Добавлен регистратор УМП для графиков SetGUI в 166

Перенесены онлайн-запись, архив отключения и доступ по RS/CAN из 167. Учтены готовность READY, фиксированный разгон ЦАП и каналы АЦП проекта 166. Добавлены документация и тесты, обновлены файлы прошивки.
2026-09-23 00:55:46 +03:00
parent e8cb02449f
commit 2d7148baa5
27 changed files with 1826 additions and 852 deletions
--- a/Bin/UKSSTMS320F28335.hex
+++ b/Bin/UKSSTMS320F28335.hex
@@ -1,4 +1,4 @@
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+:2072840000000F890000228E0000EC8D0000B68D0000808D00004A8D0000148D00000F89C9
+:2072A40000000F890000CF8E0000B48E0000998E00007E8E0000638E0000488E00000F8901
+:2072C40000000F890000DE8C0000C38C00000F8900000F8900000F8900000F8900000F8961
+:2072E40000000F890000A78A00008C8A0000F28B0000BC8B00000D8C0000D78B00000F8954
+:2073040000000F890000DD8F0000C28F0000A78F00008C8F0000718F0000568F00000F8946
+:2073240000000F890000A88C00008D8C00000F8900000F890000498B0000F88A00000F8946
+:2073440000000F8900007F8B00002E8B0000648B0000138B00003B8F0000058F0000208F34
+:207364000000EA8E00000F8900000F8900000F8900000F8900000F8900000F8900000F8969
+:2073840000000F8900000F8900000F8900000F8900000F8900000F8900000F8900000F8929
+:2073A40000000F890000858900006A8900004F89000034890000198900000F890000288CAD
+:2073C4000000438C00002C012C01000000000F00160014000A003C000A00080006000800E1
+:0A73E4000600080033000B000A0049
+:2073EE004800000012C1EAA0000077A10000D8A0000067A10000CBA0000059A10000BEA07F
+:20740E00000042A10000A4A0000032A1000097A0000028A100007BA000001BA100006EA07F
+:20742E0000000DA1000061A0000001A100004BA0000036A000005A9900005E990000F399B6
+:20744E000000E99900006199000064990000689900006D99000072990000789900007D996C
+:18746E00000081990000CD990000ED99000084990000F9990000000051
 :00000001FF
--- a/Bin/UKSSTMS320F28335.map
+++ b/Bin/UKSSTMS320F28335.map
@@ -2,7 +2,7 @@
 TMS320C2000 Hex Converter                                                 v5.2.7
 ********************************************************************************

-INPUT FILE NAME: <C:\setcorp\git\tms_periph_28335\166\Bin\UKSSTMS320F28335.out>
+INPUT FILE NAME: <UKSSTMS320F28335.out>
 OUTPUT FORMAT:   Binary

 PHYSICAL MEMORY PARAMETERS
@@ -12,20 +12,20 @@ PHYSICAL MEMORY PARAMETERS

 BOOT LOADER PARAMETERS
   Table Type:		  SERIAL PORT (SCI 8 bit Mode)
-   Entry Point:		  0x0000afe1
+   Entry Point:		  0x0000b4b9


 OUTPUT TRANSLATION MAP
 --------------------------------------------------------------------------------
 00000000..003fffff  Page=0  Memory Width=8  ROM Width=8
 --------------------------------------------------------------------------------
-   OUTPUT FILES: C:\setcorp\git\tms_periph_28335\166\Bin\UKSSTMS320F28335.bin [b0..b7]
+   OUTPUT FILES: UKSSTMS320F28335_e8cb0244.bin [b0..b7]

-   CONTENTS: 00000000..00006aaf   BOOT TABLE
-                           .cinit : dest=0000b1a4  size=00000262  width=00000002
-                            .text : dest=00008000  size=000031a4  width=00000002
+   CONTENTS: 00000000..00007485   BOOT TABLE
+                           .cinit : dest=0000b667  size=0000026a  width=00000002
+                            .text : dest=00008000  size=00003667  width=00000002
                          .econst : dest=0000c000  size=00000112  width=00000002
-                          .switch : dest=0000c112  size=00000028  width=00000002
+                          .switch : dest=0000c112  size=00000048  width=00000002

 --------------------------------------------------------------------------------
 00000000..003fffff  Page=1  Memory Width=8  ROM Width=8  "*DEFAULT PAGE 1*"
--- a/Bin/UKSSTMS320F28335.out
+++ b/Bin/UKSSTMS320F28335.out
--- a/Doc/PERIPH28335_CAN.md
+++ b/Doc/PERIPH28335_CAN.md
@@ -0,0 +1,112 @@
+# periph_28335: общая панель RS/CAN и регистратор УМП
+
+## Где находятся панели
+
+В верхнем ряду вкладок, рядом с **Altera Logic**, появилась **periph_28335**.
+Внутри неё:
+
+- **Dima / CAN terminal** — существующий CAN-терминал, его проекты, узлы и настройки адаптера;
+- **rs232_periph_28335** — существующие операции RS232/485, Modbus и настройки COM;
+- **Логгер УМП** — единая панель графиков и архива для обоих транспортов.
+
+В общей группе CAN остались «Шина CAN / мост» и «DevBoard_V1».
+В общей группе RS232/485 остался RS_TERMINAL_2812.
+Терминалы сохраняют свои соединения: перенос вкладок не создаёт новые порты.
+
+## Онлайн и чтение по CAN
+
+1. Откройте **periph_28335 → Dima / CAN terminal → Настройки**.
+2. Выберите Candle/gs_usb либо SLCAN/Lawicel и канал адаптера.
+   Для штатной прошивки Бальзам 166 используется CAN 250000 бит/с.
+   Нажмите «Подключить».
+3. Перейдите в соседнюю вкладку **Логгер УМП**.
+4. В строке **Связь логгера** выберите **CAN · адаптер Dima**.
+5. Укажите **CAN-плата (Mode)**: физический номер платы в прошивке, 1..16.
+   Платы нагрузки Бальзам 166 имеют номера 5/6; выбирайте фактически подключённую.
+   Это не RS-адрес 16 и не индекс строки таблицы Dima. Выбор проекта в Dima
+   не меняет CAN-адрес регистратора: он явно определяется этим полем.
+6. Нажмите **Начать запись** или **Онлайн**, если запись на плате уже идёт.
+   Остальные действия, флажки, легенда, единицы мА и CSV одинаковы для RS и CAN.
+7. После команды отключения и секунды постинтервала нажмите
+   **Прочитать отключение**. Запись текущего банка на плате продолжается.
+
+Кнопка **Настройки связи** открывает настройки выбранного транспорта.
+Состояние адаптера/порта и адреса CAN постоянно отображаются над графиком.
+**Прервать обмен** останавливает чтение GUI, не посылая команду остановки
+регистратора или УМП. При переключении канала/платы незавершённые запросы
+отменяются, поздние ответы не продолжают старую цепочку.
+
+Для RS выберите **RS232/485** и настройте COM в соседней RS-панели:
+обычно 115200, адрес 16. Сообщения «не подключён» и «занят запросом» разделены.
+Отключение RS-порта не останавливает CAN-просмотр. CAN-разрыв не мешает RS.
+Демо, если оно включено в сборке, по-прежнему работает без физической платы.
+
+## Изменения прошивки
+
+Для CAN требуется новая прошивка этой ветки. Предыдущая версия регистратора
+умела отдавать данные только через Modbus. Старая плата игнорирует новые
+служебные запросы; GUI сообщает о тайм-ауте без изменения команд УМП.
+
+- MBOX0: прежняя передача технологических данных, ID 0xBA0010 + Mode - 1.
+- MBOX1: прежний приём команд, ID 0xBA0000 + Mode - 1; дополнительно
+  распознаётся служебный заголовок 0x1F00 и длина ровно 8 байт.
+- MBOX2: отдельные ответы регистратора, ID 0xBA0020 + Mode - 1.
+
+Биты маски записи регистров у служебного запроса равны нулю. Обработчик
+перехватывает его до изменения modbus[] и до журналирования CAN-команд:
+опрос собственного журнала не заполняет журнал.
+
+Запрос ставится в очередь из ISR. Основной цикл формирует целый снимок
+под короткой блокировкой IRQ и отправляет максимум один кадр за вызов
+UMP_CAN_service(). Ожидания передачи в цикле нет. Перед следующим
+фрагментом приоритет отдаётся ожидающей штатной телеметрии MBOX0.
+Если ACK служебного mailbox не приходит 250 тиков таймера, передача
+отменяется. При этом штатные CAN-команды и MBOX0 не отменяются.
+
+По CAN доступны те же расширенные адреса 0x1000 / 0x1010 / 0x1100,
+состав записи и версия снимка 2. Новый протокол не даёт писать через
+служебный запрос в технологические адреса 0..127.
+
+## Формат кадров
+
+CAN 2.0B, расширенный ID, 8 байт данных. Порядок соответствует существующей
+прошивке: MDL (слова 1,2), затем MDH (заголовок, слово 0). Каждое слово
+содержит сначала старший байт.
+
+Запрос: `[адрес BE16, значение/длина BE16, 0x1F00 BE16, token:function BE16]`.
+Функция 3 — чтение, 6 — запись; token — номер запроса 1..255.
+
+Ответ: `[данные0 BE16, данные1 BE16, (0x1F00+индекс) BE16, token:error BE16]`.
+Номер фрагмента 0..61, в нём два слова снимка. Ошибка 0 означает успех,
+1 — неизвестная функция, 2 — неверный адрес/диапазон, 3 — запрещённое значение.
+У записи успешный ответ содержит эхо адреса и значения.
+
+Пример: Mode=5, token=7, чтение статуса 16 слов.
+Запрос ID `0x00BA0004`, данные `10 00 00 10 1F 00 07 03`.
+Ответы ID `0x00BA0024`, восемь фрагментов по два слова.
+Онлайн-снимок из 124 слов передаётся 62 фрагментами.
+
+GUI принимает только ответ выбранной платы с номером текущего запроса,
+восстанавливает порядок фрагментов, игнорирует одинаковые дубликаты и
+отклоняет противоречащие. Неполный снимок не попадает на график.
+После потери подтверждения записи GUI прямо сообщает, что команда могла
+выполниться; автоматического повторного старта регистратора нет.
+
+Онлайн показывает последние три записи из полного снимка. При высокой
+нагрузке шины/низкой скорости возможны пропуски онлайн-отображения;
+они считаются существующим счётчиком. Архив читается целиком по блокам.
+Предполагается один активный читатель архива: его курсор общий для RS/CAN.
+Одновременное управление архивным курсором из двух независимых программ
+не поддерживается.
+
+## Проверки и ограничения
+
+CAN-доступ перенесён из 167 с сохранением формата ответов SetGUI.
+Host-тест проверяет формирование ответов, границы и запрет записи
+технологических команд через диагностический сервис. Полная сборка и
+линковка TI C2000 22.6.1.LTS прошли; размещение памяти проверено по MAP.
+Подробности адаптации 166: [UMP_LOGGER.md](UMP_LOGGER.md).
+
+Испытание CAN на реальной плате ещё требуется: проверить тайминги IRQ и
+приоритет штатной телеметрии на нагруженной шине. Архив находится в ОЗУ:
+команда отключения фиксирует его, пропадание питания стирает.
--- a/Doc/UMP_LOGGER.md
+++ b/Doc/UMP_LOGGER.md
@@ -0,0 +1,188 @@
+# Логгер запуска и отключения УМП: прошивка Бальзам 166 и SetGUI
+
+## Назначение и работа оператора
+
+В SetGUI открыть **periph_28335 → rs232_periph_28335 → Настройки**,
+выбрать COM, скорость (обычно 115200) и собственный адрес платы `Mode`
+(для платы нагрузки 5 или 6), затем **Логгер УМП**. Для CAN использовать
+**can_periph_28335**, выбрать соответствующую плату и **Логгер УМП**.
+Общий RS-адрес 16 здесь не рекомендуется: ответ содержит собственный адрес,
+и SetGUI проверяет совпадение адресов. CAN-настройки: [PERIPH28335_CAN.md](PERIPH28335_CAN.md).
+
+Перенесён протокол v2 из 167: 40 слов на запись, два банка по 800 записей.
+Существующий SetGUI понимает эту прошивку без изменений программы.
+Кнопки записи управляют регистратором; команду запуска УМП подаёт контроллер.
+
+1. **Начать запись** включает только регистратор, не пуск УМП.
+   Период снимков по умолчанию 20 мс, диапазон 1–1000 мс.
+2. Флажки выбирают отображаемые сигналы. Аналоги рисуются линиями,
+   дискретные сигналы — отдельными дорожками. Выбор не меняет состав
+   записи на плате: скрытую кривую можно включить после захвата.
+3. **Онлайн** подключает график к уже идущей записи, в том числе после
+   восстановления соединения. Тайм-аут не посылает плате команду останова.
+4. Фронт `cUMPreset` (бит 6 команды 0x7F) или спад `cUMPstart` (бит 7)
+   запускает фиксацию отключения. Ещё через 1000 тиков таймера / 1 секунду
+   банк становится архивом. Повторные команды внутри этой секунды
+   не продлевают интервал. Другие изменения команд не служат триггером.
+5. **Прочитать отключение** загружает архив, не останавливая запись на плате.
+   На время чтения и просмотра архива онлайн-график приостанавливается;
+   вернуться к нему можно кнопкой **Онлайн**.
+6. **Остановить и прочитать** останавливает только регистратор и читает
+   текущий банк. При этом существующий архив отключения остаётся доступным.
+7. **Сохранить CSV** сохраняет все поля загруженного/онлайн-буфера,
+   включая невидимые кривые, время и код события. История GUI ограничена
+   800 последними точками; это не непрерывная запись на диск.
+
+При разрыве связи журнал на плате продолжает работать. Архив хранится в ОЗУ
+до следующей фиксации отключения либо перезагрузки/пропадания питания.
+EEPROM не используется: под отключением в этой задаче понимается команда
+управляющего контроллера, а не потеря питания.
+
+## Память и точность
+
+Использована существующая секция `.logg` по адресу 0x200000: 64000
+16-битных слов. Два банка по 800 записей × 40 слов занимают её целиком.
+Текущий банк кольцевой. При триггере сохраняются последние до 399 записей,
+добавляется событие отключения, оставшаяся половина банка отведена
+постинтервалу. При 20 мс это до примерно 8 секунд до отключения и 1 секунды
+после. Дополнительные события CAN и дискретов сокращают временную глубину.
+
+При интенсивном потоке событий или периоде 1 мс постинтервал может заполнить
+свои места раньше секунды. Последнее место зарезервировано под конечный
+снимок; он помечается `event & 0x200`, и GUI сообщает об усечении.
+Событие отключения и предыстория при этом не вытесняются.
+
+Время — 32-битный счётчик миллисекунд записи. Он идёт только при включённом
+регистраторе и не является абсолютным временем. События в одном тике имеют
+одинаковую отметку; порядок сохраняется порядком записей. На перезапуске
+регистратора счётчик продолжает прежнюю шкалу, при перезагрузке платы — 0.
+
+Онлайн-опрос возвращает три последних записи каждые 40 мс. Он не гарантирует
+передачу каждого события при высоком CAN-трафике, медленном UART или паузах
+GUI. Номера записей позволяют убрать дубликаты и явно показать пропуски.
+Полный сохранившийся фрагмент следует читать кнопкой архива. Частота 20 мс
+выбрана с учётом размера кадра; на низких скоростях нужна большая пауза
+снимков и подходящий тайм-аут RS.
+
+Все писатели и чтение одного Modbus-блока используют короткие критические
+секции с восстановлением прежнего состояния IRQ. Внутри нет ожидания UART,
+EEPROM, выделения памяти или копирования целого банка. Реальную задержку
+прерываний и длительность критических секций нужно измерить на F28335.
+
+## Состав записи: 40 слов
+
+| Слова | Данные | Единицы/смысл |
+|---|---|---|
+| 0–1 | Время, младшее/старшее слово | мс записи |
+| 2 | Событие | 1 период, 2 CAN RX, 3 изменение I/O, 4 RS-команда, 5 конец постинтервала |
+| 2, бит 8 | Триггер отключения | флаг поверх причины события |
+| 2, бит 9 | Усечён постинтервал | установлен в конечном снимке |
+| 3 | Commands / modbus[0x7F] | все 16 бит, в том числе пуск, сброс, инициализация и калибровка ЦАП |
+| 4 | Входы OMEGA, Start_1, Res_in | биты 0,1,2, активный уровень приведён к 1 |
+| 5 | START_DPTB, STOP_DPTB, RES_OUT_2 | биты 0,1,2, активный уровень приведён к 1 |
+| 6 | IMPowse | остаток импульса, мс |
+| 7 | WAKEpowse | остаток инициализации, тики DAC_FREQ |
+| 8 | modbus[0x7B] | 12-битный код, переданный функцией dSEND в ЦАП |
+| 9 | modbus[0x1C] | расчётное задание в 0.1 мА; GUI/CSV переводит в мА |
+| 10–13 | sens_data[0..3] | измеренные сигналы, знаковое 16-битное значение в исходном масштабе |
+| 14–17 | modbus[0..3] | маски ошибок измерений |
+| 18 | CAN заголовок | адрес регистра в младших 13 битах и маска трёх слов в старших |
+| 19–21 | Три слова последнего принятого CAN-кадра | без преобразования |
+| 22 | Счётчик записанных CAN RX | младшие 16 бит |
+| 23 | CanTimeOutErrorTR | младшие 16 бит счётчика тайм-аутов CAN TX |
+| 24–25 | Фиксированные границы разгона 166 | 6 и 16 мА; это не регистры настройки |
+| 26–28 | DAC_min(), DAC_max(), DAC_cal() | коды калибровки и ручного задания ЦАП |
+| 29–30 | DAC_04, DAC_20 | значения соответствующих регистров |
+| 31–32 | count_load, time_dac | положение и длительность разгона в тиках |
+| 33–34 | Эффективные границы разгона 166 | 60 и 160 в 0.1 мА; GUI показывает 6 и 16 мА |
+| 35 | kod | целочисленное положение, используемое Anal_output |
+| 36–39 | adc_table_lem[0..3] | ADCRESULT2..5 после сдвига на 4, диапазон 0..4095 |
+
+**Отправленный код ЦАП не является измеренным током выхода.** В этом проекте
+не установлено, какой вход аппаратно измеряет ток ЦАП. При включённом
+`cCalibrDac` отправляется `DAC_cal()`, а расчётное задание 0x1C остаётся
+результатом алгоритма разгона. Для диагностики это различие сохранено.
+В 166 каналы «АЦП 0..3» берутся из `adc_table_lem`, обновляемой в режиме
+нагрузки. Таблица `adc_table_tpl` в этом режиме не обновляется и не используется.
+
+Управляющая формула 166 сохранена: `sinus = 10/16 * count_load + 2/16 * time_dac`.
+Регулируемый разгон и ограничители 167 не переносились. Поля границ показывают
+фиксированные 6..16 мА; записи в регистры 0x50/0x51 или 0x64/0x65 их не меняют.
+`READY` в 166 — обратный счётчик начальной задержки: запись разрешена при
+`READY == 0`. Это противоположно флагу готовности 167 и учтено при переносе.
+
+## Протокол расширения Modbus
+
+Технологические адреса 0..127 сохранены. Новая область использует полный
+16-битный адрес; исходная реализация игнорировала старший байт.
+Сначала GUI читает 16 слов 0x1000 и проверяет сигнатуру, версию, размер записи
+и тип платы. До успешной проверки расширенные записи запрещены.
+Обычный ответ расширения не содержит исторических хвостовых нулей.
+Между ответом и следующим запросом GUI выдерживает паузу RTU.
+
+FC03, 0x1000, 16 слов:
+
+| Смещение | Значение |
+|---|---|
+| 0,1 | 0x554D, версия 2 |
+| 2,3 | состояние и число записей выбранного источника |
+| 4,5 | 40 слов в записи, 800 записей в банке |
+| 6 | период периодических снимков, мс |
+| 7,8 | счётчик времени, младшее/старшее слово |
+| 9,10 | Desk (требуется 6 / dsk_LOAD), Mode |
+| 11 | частота временной базы, 1000 Гц |
+| 12 | поколение архива, mod 65536 |
+| 13 | число записей архива |
+| 14 | оставшиеся миллисекунды постинтервала |
+| 15 | состояние текущего регистратора независимо от выбора источника |
+
+Состояния: 0 — ещё не запущен, 1 — запись, 3 — остановлен/архив.
+
+FC06:
+- 0x1000: 1 — новый текущий журнал, 0 — остановить его;
+- 0x1001: период 1..1000, менять только при остановленном журнале;
+- 0x1002: хронологический индекс первой записи окна 0..799;
+- 0x1003: источник окна, 0 — текущий остановленный банк, 1 — архив отключения.
+
+FC03, 0x1010, до 120 слов: окно до трёх записей от установленного индекса.
+Чтение текущего банка этим окном во время записи не выдаёт изменяющиеся
+данные. GUI сначала останавливает его; архив можно читать при работающем
+текущем банке. После всех блоков GUI повторно проверяет поколение архива;
+при замене во время чтения результат не подменяет предыдущий график.
+
+FC03, 0x1100, ровно 124 слова: онлайн-блок. Слова 0,1 — 32-битный номер
+первой записи, 2 — число записей 0..3, 3 — поколение архива, далее до трёх
+записей по 40 слов. Неиспользованные слова равны нулю. Окно онлайн не
+зависит от курсора/выбора архива. Разделение 0x1010 и 0x1100 предотвращает
+пересечение двух окон.
+
+Недопустимые диапазоны и значения возвращают исключения Modbus 2/3.
+CRC и разбор стандартного ответа GUI используют существующее общее ядро.
+Расширение описано отдельно в core/ump_logger.py, без изменения общей
+библиотеки и без необходимости пересобирать её DLL.
+
+## Проверка и запуск
+
+Перенесены регистратор и RS/CAN-доступ из коммитов 167 `df71922` и `a3633d8`.
+Сборка всех 27 C/ASM-файлов и линковка TI C2000 22.6.1.LTS (Debug, COFF,
+FPU32, O1) прошли. Остались шесть прежних предупреждений в measure.c/peripher.c.
+В MAP: RAML0 занято 0x38D1 из 0x4000 слов, .ebss — 0xFA9 из 0x3000,
+.stack — 0x3F0 слов, .logg — 0xFA00 слов во внешней RAM ZONE7A.
+Это проверка размещения, не измерение максимального использования стека.
+Сборка проверки лежит вне репозитория, штатные файлы Bin не заменены.
+
+Host-тест компилирует настоящий log_to_mem.c с подменой GPIO/IRQ.
+Проверяет кольцо, архив, переполнение постинтервала, онлайн-окно, CAN-протокол,
+готовность именно 166, фиксированные границы и четыре канала АЦП.
+Запуск из корня 166: `py -3 tests/ump_logger/run_test.py` (Clang/lld или MSVC
+в PATH); при необходимости передать `--compiler "полный путь к cl.exe"`.
+Тест не проверяет физические GPIO, тайминги прерываний и 16-битную ABI TI.
+
+Для устройства собрать Debug в CCS и загрузить прошивку. На стенде:
+начать запись → подать CAN-пуск → подать отключение → через секунду прочитать
+архив. Сверить START/STOP с физическими выходами и измерениями, повторить с
+разрывом RS/CAN. Проверить период 1 мс и задержки IRQ под нагрузкой.
+Тесты существующего SetGUI (`test_ump_logger.py`, `test_ump_logger_can.py`,
+`test_periph28335_tab.py`) в окружении Qt 5: **47 passed**. Проверены протокол,
+онлайн/архив, CAN-фрагменты, графики, курсоры и CSV.
+Проверка на устройстве не выполнялась.
--- a/Source/Internal/DAC.c
+++ b/Source/Internal/DAC.c
@@ -27,6 +27,9 @@ void Setup_DAC_time(void)

 	period_dac	= READY_FREQ / DAC_FREQ;
 	time_dac	= LOAD_TIME * DAC_FREQ;
+	/* Diagnostic values for the fixed 166 ramp (0.1 mA). */
+	ump_dac_go10 = 60; ump_dac_stop10 = 160;
+	ump_dac_duration = time_dac;
 }

 void dOUT(int x)
@@ -140,6 +143,11 @@ void Load_runner()
 				x = (x+1)&0x3FF;
 			}

+			/* Observe the existing ramp without changing DAC control. */
+			ump_dac_ramp = count_load;
+			ump_dac_duration = time_dac;
+			ump_dac_position = (unsigned int)sinus;
+
 			if(!x || cInitDac)
 			{
 				Init_DAC(); x=1; cInitDac=0; 
--- a/Source/Internal/Include/DAC.h
+++ b/Source/Internal/Include/DAC.h
@@ -3,5 +3,6 @@ void Anal_output(long vrot, long maxx);
 void Init_DAC(void);
 void Setup_DAC_time(void);

-extern unsigned long IMPowse;
+/* Счётчик пускового импульса и выдержки инициализации доступны логгеру. */
+extern unsigned long IMPowse, WAKEpowse;
 extern unsigned int period_dac, time_dac;
--- a/Source/Internal/Include/ecan.h
+++ b/Source/Internal/Include/ecan.h
@@ -1,3 +1,6 @@
 void InitCan(int Port, int DevNum);
 void CAN_send(int Port, int data[], int Addr);
 extern int CAN_input_data[];
+
+/* Íåáëîêèðóþùàÿ ïåðåäà÷à îòâåòîâ ëîããåðà îòäåëüíûì CAN mailbox. */
+void UMP_CAN_service(void);
--- a/Source/Internal/Include/log_to_mem.h
+++ b/Source/Internal/Include/log_to_mem.h
@@ -31,6 +31,22 @@ extern LOG Log;
 /*	Очистка памати (обнуление)					*/
 void clear_mem();

+/* Ëîããåð ÓÌÏ: îòäåëüíîå àäðåñíîå ïðîñòðàíñòâî Modbus, áåç èçìåíåíèÿ
+ * 128 òåõíîëîãè÷åñêèõ ðåãèñòðîâ. Äâà áàíêà ïî 800 çàïèñåé:
+ * òåêóùèé êîëüöåâîé æóðíàë è çàôèêñèðîâàííûé ôðàãìåíò îòêëþ÷åíèÿ. */
+#define UMP_LOG_BASE 0x1000U
+#define UMP_LOG_DATA 0x1010U
+#define UMP_LOG_WORDS 40U
+#define UMP_LOG_CAPACITY 800U
+#define UMP_LOG_LIVE 0x1100U
+extern unsigned int ump_dac_ramp, ump_dac_duration, ump_dac_go10, ump_dac_stop10, ump_dac_position;
+void ump_log_tick(void);
+void ump_log_io(void);
+void ump_log_can(unsigned int header, unsigned int a, unsigned int b, unsigned int c);
+void ump_log_rs(void);
+unsigned int ump_log_read(unsigned int address);
+int ump_log_write(unsigned int address, unsigned int value);
+
 #ifdef __cplusplus
  }
 #endif
--- a/Source/Internal/Include/ump_can_protocol.h
+++ b/Source/Internal/Include/ump_can_protocol.h
@@ -0,0 +1,39 @@
+/* Ñëóæåáíûé CAN-ïðîòîêîë ëîããåðà ÓÌÏ. Íå èñïîëüçóåò àäðåñà 0..127
+ * òåõíîëîãè÷åñêîãî îáìåíà. Ôîðìàò ïîëåçíûõ äàííûõ ñîâìåñòèì ñ ïîðÿäêîì
+ * ñëîâ ñòàðîãî CAN: MDL (ñëîâà 1,2), çàòåì MDH (ìàðêåð, ñëîâî 0).
+ * Çàïðîñ: ìàðêåð 0x1F00, ñëîâî 0 = token:8 | function:8,
+ * ñëîâà 1,2 = àäðåñ ðàñøèðåíèÿ è ÷èñëî ñëîâ/çàïèñûâàåìîå çíà÷åíèå.
+ * Îòâåòû: ìàðêåð 0x1F00 + íîìåð ôðàãìåíòà, ñëîâî 0 = token:8 | error:8,
+ * ñëîâà 1,2 = äâà ñëîâà åäèíîãî çàôèêñèðîâàííîãî ñíèìêà.
+ * Áèòû ìàñêè çàïèñè â çàãîëîâêå çàïðîñà ðàâíû íóëþ: ñòàðàÿ ïëàòà
+ * èãíîðèðóåò çàïðîñ, íå èçìåíÿÿ òåõíîëîãè÷åñêèå ðåãèñòðû. */
+#ifndef UMP_CAN_PROTOCOL_H
+#define UMP_CAN_PROTOCOL_H
+#include "log_to_mem.h"
+#define UMP_CAN_MARKER 0x1F00U
+#define UMP_CAN_MAX_WORDS 124U
+
+/* Âûçûâàþùèé êîä çàùèùàåò âåñü ñíèìîê îò IRQ. Ôóíêöèÿ íå æä¸ò CAN è
+ * íå ïèøåò çà ïðåäåëàìè reply[124]. Îøèáêè âîçâðàùàþòñÿ îòäåëüíûì êàäðîì. */
+static unsigned int ump_can_prepare(unsigned int function, unsigned int address,
+    unsigned int value, unsigned int *reply, unsigned int *error)
+{
+    unsigned int i;
+    *error = 0;
+    if (function == 3) {
+        if (!((address == UMP_LOG_BASE && value == 16) ||
+              (address == UMP_LOG_DATA && (value == 40 || value == 80 || value == 120)) ||
+              (address == UMP_LOG_LIVE && value == 124))) *error = 2;
+        else {
+            for (i = 0; i < value; i++) reply[i] = ump_log_read(address+i);
+            return value;
+        }
+    } else if (function == 6) {
+        if (address < UMP_LOG_BASE || address > UMP_LOG_BASE+3) *error = 2;
+        else if (!ump_log_write(address, value)) *error = 3;
+    } else *error = 1;
+    /* Äëÿ çàïèñè âîçâðàùàåì ýõî àäðåñà è çíà÷åíèÿ, äëÿ îøèáêè — å¸ êîíòåêñò. */
+    reply[0] = address; reply[1] = value;
+    return 2;
+}
+#endif
--- a/Source/Internal/ecan.c
+++ b/Source/Internal/ecan.c
@@ -11,6 +11,8 @@
 #include "RS485.h"
 #include "message.h"
 #include "peripher.h"
+#include "log_to_mem.h"
+#include "ump_can_protocol.h"


 // Prototype statements for functions found within this file.
@@ -30,6 +32,16 @@ int CanTimeOutErrorTR = 0;

 int wait=0;

+/* MBOX2 âûäåëåí ïîä îòâåòû ðåãèñòðàòîðà; øòàòíûé MBOX0 ïðîäîëæàåò
+ * ïåðåäàâàòü òåõíîëîãè÷åñêèå äàííûå íåçàâèñèìî. ISR òîëüêî ñòàâèò çàïðîñ,
+ * à ñíèìîê è îòïðàâêà êîðîòêèìè øàãàìè âûïîëíÿþòñÿ â îñíîâíîì öèêëå. */
+static volatile unsigned int ump_can_pending;
+static volatile unsigned int ump_can_tag, ump_can_address, ump_can_value;
+static unsigned int ump_can_reply[UMP_CAN_MAX_WORDS];
+static unsigned int ump_can_length, ump_can_index, ump_can_reply_tag;
+static unsigned int ump_can_waiting;
+static unsigned long ump_can_sent_at;
+
 void InitCan(int Port, int DevNum)
 {
  struct ECAN_REGS ECanShadow; 
@@ -61,6 +73,7 @@ void InitCan(int Port, int DevNum)
 //	Specify that 8 bits will be sent/received
    ECanMboxes->MBOX0.MSGCTRL.all = 0x00000008;
    ECanMboxes->MBOX1.MSGCTRL.all = 0x00000008;
+    ECanMboxes->MBOX2.MSGCTRL.all = 0x00000008;
     
 //	Disable all Mailboxes
 //	Required before writing the MSGIDs
@@ -72,11 +85,12 @@ void InitCan(int Port, int DevNum)
 //	çàäàåì àäðåñ 1 àùèêa íà ïðèåì
    ECanMboxes->MBOX1.MSGID.all = id + DevNum; //ïîìåíàòü!!!! 1 è 0!!!

-//	задаем режимы работы ащикa 0 на передачу, остальные на прием
-    ECanRegs->CANMD.all = 0xFFFFFFFE; 
+//	MBOX0 è MBOX2 ïåðåäàþò äàííûå; MBOX1 ïðèíèìàåò êîìàíäû.
+    ECanMboxes->MBOX2.MSGID.all = id + 0x20 + DevNum;
+    ECanRegs->CANMD.all = 0xFFFFFFFA;
    
-//	выбираем только 2 ащикa дла работы, остальные запрещаем
-    ECanRegs->CANME.all = 0x00000003;
+//	Âêëþ÷àåì òðè mailbox: òåëåìåòðèÿ, êîìàíäû è îòâåòû ëîããåðà.
+    ECanRegs->CANME.all = 0x00000007;

 //	Clear all TAn bits
 	ECanRegs->CANTA.all	= 0xFFFFFFFF;
@@ -196,6 +210,18 @@ void Handlai(volatile struct ECAN_MBOXES * ECanMboxes)
 	hiword = ECanMboxes->MBOX1.MDH.all;
 	loword = ECanMboxes->MBOX1.MDL.all;

+    /* Ñëóæåáíûé çàïðîñ ëîããåðà íå ÿâëÿåòñÿ êîìàíäîé ÓÌÏ è ñàì íå äîëæåí
+     * çàïîëíÿòü æóðíàë CAN-ñîáûòèÿìè ïðè îíëàéí-÷òåíèè. Êîðîòêèå êàäðû
+     * îòáðàñûâàþòñÿ: íåçàïîëíåííûå áàéòû mailbox ìîãëè îñòàòüñÿ îò ïðîøëîãî. */
+    if ((unsigned int)(hiword >> 16) == UMP_CAN_MARKER) {
+        if (ECanMboxes->MBOX1.MSGCTRL.bit.DLC == 8) {
+            ump_can_tag = (unsigned int)hiword;
+            ump_can_address = (unsigned int)(loword >> 16);
+            ump_can_value = (unsigned int)loword;
+            ump_can_pending = 1;
+        }
+        return;
+    }
 	adr		= (hiword >> 16);

 	bit[0]	= adr & 0x8000;
@@ -212,6 +238,8 @@ void Handlai(volatile struct ECAN_MBOXES * ECanMboxes)
 	if(bit[1]) if(adr < ANSWER_LEN) modbus[adr] = Data[1]; adr++;
 	if(bit[2]) if(adr < ANSWER_LEN) modbus[adr] = Data[2];

+	/* Ôèêñèðóåì ïðèìåí¸ííóþ êîìàíäó äî âûõîäà èç îáðàáîò÷èêà CAN. */
+	ump_log_can((unsigned int)(hiword >> 16), Data[0], Data[1], Data[2]);
 	led2_toggle();
 }

@@ -257,3 +285,52 @@ interrupt void CANa_reset_err(void)
 //===========================================================================
 // No more.
 //===========================================================================
+
+
+/* Îäèí âûçîâ îáñëóæèâàåò ìàêñèìóì îäèí êàäð è íèêîãäà íå æä¸ò ACK â öèêëå.
+ * Ñíèìîê ôèêñèðóåòñÿ îäèí ðàç íà çàïðîñ: CAN-ôðàãìåíòû íå ñìåøèâàþò
+ * çíà÷åíèÿ äî/ïîñëå ïåðåêëþ÷åíèÿ êîëüöåâîãî áàíêà. Íîâûå çàïðîñû çàáèðàåì
+ * ïîñëå çàâåðøåíèÿ ïðåäûäóùåãî îòâåòà. GUI äåðæèò òîëüêî îäèí çàïðîñ. */
+void UMP_CAN_service(void)
+{
+    unsigned int saved, tag, address, value, error;
+    unsigned long hiword, loword;
+    if (ump_can_waiting) {
+        if (ECanaRegs.CANTA.all & 4UL) {
+            ECanaRegs.CANTA.all = 4UL;
+            ump_can_waiting = 0;
+        } else if ((ECanaRegs.CANAA.all & 4UL) ||
+                   ((unsigned long)CpuTimer1.InterruptCount - ump_can_sent_at > 250UL)) {
+            /* Íåò ïîäòâåðæäåíèÿ øèíû: îòìåíÿåì òîëüêî ñëóæåáíûé mailbox.
+             * GUI îáíàðóæèò íåïîëíûé îòâåò ïî òàéì-àóòó; óïðàâëåíèå MBOX0
+             * è ïðè¸ì êîìàíä MBOX1 ïðîäîëæàþòñÿ. */
+            ECanaRegs.CANTRR.all = 4UL;
+            /* Äî ôàêòè÷åñêîãî çàâåðøåíèÿ îòìåíû mailbox íå ïåðåèñïîëüçóåì. */
+            if (!(ECanaRegs.CANAA.all & 4UL)) return;
+            ECanaRegs.CANAA.all = 4UL;
+            ump_can_waiting = 0;
+            ump_can_length = 0;
+        } else return;
+    }
+    if (ump_can_index >= ump_can_length && ump_can_pending) {
+        saved = __disable_interrupts();
+        tag = ump_can_tag; address = ump_can_address; value = ump_can_value;
+        ump_can_pending = 0;
+        ump_can_length = ump_can_prepare(tag & 0xFF, address, value, ump_can_reply, &error);
+        ump_can_reply_tag = (tag & 0xFF00) | error;
+        ump_can_index = 0;
+        __restore_interrupts(saved);
+    }
+    if (ump_can_index >= ump_can_length) return;
+    /* Ïåðåä ñëåäóþùèì ôðàãìåíòîì óñòóïàåì øòàòíîé òåëåìåòðèè MBOX0. */
+    if (ECanaRegs.CANTRS.all & 1UL) return;
+    hiword = ((unsigned long)(UMP_CAN_MARKER + ump_can_index/2) << 16) | ump_can_reply_tag;
+    loword = ((unsigned long)ump_can_reply[ump_can_index] << 16) | ump_can_reply[ump_can_index+1];
+    ECanaRegs.CANTA.all = 4UL; ECanaRegs.CANAA.all = 4UL;
+    ECanaMboxes.MBOX2.MDH.all = hiword;
+    ECanaMboxes.MBOX2.MDL.all = loword;
+    ump_can_sent_at = CpuTimer1.InterruptCount;
+    ECanaRegs.CANTRS.all = 4UL;
+    ump_can_waiting = 1;
+    ump_can_index += 2;
+}
--- a/Source/Internal/log_to_mem.c
+++ b/Source/Internal/log_to_mem.c
@@ -1,3 +1,12 @@
+#include "DSP2833x_Device.h"
+#include "filter_bat2.h"
+#include "measure.h"
+#include "package.h"
+#include "RS485.h"
+#include "message.h"
+#include "peripher.h"
+#include "DAC.h"
+#include "ADC.h"
 #include "log_to_mem.h"

 int no_write	= 0,
@@ -22,3 +31,236 @@ void clear_mem()
 	for (i=Log.Start; i<Log.Finis; i++)
 	*(volatile int *)i = 0;
 	}
+/* Äâà áàíêà èñïîëüçóþò óæå âûäåëåííóþ âíåøíþþ RAM .logg (64000 ñëîâ).
+ * Àêòèâíûé áàíê êîëüöåâîé. ×åðåç 1000 ìñ ïîñëå êîìàíäû îòêëþ÷åíèÿ îí
+ * ñòàíîâèòñÿ àðõèâîì, à çàïèñü ïðîäîëæàåòñÿ âî âòîðîì áàíêå. Ïåðåêëþ÷åíèå
+ * çàíèìàåò ïîñòîÿííîå âðåìÿ: êîïèðîâàíèÿ 30 òûñÿ÷ ñëîâ ïîä çàïðåòîì IRQ íåò.
+ * Àðõèâ ïåðåæèâàåò ðàçðûâ RS-ñâÿçè, íî ÍÅ èñ÷åçíîâåíèå ïèòàíèÿ ïëàòû. */
+static volatile unsigned int ump_state, ump_count, ump_cursor, ump_next;
+static volatile unsigned int ump_period = 20, ump_divider;
+static volatile unsigned long ump_time, ump_sequence;
+static unsigned int ump_bank, ump_archive_bank = 1;
+static unsigned int ump_archive_count, ump_archive_next, ump_generation;
+static unsigned int ump_source, ump_post, ump_post_dropped;
+static unsigned int ump_can_header, ump_can_data[3], ump_can_count;
+static unsigned int ump_prev_commands, ump_prev_inputs, ump_prev_outputs;
+extern int CanTimeOutErrorTR;
+/* Äèàãíîñòèêà âíóòðåííèõ ïåðåìåííûõ ðàçãîíà. Îáíîâëÿåòñÿ ñàìèì Load_runner,
+ * íå ïåðåñ÷èòûâàåò è íå èçìåíÿåò óïðàâëÿþùèé àëãîðèòì. */
+unsigned int ump_dac_ramp, ump_dac_duration, ump_dac_go10, ump_dac_stop10, ump_dac_position;
+
+/* Ëîãè÷åñêèå óðîâíè âõîäîâ ïëàòû íàãðóçêè: ôèçè÷åñêèé íîëü îçíà÷àåò 1.
+ * ×òåíèå GPIO íåïîñðåäñòâåííî çäåñü ïîçâîëÿåò çàïèñàòü âõîä äî ñëåäóþùåãî
+ * îáíîâëåíèÿ ðåãèñòðà Inputs â îñíîâíîì öèêëå. */
+static unsigned int ump_inputs(void)
+{
+    return (!GpioDataRegs.GPADAT.bit.GPIO6) |
+           ((!GpioDataRegs.GPADAT.bit.GPIO8) << 1) |
+           ((!GpioDataRegs.GPADAT.bit.GPIO11) << 2);
+}
+
+/* START/STOP àêòèâíû åäèíèöåé; RES_OUT_2 àêòèâåí ôèçè÷åñêèì íóë¸ì. */
+static unsigned int ump_outputs(void)
+{
+    return GpioDataRegs.GPBDAT.bit.GPIO62 |
+           (GpioDataRegs.GPBDAT.bit.GPIO58 << 1) |
+           ((!GpioDataRegs.GPADAT.bit.GPIO3) << 2);
+}
+
+/* Âûçûâàåòñÿ òîëüêî âíóòðè êîðîòêîé êðèòè÷åñêîé ñåêöèè. Âñå òðè èñòî÷íèêà
+ * çàïèñåé (main, CAN ISR, timer ISR) èñïîëüçóþò îäíó áëîêèðîâêó IRQ ñ
+ * âîññòàíîâëåíèåì ïðåæíåãî ñîñòîÿíèÿ, âêëþ÷àÿ âûçîâû èç ïðåðûâàíèÿ. */
+static void ump_capture(unsigned int reason)
+{
+    volatile unsigned int *p;
+    unsigned int i, commands;
+    if (ump_state != 1 || Desk != dsk_LOAD || READY) return;
+    if (no_write || never_write) { ump_state = 3; return; }
+    commands = Commands;
+    /* Îòêëþ÷åíèå: ôðîíò cUMPreset (áèò 6) ëèáî ñïàä cUMPstart (áèò 7).
+     * Ïîâòîðíûå êîìàíäû íå ñäâèãàþò êîíåö óæå íà÷àòîãî ïîñòèíòåðâàëà. */
+    if (!ump_post && (((commands & 0x40) && !(ump_prev_commands & 0x40)) ||
+        (!(commands & 0x80) && (ump_prev_commands & 0x80)))) {
+        /* Ïîëîâèíó áàíêà ðåçåðâèðóåì ïîä ïîñòèíòåðâàë. Äàæå ïðè ïåðèîäå
+         * 1 ìñ èëè øêâàëå CAN ñîáûòèå îòêëþ÷åíèÿ íå âûòåñíÿåòñÿ êîëüöîì. */
+        if (ump_count >= UMP_LOG_CAPACITY/2) ump_count = UMP_LOG_CAPACITY/2-1;
+        ump_post_dropped = 0;
+        ump_post = 1000;
+        reason |= 0x100;
+    }
+    /* Ïîñëåäíåå ìåñòî îñòàâëÿåì äëÿ ñíèìêà êîíöà ïîñòèíòåðâàëà. Ïðè
+     * ïåðåïîëíåíèè ÷åñòíî îòìå÷àåì óñå÷åíèå áèòîì 0x200 â êîíå÷íîé çàïèñè. */
+    if (ump_post && ump_count >= UMP_LOG_CAPACITY-1) {
+        ump_post_dropped = 1;
+        return;
+    }
+    if (reason == 5 && ump_post_dropped) reason |= 0x200;
+    p = logs_block + ((unsigned long)ump_bank * UMP_LOG_CAPACITY + ump_next) * UMP_LOG_WORDS;
+    p[0] = (unsigned int)ump_time; p[1] = (unsigned int)(ump_time >> 16);
+    p[2] = reason; p[3] = commands;
+    p[4] = ump_inputs(); p[5] = ump_outputs();
+    p[6] = (unsigned int)IMPowse; p[7] = (unsigned int)WAKEpowse;
+    p[8] = modbus[0x7B]; p[9] = modbus[0x1C];
+    for (i = 0; i < 4; i++) { p[10+i] = sens_data[i]; p[14+i] = modbus[i]; }
+    p[18] = ump_can_header;
+    p[19] = ump_can_data[0]; p[20] = ump_can_data[1]; p[21] = ump_can_data[2];
+    p[22] = ump_can_count; p[23] = CanTimeOutErrorTR;
+    /* Èñõîäíûå óñòàâêè — ìÀ; ýôôåêòèâíûå óñòàâêè ïîñëå îãðàíè÷åíèé — 0.1 ìÀ.
+     * p[8] — îòïðàâëåííûé êîä, à p[9] — ðàñ÷¸òíîå çàäàíèå, ÍÅ èçìåðåíèå òîêà. */
+    /* 166: fixed ramp endpoints; no configurable DAC_go/DAC_stop. */
+    p[24] = 6; p[25] = 16;
+    p[26] = DAC_min(); p[27] = DAC_max(); p[28] = DAC_cal();
+    p[29] = DAC_04; p[30] = DAC_20;
+    p[31] = ump_dac_ramp; p[32] = ump_dac_duration;
+    p[33] = ump_dac_go10; p[34] = ump_dac_stop10; p[35] = ump_dac_position;
+    for (i = 0; i < 4; i++) p[36+i] = adc_table_lem[i];
+    ump_prev_commands = commands; ump_prev_inputs = p[4]; ump_prev_outputs = p[5];
+    ump_next++;
+    if (ump_next == UMP_LOG_CAPACITY) ump_next = 0;
+    if (ump_count < UMP_LOG_CAPACITY) ump_count++;
+    ump_sequence++;
+}
+
+/* Çàâåðø¸ííûé áàíê áîëüøå íå èçìåíÿåòñÿ äî ñëåäóþùåãî îòêëþ÷åíèÿ.
+ * Íîìåð ïîêîëåíèÿ ïîçâîëÿåò GUI îáíàðóæèòü çàìåíó àðõèâà âî âðåìÿ ÷òåíèÿ. */
+static void ump_freeze(void)
+{
+    ump_archive_bank = ump_bank;
+    ump_archive_count = ump_count; ump_archive_next = ump_next;
+    ump_generation++;
+    ump_bank ^= 1;
+    ump_count = 0; ump_next = 0; ump_post = 0;
+}
+
+void ump_log_tick(void)
+{
+    unsigned int saved = __disable_interrupts();
+    if (ump_state == 1) {
+        ump_time++;
+        if (++ump_divider >= ump_period) { ump_divider = 0; ump_capture(1); }
+        if (ump_post && --ump_post == 0) {
+            ump_capture(5);
+            ump_freeze();
+        }
+    }
+    __restore_interrupts(saved);
+}
+
+/* Äîïîëíèòåëüíûé ñíèìîê òîëüêî ïðè èçìåíåíèè êîìàíä, âõîäîâ èëè âûõîäîâ.
+ * Ýòî íå çàìåíÿåò ïåðèîäè÷åñêóþ çàïèñü àíàëîãîâûõ âåëè÷èí â òàéìåðå. */
+void ump_log_io(void)
+{
+    unsigned int saved;
+    if (ump_state != 1 || Desk != dsk_LOAD) return;
+    saved = __disable_interrupts();
+    if (Commands != ump_prev_commands || ump_inputs() != ump_prev_inputs ||
+        ump_outputs() != ump_prev_outputs) ump_capture(3);
+    __restore_interrupts(saved);
+}
+
+/* Âûçûâàåòñÿ ïîñëå ïðèìåíåíèÿ ñëîâ ïðèíÿòîãî CAN-êàäðà: ñíèìîê ñîäåðæèò
+ * íîâûå êîìàíäû, à òàêæå èñõîäíûé àäðåñ/ìàñêó è âñå òðè ñëîâà êàäðà. */
+void ump_log_can(unsigned int header, unsigned int a, unsigned int b, unsigned int c)
+{
+    unsigned int saved;
+    if (ump_state != 1 || Desk != dsk_LOAD) return;
+    saved = __disable_interrupts();
+    ump_can_header = header;
+    ump_can_data[0] = a; ump_can_data[1] = b; ump_can_data[2] = c;
+    ump_can_count++;
+    ump_capture(2);
+    __restore_interrupts(saved);
+}
+
+void ump_log_rs(void)
+{
+    unsigned int saved = __disable_interrupts();
+    ump_capture(4);
+    __restore_interrupts(saved);
+}
+
+/* Óïðàâëåíèå æóðíàëîì îòäåëåíî îò òåõíîëîãè÷åñêèõ êîìàíä: íà÷àëî çàïèñè
+ * ÍÅ çàïóñêàåò ÓÌÏ. Âûáîð àðõèâà íå îñòàíàâëèâàåò òåêóùóþ çàïèñü. */
+int ump_log_write(unsigned int address, unsigned int value)
+{
+    unsigned int saved, valid = 1;
+    saved = __disable_interrupts();
+    if (address == UMP_LOG_BASE && value == 0) {
+        ump_state = 3; ump_post = 0;
+    } else if (address == UMP_LOG_BASE && value == 1 && Desk == dsk_LOAD && !READY && ump_state != 1) {
+        ump_count = 0; ump_next = 0; ump_cursor = 0; ump_divider = 0; ump_post = 0;
+        ump_source = 0;
+        ump_prev_commands = Commands;
+        no_write = 0; never_write = 0;
+        ump_state = 1;
+        ump_capture(1);
+    }
+    else if (address == UMP_LOG_BASE+1 && ump_state != 1 && value >= 1 && value <= 1000)
+        ump_period = value;
+    else if (address == UMP_LOG_BASE+2 && value < UMP_LOG_CAPACITY)
+        ump_cursor = value;
+    else if (address == UMP_LOG_BASE+3 && value <= 1) ump_source = value;
+    else valid = 0;
+    __restore_interrupts(saved);
+    return valid;
+}
+
+/* Ïðåîáðàçîâàíèå õðîíîëîãè÷åñêîãî èíäåêñà â ôèçè÷åñêóþ ïîçèöèþ êîëüöà.
+ * Äëÿ àðõèâà ñîõðàíåíû ñîáñòâåííûå count/next, íåçàâèñèìûå îò æèâîãî áàíêà. */
+static unsigned int ump_word(unsigned int archived, unsigned int record, unsigned int word)
+{
+    unsigned int count = archived ? ump_archive_count : ump_count;
+    unsigned int next = archived ? ump_archive_next : ump_next;
+    unsigned int bank = archived ? ump_archive_bank : ump_bank;
+    unsigned int slot;
+    if (record >= count) return 0;
+    slot = next + UMP_LOG_CAPACITY - count + record;
+    while (slot >= UMP_LOG_CAPACITY) slot -= UMP_LOG_CAPACITY;
+    return logs_block[((unsigned long)bank * UMP_LOG_CAPACITY + slot) * UMP_LOG_WORDS + word];
+}
+
+/* Âåñü Modbus-áëîê ÷èòàåòñÿ âûçûâàþùèì êîäîì ïîä îäíîé áëîêèðîâêîé IRQ.
+ * Ïîýòîìó timestamp/äàííûå è çàãîëîâîê îíëàéí-áëîêà îòíîñÿòñÿ ê îäíîìó
+ * ñîñòîÿíèþ êîëüöà, äàæå åñëè â ýòîò ìîìåíò ïðèõîäèò íîâàÿ CAN-êîìàíäà. */
+unsigned int ump_log_read(unsigned int address)
+{
+    unsigned int offset, count;
+    unsigned long first;
+    switch (address) {
+    case UMP_LOG_BASE: return 0x554D;
+    case UMP_LOG_BASE+1: return 2;
+    case UMP_LOG_BASE+2: return ump_source ? 3 : ump_state;
+    case UMP_LOG_BASE+3: return ump_source ? ump_archive_count : ump_count;
+    case UMP_LOG_BASE+4: return UMP_LOG_WORDS;
+    case UMP_LOG_BASE+5: return UMP_LOG_CAPACITY;
+    case UMP_LOG_BASE+6: return ump_period;
+    case UMP_LOG_BASE+7: return (unsigned int)ump_time;
+    case UMP_LOG_BASE+8: return (unsigned int)(ump_time >> 16);
+    case UMP_LOG_BASE+9: return Desk;
+    case UMP_LOG_BASE+10: return Mode;
+    case UMP_LOG_BASE+11: return (unsigned int)READY_FREQ;
+    case UMP_LOG_BASE+12: return ump_generation;
+    case UMP_LOG_BASE+13: return ump_archive_count;
+    case UMP_LOG_BASE+14: return ump_post;
+    case UMP_LOG_BASE+15: return ump_state;
+    }
+    if (address >= UMP_LOG_DATA && address < UMP_LOG_DATA+120 && (ump_source || ump_state != 1)) {
+        offset = address - UMP_LOG_DATA;
+        return ump_word(ump_source, ump_cursor + offset / UMP_LOG_WORDS, offset % UMP_LOG_WORDS);
+    }
+    /* Ïîñëåäíèå òðè çàïèñè äëÿ îíëàéí-ãðàôèêà, áåç îñòàíîâêè è áåç
+     * èçìåíåíèÿ êóðñîðà àðõèâíîãî ÷òåíèÿ. Ïåðâûå äâà ñëîâà — èõ íîìåð. */
+    if (address >= UMP_LOG_LIVE && address < UMP_LOG_LIVE+124) {
+        count = ump_count < 3 ? ump_count : 3;
+        first = ump_sequence - count;
+        offset = address - UMP_LOG_LIVE;
+        if (offset == 0) return (unsigned int)first;
+        if (offset == 1) return (unsigned int)(first >> 16);
+        if (offset == 2) return count;
+        if (offset == 3) return ump_generation;
+        offset -= 4;
+        if (offset / UMP_LOG_WORDS < count)
+            return ump_word(0, ump_count - count + offset / UMP_LOG_WORDS, offset % UMP_LOG_WORDS);
+    }
+    return 0;
+}
--- a/Source/Internal/main.c
+++ b/Source/Internal/main.c
@@ -104,6 +104,8 @@ void main()

 	while(1)
 	{
+        /* Чтение логгера по CAN не блокирует цикл управления. */
+        UMP_CAN_service();
 		if(CanGO)
 		{		
 			CanGO=0;
@@ -183,6 +185,9 @@ void main()
 			if(!IMPowse) { clear_START_DPTB(); clear_STOP_DPTB(); }
 		}

+		/* Снимок после обновления входов и формирования пусковых выходов. */
+		ump_log_io();
+
 		for(i=0;i<2;i++)
 		{
 			if(i)	rs = &rs_a;
--- a/Source/Internal/measure.c
+++ b/Source/Internal/measure.c
@@ -135,6 +135,8 @@ interrupt void cpu_timer1_isr_SENS(void)
 	if(Desk==dsk_LOAD)
 	{
 		Load_runner();
+		/* База времени 1 мс; снимок содержит результат текущего шага ЦАП. */
+		ump_log_tick();
 		return;
 	}
 	
--- a/Source/Internal/message.c
+++ b/Source/Internal/message.c
@@ -17,6 +17,7 @@
 #include "spise2p.h"

 #include "caliber.h"
+#include "log_to_mem.h"

 int modbus[ANSWER_LEN+1];
 unsigned int param[ANSWER_LEN+1];
@@ -176,15 +177,36 @@ void Save_params()
 /***************************************************************/
 /***************************************************************/

+static void modbus_exception(RS_DATA *rs_arr, unsigned int function, unsigned int error)
+{
+    unsigned int crc;
+    rs_arr->buffer[0] = CNTRL_ADDR;
+    rs_arr->buffer[1] = function | 0x80;
+    rs_arr->buffer[2] = error;
+    crc = get_crc_16(0xFFFF, rs_arr->buffer, 3);
+    rs_arr->buffer[3] = LOBYTE(crc); rs_arr->buffer[4] = HIBYTE(crc);
+    rs_arr->flag_TIMEOUT_to_Send = true;
+    RS_Send(rs_arr, rs_arr->buffer, 5);
+}
+
 void ReceiveCommandModbus3(RS_DATA *rs_arr)
 {
-  unsigned int crc, Address_MB, Length_MB, i;
+  unsigned int crc, Address_MB, Length_MB, i, value, saved = 0;

 //	ïîëó÷èëè íà÷àëüíûé àäðåñ ÷òåíèà
-	Address_MB =/*(rs_arr->RS_Header[2] << 8) |*/ rs_arr->RS_Header[3];
+	Address_MB = (rs_arr->RS_Header[2] << 8) | rs_arr->RS_Header[3];

 //	ïîëó÷èëè êîëè÷åñòâî ñëîâ äàííûõ
 	Length_MB = (rs_arr->RS_Header[4] << 8) | rs_arr->RS_Header[5];
+    if (!Length_MB || Length_MB > 125 ||
+        !((Address_MB < ANSWER_LEN && Length_MB <= ANSWER_LEN-Address_MB) ||
+          (Address_MB >= UMP_LOG_BASE && Address_MB <= UMP_LOG_BASE+15 &&
+           Length_MB <= UMP_LOG_BASE+16-Address_MB) ||
+          (Address_MB >= UMP_LOG_DATA && Address_MB < UMP_LOG_DATA+120 &&
+           Length_MB <= UMP_LOG_DATA+120-Address_MB) ||
+          (Address_MB == UMP_LOG_LIVE && Length_MB == 124))) {
+        modbus_exception(rs_arr, CMD_MODBUS_3, 2); return;
+    }

 	/////////////////////////////////////////////////
 	// Îòñûëêà
@@ -194,12 +216,17 @@ void ReceiveCommandModbus3(RS_DATA *rs_arr)
 	rs_arr->buffer[1] =  CMD_MODBUS_3;
 	rs_arr->buffer[2] =  Length_MB*2;

+    /* Çàùèùàåì öåëîñòíîñòü îäíîãî ñíèìêà/áëîêà; ïåðåäà÷à UART èä¸ò óæå
+     * ñ ðàçðåø¸ííûìè ïðåðûâàíèÿìè è íå çàäåðæèâàåò èçìåðåíèå/óïðàâëåíèå. */
+    if (Address_MB >= UMP_LOG_BASE) saved = __disable_interrupts();
 	for (i=0;i<Length_MB;i++)
 	{
-   		rs_arr->buffer[3+i*2  ]=(Modbus[Address_MB+i].byt.byte_hi);
-   		rs_arr->buffer[3+i*2+1]=(Modbus[Address_MB+i].byt.byte_lo);
+        value = Address_MB >= UMP_LOG_BASE ? ump_log_read(Address_MB+i) : modbus[Address_MB+i];
+        rs_arr->buffer[3+i*2] = (value >> 8) & 0xFF;
+        rs_arr->buffer[3+i*2+1] = value & 0xFF;
 	}

+    if (Address_MB >= UMP_LOG_BASE) __restore_interrupts(saved);
    crc = 0xffff;
 	crc = get_crc_16(crc, rs_arr->buffer, Length_MB*2+3);

@@ -212,7 +239,10 @@ void ReceiveCommandModbus3(RS_DATA *rs_arr)
 	rs_arr->buffer[Length_MB*2+8] = 0;     

 	rs_arr->flag_TIMEOUT_to_Send=true;
-	RS_Send(rs_arr, rs_arr->buffer, Length_MB*2+8);
+	/* Ðàñøèðåíèå ëîããåðà îòâå÷àåò òî÷íûì êàäðîì Modbus áåç õâîñòîâûõ
+     * íóëåé: îíè èíà÷å ïîïàëè áû â íà÷àëî îòâåòà ñëåäóþùåãî áëîêà GUI.
+     * Èñòîðè÷åñêèé ôîðìàò òåõíîëîãè÷åñêèõ ðåãèñòðîâ îñòàâëåí ïðåæíèì. */
+    RS_Send(rs_arr, rs_arr->buffer, Length_MB*2+(Address_MB >= UMP_LOG_BASE ? 5 : 8));

 	return;
 }
@@ -230,14 +260,21 @@ void ReceiveCommandModbus6(RS_DATA *rs_arr)


 //	ïîëó÷èëè íà÷àëüíûé àäðåñ çàïèñè
-	Address_MB = (/*(rs_arr->RS_Header[2] << 8) | */rs_arr->RS_Header[3]);
+	Address_MB = (rs_arr->RS_Header[2] << 8) | rs_arr->RS_Header[3];

 //	ïîëó÷èëè ñëîâî äàííûõ
 	Data_MB = (rs_arr->RS_Header[4] << 8) | rs_arr->RS_Header[5];

-	Modbus[Address_MB].all = Data_MB;
+    if (Address_MB >= UMP_LOG_BASE) {
+        if (!ump_log_write(Address_MB, Data_MB)) {
+            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();
+    } else { modbus_exception(rs_arr, CMD_MODBUS_6, 2); return; }

 	rs_arr->flag_TIMEOUT_to_Send=true;
-	RS_Send(rs_arr, rs_arr->buffer, 10);
+	RS_Send(rs_arr, rs_arr->buffer, Address_MB >= UMP_LOG_BASE ? 8 : 10);
 }

--- a/tests/ump_logger/recorder_test.c
+++ b/tests/ump_logger/recorder_test.c
@@ -0,0 +1,98 @@
+#include "../../Source/Internal/log_to_mem.c"
+#include "../../Source/Internal/Include/ump_can_protocol.h"
+struct mock_gpio GpioDataRegs;
+int READY = 0, Desk = 6, Mode = 5;
+int modbus[128];
+int CanTimeOutErrorTR;
+unsigned long IMPowse, WAKEpowse;
+unsigned int adc_table_lem[4];
+#define CHECK(x) if (!(x)) return __LINE__
+
+/* Возвращаем номер строки при ошибке, ноль при успехе; CRT не требуется. */
+__declspec(dllexport) int run_tests(void)
+{
+    unsigned int i, generation, archived, reply[UMP_CAN_MAX_WORDS], error, length;
+    unsigned long sequence;
+    READY = 100;
+    CHECK(!ump_log_write(UMP_LOG_BASE, 1));
+    READY = 0;
+    adc_table_lem[0] = 2048; adc_table_lem[3] = 4095;
+    CHECK(!ump_log_write(UMP_LOG_BASE+1, 0));
+    CHECK(!ump_log_write(UMP_LOG_BASE+1, 1001));
+    CHECK(ump_log_write(UMP_LOG_BASE+1, 1));
+    modbus[127] = 0x80;
+    /* Unrelated registers must not determine the fixed 166 ramp. */
+    modbus[0x50] = 99; modbus[0x51] = 123;
+    modbus[0x64] = 88; modbus[0x65] = 111;
+    modbus[0x7B] = 1234; modbus[0x1C] = 160;
+    CHECK(ump_log_write(UMP_LOG_BASE, 1));
+    CHECK(!ump_log_write(UMP_LOG_BASE, 1));
+    CHECK(!ump_log_write(UMP_LOG_BASE+1, 20));
+    for (i=0; i<900; i++) ump_log_tick();
+    CHECK(ump_count == UMP_LOG_CAPACITY);
+    CHECK(ump_word(0, 0, 0) == 101);
+    CHECK(ump_word(0, UMP_LOG_CAPACITY-1, 0) == 900);
+    CHECK(ump_word(0, 0, 8) == 1234);
+    CHECK(ump_word(0, 0, 24) == 6);
+    CHECK(ump_word(0, 0, 25) == 16);
+    CHECK(ump_word(0, 0, 36) == 2048);
+    CHECK(ump_word(0, 0, 39) == 4095);
+    /* Короткая CAN-команда должна остаться отдельным событием. */
+    modbus[127] = 0x40;
+    ump_log_can(0x807F, 0x40, 0, 0);
+    CHECK(ump_post == 1000);
+    CHECK(ump_word(0, ump_count-1, 2) == 0x102);
+    CHECK(ump_word(0, ump_count-1, 18) == 0x807F);
+    for (i=0; i<999; i++) ump_log_tick();
+    CHECK(ump_generation == 0);
+    ump_log_tick();
+    CHECK(ump_generation == 1);
+    CHECK(ump_archive_count == UMP_LOG_CAPACITY);
+    CHECK(ump_word(1, UMP_LOG_CAPACITY/2-1, 2) == 0x102);
+    CHECK(ump_word(1, UMP_LOG_CAPACITY-1, 2) == 0x205);
+    CHECK(ump_count == 0 && ump_state == 1);
+    generation = ump_generation;
+    archived = ump_word(1, UMP_LOG_CAPACITY-1, 0);
+    sequence = ump_sequence;
+    for (i=0; i<200; i++) ump_log_tick();
+    CHECK(ump_word(1, UMP_LOG_CAPACITY-1, 0) == archived);
+    CHECK(ump_generation == generation);
+    CHECK(ump_sequence == sequence + 200);
+    CHECK(ump_log_read(UMP_LOG_LIVE+2) == 3);
+    CHECK(ump_log_read(UMP_LOG_LIVE+4) == ump_time-2);
+    CHECK(ump_log_write(UMP_LOG_BASE+3, 1));
+    CHECK(ump_log_write(UMP_LOG_BASE+2, UMP_LOG_CAPACITY-1));
+    CHECK(ump_log_read(UMP_LOG_DATA) == archived);
+    CHECK(ump_log_read(UMP_LOG_DATA+UMP_LOG_WORDS) == 0);
+    CHECK(!ump_log_write(UMP_LOG_BASE+2, UMP_LOG_CAPACITY));
+    CHECK(ump_log_write(UMP_LOG_BASE, 0));
+    sequence = ump_sequence;
+    ump_log_tick(); ump_log_io(); ump_log_can(1,2,3,4);
+    CHECK(sequence == ump_sequence);
+    CHECK(ump_log_write(UMP_LOG_BASE, 1));
+    CHECK(ump_word(1, UMP_LOG_CAPACITY-1, 0) == archived);
+    /* Новый пуск и спад start без reset также фиксируют отключение. */
+    modbus[127] = 0x80; ump_log_rs();
+    modbus[127] = 0; ump_log_rs();
+    CHECK(ump_post == 1000);
+    for (i=0; i<1000; i++) ump_log_tick();
+    CHECK(ump_generation == generation+1);
+    /* CAN читает те же регистры и формирует цельный снимок из 124 слов.
+     * Запись по старым технологическим адресам через сервис запрещена. */
+    length = ump_can_prepare(3, UMP_LOG_BASE, 16, reply, &error);
+    CHECK(!error && length == 16 && reply[0] == 0x554D && reply[1] == 2);
+    length = ump_can_prepare(3, UMP_LOG_LIVE, 124, reply, &error);
+    CHECK(!error && length == 124);
+    ump_can_prepare(3, UMP_LOG_LIVE, 126, reply, &error);
+    CHECK(error == 2);
+    ump_can_prepare(6, 127, 0x80, reply, &error);
+    CHECK(error == 2 && modbus[127] == 0);
+    length = ump_can_prepare(6, UMP_LOG_BASE, 0, reply, &error);
+    CHECK(!error && length == 2 && reply[0] == UMP_LOG_BASE && reply[1] == 0);
+    CHECK(ump_state == 3);
+    ump_can_prepare(6, UMP_LOG_BASE+1, 0, reply, &error);
+    CHECK(error == 3);
+    ump_can_prepare(99, UMP_LOG_BASE, 16, reply, &error);
+    CHECK(error == 1);
+    return 0;
+}
--- a/tests/ump_logger/run_test.py
+++ b/tests/ump_logger/run_test.py
@@ -0,0 +1,38 @@
+"""Host test of the 166 recorder. Requires Clang/lld or MSVC (Windows).
+
+Example: py -3 tests/ump_logger/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 / 'tests/ump_logger/stubs', root / 'Source/Internal/Include']
+    source = root / 'tests/ump_logger/recorder_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)
--- a/tests/ump_logger/stubs/ADC.h
+++ b/tests/ump_logger/stubs/ADC.h
@@ -0,0 +1 @@
+extern unsigned int adc_table_lem[4];
--- a/tests/ump_logger/stubs/DAC.h
+++ b/tests/ump_logger/stubs/DAC.h
@@ -0,0 +1 @@
+extern unsigned long IMPowse, WAKEpowse;
--- a/tests/ump_logger/stubs/DSP2833x_Device.h
+++ b/tests/ump_logger/stubs/DSP2833x_Device.h
@@ -0,0 +1,9 @@
+#ifndef UMP_TEST_DEVICE_H
+#define UMP_TEST_DEVICE_H
+struct mock_bits { unsigned int GPIO3, GPIO6, GPIO8, GPIO11, GPIO58, GPIO62; };
+struct mock_reg { struct mock_bits bit; };
+struct mock_gpio { struct mock_reg GPADAT, GPBDAT; };
+extern struct mock_gpio GpioDataRegs;
+static unsigned int __disable_interrupts(void) { return 0; }
+static void __restore_interrupts(unsigned int saved) { (void)saved; }
+#endif
--- a/tests/ump_logger/stubs/RS485.h
+++ b/tests/ump_logger/stubs/RS485.h
@@ -0,0 +1 @@
+/* Подмена зависимостей для проверки регистратора без платы. */
--- a/tests/ump_logger/stubs/filter_bat2.h
+++ b/tests/ump_logger/stubs/filter_bat2.h
@@ -0,0 +1 @@
+/* Подмена зависимостей для проверки регистратора без платы. */
--- a/tests/ump_logger/stubs/measure.h
+++ b/tests/ump_logger/stubs/measure.h
@@ -0,0 +1,2 @@
+extern int READY, Desk, Mode;
+#define READY_FREQ 1000
--- a/tests/ump_logger/stubs/message.h
+++ b/tests/ump_logger/stubs/message.h
@@ -0,0 +1 @@
+/* Подмена зависимостей для проверки регистратора без платы. */
--- a/tests/ump_logger/stubs/package.h
+++ b/tests/ump_logger/stubs/package.h
@@ -0,0 +1,9 @@
+extern int modbus[128];
+#define dsk_LOAD 6
+#define Commands modbus[127]
+#define sens_data (modbus+24)
+#define DAC_min() modbus[0x79]
+#define DAC_max() modbus[0x78]
+#define DAC_cal() modbus[0x7A]
+#define DAC_04 modbus[0x6F]
+#define DAC_20 modbus[0x6E]
--- a/tests/ump_logger/stubs/peripher.h
+++ b/tests/ump_logger/stubs/peripher.h
@@ -0,0 +1 @@
+/* Подмена зависимостей для проверки регистратора без платы. */
--- a/tests/ump_logger/ti_syntax.h
+++ b/tests/ump_logger/ti_syntax.h
@@ -0,0 +1,3 @@
+/* Декларации TI-интринсиков только для проверки синтаксиса на компьютере. */
+unsigned int __disable_interrupts(void);
+void __restore_interrupts(unsigned int saved);
				`@@ -0,0 +1 @@`
				`/* Подмена зависимостей для проверки регистратора без платы. */`