aa3870b 100644
--- a/Source/Internal/log_to_mem.c
+++ b/Source/Internal/log_to_mem.c
@@ -1,3 +1,9 @@
+/* ����������� ��� �� ������� ������ .logg: ��� ����� �� 800 �������
+ * �� 40 ���� ��� SetGUI. ����� ���������� �� ������ ���������� ������.
+ * �������� �� main/CAN/������� ���������� ��������� �������� IRQ
+ * � ��������������� ������� �����. ����� �� �����������������.
+ * clear_mem ����������� ��� ������� �� ��������� ����������.
+ */
 #include "DSP2833x_Device.h"
 #include "filter_bat2.h"
 #include "measure.h"
diff --git a/Source/Internal/main.c b/Source/Internal/main.c
index e21da0f..1e9c576 100644
--- a/Source/Internal/main.c
+++ b/Source/Internal/main.c
@@ -1,3 +1,9 @@
+/* ������������� � ������� ���� �����. ����� ��������� GPIO, ������,
+ * ���������� � ��� UMP_pulse_init ��������� ������ ������� ����.
+ * � main �������� ����������, EEPROM � ������ ������� RS-�������.
+ * CAN-���� � ��������� �������� �������� � IRQ, �� ������ main.
+ * RS-������� ��� ������ ������ �������� CRC � get_command �� main.
+ */
 #include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
 
 #include "cntrl_adr.h"
@@ -39,8 +45,6 @@ void main()
 {
   int i,j,mask;
   static unsigned int cancount[2], cancell[2];
-  static int preCstart=1,preCstop=1;
-  int umpstart,umpstop;
   RS_DATA * rs;
   int presbyt=0;
 
@@ -96,6 +100,8 @@ void main()
 	if(Desk==dsk_LOAD)
 	Setup_DAC_time();
 
+	/* ��������� ��������� ���������: ������ ������ ��������� ��������. */
+	UMP_pulse_init();
 	LastMode = Mode;
 
     EALLOW;
@@ -163,27 +169,8 @@ void main()
 			presbyt = bTermoCal;
 		}
 
-		if(Desk==dsk_LOAD)
-		{
-			umpstart = cUMPstart;
-			umpstop = cUMPreset;
-
-			if(umpstart & !preCstart)
-			{
-				set_START_DPTB();	set_RES_OUT_2(); 
-				IMPowse = READY_FREQ;
-			}
-			preCstart = umpstart;
-
-			if(umpstop & !preCstop)
-			{	
-				set_STOP_DPTB();	clear_RES_OUT_2();
-				IMPowse = READY_FREQ; 
-			}
-			preCstop = umpstop;
-
-			if(!IMPowse) { clear_START_DPTB(); clear_STOP_DPTB(); }
-		}
+		/* START/STOP ����������� ��� ����� CAN/RS, ��������� ��������.
+		 * ����� ������ ��� ������ ������: main ����� ������� EEPROM. */
 
 		/* ������ ����� ���������� ������ � ������������ �������� �������. */
 		ump_log_io();
diff --git a/Source/Internal/measure.c b/Source/Internal/measure.c
index 837d0d5..4909173 100644
--- a/Source/Internal/measure.c
+++ b/Source/Internal/measure.c
@@ -1,3 +1,9 @@
+/* ���������, ����������� � ������������� ������������. ADC ISR
+ * ���������� �������; ������ 1 ����������� ��������� � ����������.
+ * ��� dsk_LOAD �� ������� ��������� ������� ����, ����� ��������
+ * ������ ��� � ������ �������. ������� ��������� � measure.h;
+ * ��� �� ��������� ��������� ����������� ��������� ���������.
+ */
 #include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
 #include "DSP2833x_SWPrioritizedIsrLevels.h" 
 #include "filter_bat2.h"
@@ -134,6 +140,8 @@ interrupt void cpu_timer1_isr_SENS(void)
 
 	if(Desk==dsk_LOAD)
 	{
+		/* ����� ������� ������� �� ������� ���, ���������� �� main. */
+		UMP_pulse_tick();
 		Load_runner();
 		/* ���� ������� 1 ��; ������ �������� ��������� �������� ���� ���. */
 		ump_log_tick();
diff --git a/Source/Internal/message.c b/Source/Internal/message.c
index 42a3c6f..7662a0a 100644
--- a/Source/Internal/message.c
+++ b/Source/Internal/message.c
@@ -1,3 +1,9 @@
+/* ��������� � ����������� Modbus ����� �������� CRC. ������ modbus
+ * �������� ������� ������ 0..127, ������� 0x1000 ����������� ������.
+ * EEPROM ������ ���������, �� �� �������� ���������� START/STOP:
+ * ��� �������� ����������� ��������� ����� ������� ��������.
+ * ������� ���������� �� main; EEPROM ��������� ���� ��������.
+ */
 #include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
 #include "package.h"
 #include "RS485.h"
@@ -18,6 +24,7 @@
 
 #include "caliber.h"
 #include "log_to_mem.h"
+#include "DAC.h"
 
 int modbus[ANSWER_LEN+1];
 unsigned int param[ANSWER_LEN+1];
@@ -40,9 +47,11 @@ void Default_params()
 
 	for(i=0;i<ANSWER_LEN;i++)
 	{
-		Modbus[i].all = 0;	
+		/* ������� �������� �� �������� ���������� �� ���������. */
+		if (Desk != dsk_LOAD || i != 127) Modbus[i].all = 0;
 	}
 
+	UMP_reset_parameter_commands();
 	LastMode = Mode;
 
 	if(Desk == dsk_EPLT)
@@ -130,6 +139,10 @@ void Default_params()
 	Init_sensors_more();
 }
 
+/* CRC � Mode ����������� �� ���������� EEPROM. ����� 127
+ * �������� �� ���������� ���� ��������: ISR �� ������ �������
+ * ������ START �� EEPROM ���� �������� ������� CAN-�������.
+ */
 void Load_params()
 {
   unsigned int i,crc;
@@ -140,13 +153,15 @@ void Load_params()
 		(crc !=0xFFFF) && 
 		(Mode == param[126]))
 	{
-		for(i=0;i<ANSWER_LEN;i++) modbus[i] = param[i];
-		Commands=0;
+		/* �� ��������������� START/STOP �� EEPROM ���� �� ���� ��� ISR. */
+		for(i=0;i<ANSWER_LEN;i++)
+		    if (Desk != dsk_LOAD || i != 127) modbus[i] = param[i];
+		UMP_reset_parameter_commands();
 	}
 	else
 	{
 		Default_params();
-		Commands=0;
+		UMP_reset_parameter_commands();
 		Save_params();
 		if(Desk == dsk_COMM)
 		{
@@ -154,6 +169,10 @@ void Load_params()
 			Caliber_time = 0xFFFF;
 }	}	}
     
+/* ISR ���������� ������ ��������� �� ����� ����� param. CRC
+ * ��������� � ���������� �������, � �� ���������� ������ ���� �����.
+ * �� �������� ���������� �� ������������ ���� ���������.
+ */
 void Save_params()
 {
   unsigned int i,dif=0;
@@ -270,8 +289,12 @@ void ReceiveCommandModbus6(RS_DATA *rs_arr)
             modbus_exception(rs_arr, CMD_MODBUS_6, 3); return;
         }
     } else if (Address_MB < ANSWER_LEN) {
-        Modbus[Address_MB].all = Data_MB;
-        if (Address_MB == 127) ump_log_rs();
+        /* RS � CAN ���������� ���� ������� �������. ����������� �������
+         * �� ������ ���� ����������� ��������� ��������. */
+        if (Address_MB == 127) {
+            UMP_commands_write(Data_MB);
+            ump_log_rs();
+        } else Modbus[Address_MB].all = Data_MB;
     } else { modbus_exception(rs_arr, CMD_MODBUS_6, 2); return; }
 
 	rs_arr->flag_TIMEOUT_to_Send=true;
diff --git a/Source/Internal/peripher.c b/Source/Internal/peripher.c
index 0efc38a..1dcf311 100644
--- a/Source/Internal/peripher.c
+++ b/Source/Internal/peripher.c
@@ -1,3 +1,9 @@
+/* ����� ���� �����, ����������� GPIO � ������ ������. get_Mode
+ * ������ ���������� ����� � �������� Desk. ���� ����� � ������
+ * ������� ����� ����� ������ ����������. ��� �������� START=GPIO62,
+ * STOP=GPIO58, RES_OUT_2=GPIO3 (�������� ����). ����������� ������
+ * � GPIO_table.h; ��������� ���������� ������� ������ �� ������.
+ */
 #include "DSP2833x_Device.h"     // DSP281x Headerfile Include File
 #include "filter_bat2.h"
 #include "measure.h"
diff --git a/Source/Internal/pulto.c b/Source/Internal/pulto.c
index 9772213..2f2ee91 100644
--- a/Source/Internal/pulto.c
+++ b/Source/Internal/pulto.c
@@ -1,3 +1,8 @@
+/* ������ ������ � ���������. cpu_timer1_isr_PULT ����������
+ * ������ ��� dsk_EPLT; ��� �������� �������� ���������� �� measure.c.
+ * Lonely ��������� � ���������� ������, �� � �������� ����� ����.
+ * �� ��������� ������� ���� ������� ��� ��������� ������ �������.
+ */
 #include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
 #include "DSP2833x_SWPrioritizedIsrLevels.h" 
 
diff --git a/Source/Internal/spise2p.c b/Source/Internal/spise2p.c
index 918b3f5..8020cda 100644
--- a/Source/Internal/spise2p.c
+++ b/Source/Internal/spise2p.c
@@ -1,3 +1,9 @@
+/* SPI EEPROM. Seeprom_read/write ��������� ������ �� ��������
+ * � ��������� ���� spiSe2pFree. SPI-������� ���������� ������ 2
+ * ������ 100 ���. ��� ������� ����� IRQ �������� �� ����������.
+ * ����-��� � ������ �������� �����������. �������� ���� ������
+ * �� ������� �� ����, ����������� �� ��� �������� � main.
+ */
 #include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
 
 #include "spise2p.h"
@@ -19,6 +25,9 @@ int ccc=0;
 /******* SPI bus Serial EEPROM driver Initialization routine ********/ 
 /********************************************************************/
 
+/* ��������� main �� ���������� �������. ������ IRQ ���������
+ * SPI-�������. CAN � ������ ���� ������ ��������� ��� ��������.
+ */
 void Seeprom_write(	unsigned int adres, 
 					unsigned int buf[],
 					unsigned int size)
@@ -50,6 +59,9 @@ void Seeprom_write(	unsigned int adres,
 	CpuTimer2Regs.TCR.all = 0x4010; // Use write-only instruction to set TSS bit = 1
 }
 
+/* ������ ����� ���������� ��� main, ����-��� �� ����������.
+ * ��� ��������� ��������� step/SPI � ������ ������� 2.
+ */
 void Seeprom_read(	unsigned int adres,
 					unsigned int buf[],
 					unsigned int size)
diff --git a/Source/Internal/tools.c b/Source/Internal/tools.c
index 382de8b..71f9ac6 100644
--- a/Source/Internal/tools.c
+++ b/Source/Internal/tools.c
@@ -1,3 +1,8 @@
+/* ������� ������ � ����������� ��������. init_zone7 ������� XINTF
+ * �� ������� ��������� � .logg; ������� ���� ������� �� ������� DSP
+ * � ���������� ������. pause_us �������� CPU ������ � ������������
+ * ��� �������������. ������������ ���� ������ ���������� ��������.
+ */
 #include "DSP2833x_Device.h"     // DSP281x Headerfile Include File
 
 // Configure the timing paramaters for Zone 7.
diff --git a/tests/ump_logger/recorder_test.c b/tests/ump_logger/recorder_test.c
index 87d5c82..07fbb92 100644
--- a/tests/ump_logger/recorder_test.c
+++ b/tests/ump_logger/recorder_test.c
@@ -4,7 +4,8 @@ struct mock_gpio GpioDataRegs;
 int READY = 0, Desk = 6, Mode = 5;
 int modbus[128];
 int CanTimeOutErrorTR;
-unsigned long IMPowse, WAKEpowse;
+volatile unsigned long IMPowse;
+unsigned long WAKEpowse;
 unsigned int adc_table_lem[4];
 #define CHECK(x) if (!(x)) return __LINE__
 
diff --git a/tests/ump_logger/stubs/DAC.h b/tests/ump_logger/stubs/DAC.h
index a7c38cf..8bdb2d3 100644
--- a/tests/ump_logger/stubs/DAC.h
+++ b/tests/ump_logger/stubs/DAC.h
@@ -1 +1,2 @@
-extern unsigned long IMPowse, WAKEpowse;
+extern volatile unsigned long IMPowse;
+extern unsigned long WAKEpowse;
diff --git a/tests/ump_pulse/control_test.c b/tests/ump_pulse/control_test.c
new file mode 100644
index 0000000..0dac131
--- /dev/null
+++ b/tests/ump_pulse/control_test.c
@@ -0,0 +1,97 @@
+/* Исполняется настоящий автомат и аппаратная обёртка прошивки.
+ * GPIO здесь заменены счётчиками: каждое переключение проверяется
+ * отдельно, в том числе отсутствие кратковременного START+STOP.
+ * В тесте нет main прошивки: этим воспроизводится его задержка на EEPROM.
+ */
+#include "ump_pulse.h"
+static unsigned int irq_mask, start_pin, stop_pin, relay_pin, overlap;
+static unsigned int start_edges, stop_edges;
+int Desk = 6;
+#define dsk_LOAD 6
+#define READY_FREQ 1000
+static volatile unsigned int command_word;
+#define Commands command_word
+volatile unsigned long IMPowse;
+static unsigned int __disable_interrupts(void)
+{ unsigned int old = irq_mask; irq_mask = 1; return old; }
+static void __restore_interrupts(unsigned int old) { irq_mask = old; }
+static void clear_START_DPTB(void) { start_pin = 0; }
+static void clear_STOP_DPTB(void) { stop_pin = 0; }
+static void set_START_DPTB(void)
+{ if (!start_pin) start_edges++; start_pin = 1; if (stop_pin) overlap++; }
+static void set_STOP_DPTB(void)
+{ if (!stop_pin) stop_edges++; stop_pin = 1; if (start_pin) overlap++; }
+static void set_RES_OUT_2(void) { relay_pin = 1; }
+static void clear_RES_OUT_2(void) { relay_pin = 0; }
+#include "ump_control_impl.h"
+#define CHECK(x) do { if (!(x)) return __LINE__; } while (0)
+__declspec(dllexport) int run_tests(void)
+{
+    unsigned int i, edges;
+    /* Команда до окончания инициализации не исполняется; разрешение
+     * обработки не воспроизводит её задним числом. */
+    UMP_commands_write(0x80);
+    CHECK(!start_pin && !stop_pin);
+    UMP_pulse_init();
+    UMP_commands_write(0x80);
+    CHECK(!start_pin);
+    UMP_commands_write(0);
+    UMP_commands_write(0x80);
+    CHECK(start_pin && !stop_pin && relay_pin && IMPowse == 1000);
+    CHECK(!irq_mask);
+    /* Длительная единица не продлевает импульс. Ровно тысяча вызовов
+     * таймера снимает выход; основной цикл ни разу не вызывался. */
+    for (i = 0; i < 999; i++) {
+        UMP_commands_write(0x80);
+        UMP_pulse_tick();
+    }
+    CHECK(start_pin && IMPowse == 1);
+    UMP_pulse_tick();
+    CHECK(!start_pin && !stop_pin && relay_pin && !IMPowse);
+    UMP_commands_write(0x80);
+    CHECK(!start_pin);
+    /* Короткий ноль замечается непосредственно в приёмном обработчике. */
+    UMP_commands_write(0); UMP_commands_write(0x80);
+    CHECK(start_pin && IMPowse == 1000 && start_edges == 2);
+    UMP_pulse_tick();
+    UMP_commands_write(0); UMP_commands_write(0x80);
+    CHECK(IMPowse == 1000 && start_edges == 2);
+    /* STOP прерывает активный START. Одновременная команда не выдаёт
+     * даже короткого START; проверяется каждая запись мокового GPIO. */
+    UMP_commands_write(0xC0);
+    CHECK(!start_pin && stop_pin && !relay_pin && !overlap);
+    edges = start_edges;
+    for (i = 0; i < 1000; i++) UMP_pulse_tick();
+    UMP_commands_write(0xC0);
+    CHECK(!start_pin && !stop_pin && !IMPowse);
+    UMP_commands_write(0x80);
+    CHECK(!start_pin && start_edges == edges);
+    UMP_commands_write(0); UMP_commands_write(0xC0);
+    CHECK(!start_pin && stop_pin && start_edges == edges);
+    UMP_commands_write(0x40); UMP_commands_write(0xC0);
+    CHECK(!start_pin && !overlap);
+    /* Снятый STOP + свежий фронт START могут переключить выход до
+     * окончания STOP-импульса, но никогда не создают перекрытие. */
+    UMP_commands_write(0); UMP_commands_write(0x80);
+    CHECK(start_pin && !stop_pin && relay_pin && !overlap);
+    /* Default/Load удаляют служебные биты, сохраняя уровень команды
+     * и историю фронтов. Случайный повтор пакета не перезапускает импульс. */
+    UMP_commands_write(0x88); UMP_pulse_tick();
+    UMP_reset_parameter_commands();
+    CHECK(Commands == 0x80 && IMPowse == 999);
+    UMP_commands_write(0x80);
+    CHECK(IMPowse == 999);
+    /* Вложенный вызов не разрешает IRQ, если они были запрещены. */
+    irq_mask = 1;
+    UMP_commands_write(0x40); UMP_pulse_tick(); UMP_reset_parameter_commands();
+    CHECK(irq_mask == 1 && stop_pin && !start_pin && !overlap);
+    irq_mask = 0;
+    /* Другие типы платы не получают дискреты нагрузки. */
+    for (i = 0; i < 1000; i++) UMP_pulse_tick();
+    Desk = 1; edges = start_edges;
+    UMP_commands_write(0); UMP_commands_write(0x80);
+    CHECK(Commands == 0x80 && start_edges == edges && !start_pin);
+    UMP_reset_parameter_commands();
+    CHECK(Commands == 0);
+    return 0;
+}
diff --git a/tests/ump_pulse/run_test.py b/tests/ump_pulse/run_test.py
new file mode 100644
index 0000000..b102631
--- /dev/null
+++ b/tests/ump_pulse/run_test.py
@@ -0,0 +1,38 @@
+"""Host test of the 166 START/STOP controller. Requires Clang/lld or MSVC (Windows).
+
+Example: py -3 tests/ump_pulse/run_test.py --compiler "C:/path/to/cl.exe"
+All build products are written to a temporary directory.
+"""
+import argparse
+import os
+from pathlib import Path
+import shutil
+import subprocess
+import tempfile
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument('--compiler', default=shutil.which('clang') or shutil.which('cl'))
+args = parser.parse_args()
+if not args.compiler:
+    parser.error('Provide --compiler pointing to clang.exe or cl.exe')
+root = Path(__file__).resolve().parents[2]
+with tempfile.TemporaryDirectory(prefix='ump-recorder-') as directory:
+    output = Path(directory)
+    library = output / 'recorder_test.dll'
+    includes = [root / 'Source/Internal/Include']
+    source = root / 'tests/ump_pulse/control_test.c'
+    if Path(args.compiler).stem.lower() == 'cl':
+        command = [args.compiler, '/nologo', '/LD', '/GS-', '/wd4068', '/wd4312',
+                   *['/I' + str(p) for p in includes], str(source),
+                   '/Fo' + str(output / 'recorder.obj'), '/link', '/NOENTRY',
+                   '/NODEFAULTLIB', '/OUT:' + str(library)]
+    else:
+        command = [args.compiler, '-shared', '-nostdlib', '-fuse-ld=lld',
+                   '-Wl,/noentry,/nodefaultlib', '-Wno-unknown-pragmas',
+                   '-Wno-int-to-pointer-cast', *['-I' + str(p) for p in includes],
+                   str(source), '-o', str(library)]
+    subprocess.run(command, cwd=output, check=True)
+    subprocess.run([os.sys.executable, '-c',
+                    'import ctypes,sys; r=ctypes.CDLL(sys.argv[1]).run_tests(); '
+                    'print("PASS" if r==0 else f"FAIL: C line {r}"); sys.exit(bool(r))',
+                    str(library)], check=True)