diff --git a/Inu/Src/N12_Xilinx/RS_Functions.h b/Inu/Src/N12_Xilinx/RS_Functions.h
index df08ebe..e98725e 100644
--- a/Inu/Src/N12_Xilinx/RS_Functions.h
+++ b/Inu/Src/N12_Xilinx/RS_Functions.h
@@ -113,9 +113,9 @@ enum {
 	CMD_RS232_LAST
 	};
 
-enum {
-	false = 0, true
-	};
+//enum {
+//	false = 0, true
+//	};
 
 #define RS_LEN_CMD  CMD_RS232_LAST
 
@@ -131,7 +131,7 @@ void resetup_rs_on_timeout_lost(int rsp);
 void resetup_rs(RS_DATA_STRUCT *rs_arr);
 void resetup_mpu_rs(RS_DATA_STRUCT *rs_arr);
 int test_rs_live(RS_DATA_STRUCT *rs_arr);
-void RS_SetControllerLeading(RS_DATA_STRUCT *RS232_Arr,int bool);
+void RS_SetControllerLeading(RS_DATA_STRUCT *RS232_Arr,int boool);
 void RS_SetAdrAnswerController(RS_DATA_STRUCT *RS232_Arr,int  set_addr_answer);
 void SetCntrlAddr (int cntrl_addr,int cntrl_addr_for_all);
 
diff --git a/Inu/Src/main_matlab/DSP281x_Device.h b/Inu/Src/main_matlab/DSP281x_Device.h
index 557612b..23c0d11 100644
--- a/Inu/Src/main_matlab/DSP281x_Device.h
+++ b/Inu/Src/main_matlab/DSP281x_Device.h
@@ -1,3 +1,4 @@
 
 #include "DSP2833x_Device.h"
 //#define int16 int
+#define interrupt
\ No newline at end of file
diff --git a/Inu/Src/main_matlab/init28335.c b/Inu/Src/main_matlab/init28335.c
index ed2e47a..756ee53 100644
--- a/Inu/Src/main_matlab/init28335.c
+++ b/Inu/Src/main_matlab/init28335.c
@@ -8,7 +8,6 @@
 **************************************************************************/
 
 
-#include "def.h"
 #include "init28335.h"
 
 #define FREQ_TIMER_3    (FREQ_PWM*2)
@@ -20,6 +19,7 @@ void init28335(void) {
 	edrk_init_variables_matlab();
 	init_global_time_struct(FREQ_TIMER_3);
 
+    Init_Adc_Variables();
 
 } //void init28335(void)
 
@@ -45,6 +45,44 @@ void edrk_init_variables_matlab(void)
 
 	init_ramp_all_zadanie();
 	init_all_limit_koeffs();
+
+
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_IZAD] = NOMINAL_SET_IZAD;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_KM] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = NOMINAL_SET_K_U_DISBALANCE;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_LIMIT_POWER] = NOMINAL_SET_LIMIT_POWER;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_UFCONST_VECTOR] = 1;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SCALAR_FOC] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_GO] = 1;
+
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_QTV] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_UMP] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = 0;
+
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ROTOR_POWER] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_INTERRUPT_SYNC] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_INTERRUPT_TIMER2] = 0;
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_STOP_LOGS] = 0;
+
+    control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;
+    control_station.array_cmd[CONTROL_STATION_MPU_SVU_CAN][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;
+
+    control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_WDOG_OFF] = 0;
+
+
+    for (int i = 0; i < CONTROL_STATION_CMD_LAST; i++)
+        control_station.array_cmd[CONTROL_STATION_TERMINAL_CAN][i] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][i];
+
+
+    ramp_all_zadanie(2);
+
+    set_zadanie_u_charge_matlab();
+    init_Uin_rms();
 }
 
 void edrk_init_matlab(void)
@@ -64,4 +102,46 @@ void edrk_init_matlab(void)
 	edrk.zadanie.iq_set_break_level = _IQ(NOMINAL_U_BREAK_LEVEL / NORMA_ACP);
 
 	control_station.setup_time_detect_active[CONTROL_STATION_TERMINAL_RS232] = 50;
+}
+
+void set_zadanie_u_charge_matlab(void)
+{
+
+    //	edrk.ZadanieU_Charge = edrk.ZadanieU_Charge_RS;
+
+    //	edrk.iq_ZadanieU_Charge = _IQ(edrk.ZadanieU_Charge/NORMA_ACP);
+
+    if (edrk.zadanie.ZadanieU_Charge <= 100)
+    {
+        edrk.iqMIN_U_ZPT = _IQ(-50.0 / NORMA_ACP);
+        edrk.iqMIN_U_IN = _IQ(-50.0 / NORMA_ACP);
+    }
+    else
+    {
+
+        edrk.iqMIN_U_ZPT = _IQ(edrk.zadanie.ZadanieU_Charge * MIN_U_PROC / NORMA_ACP);
+        edrk.iqMIN_U_IN = _IQ(edrk.zadanie.ZadanieU_Charge * MIN_U_PROC / NORMA_ACP);
+
+    }
+
+    if (edrk.zadanie.ZadanieU_Charge < LEVEL_DETECT_U_SMALL)
+    {
+        edrk.iqMAX_U_ZPT_Predzaryad = _IQ(edrk.zadanie.ZadanieU_Charge * MAX_U_PROC_SMALL / NORMA_ACP);
+        edrk.iqMAX_U_ZPT_Global = edrk.iqMAX_U_ZPT_Predzaryad + _IQ(ADD_U_MAX_GLOBAL_SMALL / NORMA_ACP); // +500V
+
+    }
+    else
+    {
+        edrk.iqMAX_U_ZPT_Predzaryad = _IQ(edrk.zadanie.ZadanieU_Charge * MAX_U_PROC / NORMA_ACP);
+        edrk.iqMAX_U_ZPT_Global = edrk.iqMAX_U_ZPT_Predzaryad + _IQ(ADD_U_MAX_GLOBAL / NORMA_ACP); // +200V
+
+        if (edrk.iqMAX_U_ZPT_Global > U_D_MAX_ERROR_GLOBAL)
+            edrk.iqMAX_U_ZPT_Global = U_D_MAX_ERROR_GLOBAL;
+    }
+
+    edrk.iqMAX_U_ZPT = edrk.iqMAX_U_ZPT_Global;//_IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC/NORMA_ACP);
+    edrk.iqMAX_U_IN = _IQ(edrk.zadanie.ZadanieU_Charge * MAX_U_PROC / NORMA_ACP);
+
+    edrk.zadanie.iq_set_break_level = _IQ(NOMINAL_U_BREAK_LEVEL / NORMA_ACP);
+
 }
\ No newline at end of file
diff --git a/Inu/Src/main_matlab/init28335.h b/Inu/Src/main_matlab/init28335.h
index f6abce1..3e59e12 100644
--- a/Inu/Src/main_matlab/init28335.h
+++ b/Inu/Src/main_matlab/init28335.h
@@ -7,4 +7,6 @@ void init28335(void);
 
 void edrk_init_matlab(void);
 void edrk_init_variables_matlab(void);
+void set_zadanie_u_charge_matlab(void);
+void init_Uin_rms(void);
 #endif //INIT28335
diff --git a/Inu/Src/main_matlab/main_matlab.c b/Inu/Src/main_matlab/main_matlab.c
index 6b22dcd..eb2bc3f 100644
--- a/Inu/Src/main_matlab/main_matlab.c
+++ b/Inu/Src/main_matlab/main_matlab.c
@@ -1,15 +1,16 @@
-#include "DSP281x_Device.h"
+#include "controller.h"
+//#include "edrk_main.h"
+//#include "vector.h"
+//#include "vector_control.h"
+//
+//#include "xp_project.h"
+//#include "xp_write_xpwm_time.h"
+//#include "edrk_main.h"
+//#include "vector.h"
+//#include "vector_control.h"
+//#include "v_rotor.h"
 
-#include "edrk_main.h"
-#include "vector.h"
-#include "vector_control.h"
 
-#include "xp_project.h"
-#include "xp_write_xpwm_time.h"
-#include "edrk_main.h"
-#include "vector.h"
-#include "vector_control.h"
-#include "v_rotor.h"
 
 T_project project = {0};
 
@@ -20,6 +21,71 @@ FLAG f = FLAG_DEFAULTS;
 
 WRotorValues WRotor = WRotorValues_DEFAULTS;
 
+
+
+
+void mcu_simulate_step(void)
+{
+	int ff = 0;
+	static _iq Uzad1 = 0, Fzad = 0, Uzad2 = 0, Izad_out = 0, Uzad_from_master = 0;
+	_iq wd;
+
+	if (edrk.flag_second_PCH == 0) {
+		wd = uf_alg.winding_displacement_bs1;
+	}
+	else {
+		wd = uf_alg.winding_displacement_bs2;
+	}
+
+	//parse_parameters_from_all_control_station();
+
+	//ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR];
+	//control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+	//control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+	//control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+
+	//ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER];
+	//control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_POWER] = ff;
+
+
+	//if (control_station.active_array_cmd[CONTROL_STATION_CMD_ROTOR_POWER])
+	//{
+	//	control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = 0;
+	//	control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = 0;
+	//}
+	//parse_analog_data_from_active_control_station_to_alg();
+
+	calc_norm_ADC_0(0);
+
+	vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
+		WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
+		edrk.Mode_ScalarVectorUFConst,
+		edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
+		edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
+		&edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
+		0, 0);
+
+	test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
+		edrk.disable_alg_u_disbalance,
+		edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
+		filter.iqU_1_fast, filter.iqU_2_fast,
+		0,
+		edrk.Uzad_max,
+		edrk.MasterSlave,
+		edrk.flag_second_PCH,
+		&edrk.Kplus, &edrk.Uzad_to_slave);
+	analog.PowerFOC = edrk.P_to_master;
+	Fzad = vect_control.iqFstator;
+	Izad_out = edrk.Iq_to_slave;
+}
+
+
+
+
+
+
+
+
 void project_read_all_pbus2()
 {
 
@@ -130,7 +196,9 @@ void WriteMemory(unsigned long addr, unsigned int data)
    //(*(volatile int *)( addr )) = data;
 }
 
-
+void func_unpack_answer_from_Ingeteam(unsigned int a) {}
+void unpack_answer_from_MPU_SVU_CAN(unsigned int a) {}
+int get_real_in_mbox(int a, int b) {}
 
 void start_pwm(void)
 {
diff --git a/Inu/Src/main_matlab/main_matlab.h b/Inu/Src/main_matlab/main_matlab.h
index f44848b..59a6c39 100644
--- a/Inu/Src/main_matlab/main_matlab.h
+++ b/Inu/Src/main_matlab/main_matlab.h
@@ -4,9 +4,8 @@
 #include "edrk_main.h"
 
 
+void mcu_simulate_step(void);
 void init_flag_a(void);
 
 
 
-
-
diff --git a/Inu/Src/main_matlab/param.c b/Inu/Src/main_matlab/param.c
new file mode 100644
index 0000000..24392f4
--- /dev/null
+++ b/Inu/Src/main_matlab/param.c
@@ -0,0 +1,53 @@
+/**************************************************************************
+	Description: Функции для приёма и выдачи параметров.
+
+	Автор: Улитовский Д.И.
+	Дата последнего обновления: 2021.11.08
+**************************************************************************/
+
+#include "param.h"
+
+int Unites[UNIT_QUA_UNITS][UNIT_LEN];
+int CAN_timeout[UNIT_QUA];
+RS_DATA_STRUCT rs_a = RS_DATA_STRUCT_DEFAULT, rs_b = RS_DATA_STRUCT_DEFAULT;
+
+// Изменяет значение параметра
+void readInputParameters(const real_T *u) {
+	int nn = 0;
+
+	iq_norm_ADC[0][0] = _IQ(u[nn++]/NORMA_ACP);
+	iq_norm_ADC[0][1] = _IQ(u[nn++]/NORMA_ACP);
+	iq_norm_ADC[0][2] = _IQ(u[nn++]/NORMA_ACP);
+	iq_norm_ADC[0][3] = _IQ(u[nn++]/NORMA_ACP);
+	iq_norm_ADC[0][4] = _IQ(u[nn++]/NORMA_ACP);
+	iq_norm_ADC[0][5] = _IQ(u[nn++]/NORMA_ACP);
+	iq_norm_ADC[0][6] = _IQ(u[nn++]/NORMA_ACP);
+	iq_norm_ADC[0][7] = _IQ(u[nn++]/NORMA_ACP);
+
+	WRotor.iqWRotorSumFilter = _IQ(u[nn++] / PI2 / NORMA_FROTOR);
+
+	u[nn++];
+
+	edrk.Go = u[nn++];
+
+	u[nn++];
+
+	edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_OBOROTS;
+
+	edrk.zadanie.iq_power_zad_rmp = _IQ(u[nn++]);
+	edrk.zadanie.iq_oborots_zad_hz_rmp = _IQ(u[nn++]);
+
+	edrk.MasterSlave = MODE_MASTER;
+	edrk.master_theta;
+	edrk.master_Iq;
+	edrk.iq_power_kw_another_bs;
+	edrk.tetta_to_slave;
+	edrk.Iq_to_slave;
+	edrk.P_to_master;
+
+	uf_alg.winding_displacement_bs1;
+} //void input_param(unsigned short num, unsigned short val)
+
+
+void writeOutputParameters(real_T* xD) {
+}
\ No newline at end of file
diff --git a/Inu/Src/main_matlab/param.h b/Inu/Src/main_matlab/param.h
new file mode 100644
index 0000000..713a32d
--- /dev/null
+++ b/Inu/Src/main_matlab/param.h
@@ -0,0 +1,16 @@
+#include "simstruc.h"
+#include "controller.h"
+
+#ifndef PARAM
+#define PARAM
+
+
+void readInputParameters(const real_T* u);
+
+extern int Unites[UNIT_QUA_UNITS][UNIT_LEN];
+extern int CAN_timeout[UNIT_QUA];
+extern RS_DATA_STRUCT rs_a;
+extern RS_DATA_STRUCT rs_b;
+extern _iq iq_norm_ADC[COUNT_ARR_ADC_BUF][16];
+#endif //PARAM
+
diff --git a/Inu/controller.c b/Inu/controller.c
index cc5f471..ef0e290 100644
--- a/Inu/controller.c
+++ b/Inu/controller.c
@@ -12,6 +12,7 @@
 #include "simstruc.h"
 #include "controller.h"
 #include "init28335.h"
+#include "param.h"
 
 
 extern UMotorMeasure motor;
@@ -54,68 +55,15 @@ int timers_pwm = 0;
 
 
 
-
-void readInputParameters(const real_T *u) {
- // int t;
-	//// ВХОДЫ (begin)
-	//nn = 0;
-	//// аналоговые величины
-	//motor.udc1_ml = u[nn++];//В
-	//motor.udc2_ml = u[nn++];//В
-
-	//motor.ia1_ml = u[nn++];//А
-	//motor.ib1_ml = u[nn++];//А
-	//motor.ic1_ml = u[nn++];//А
-	//motor.ia2_ml = u[nn++];//А
-	//motor.ib2_ml = u[nn++];//А
-	//motor.ic2_ml = u[nn++];//А
-	//motor.wm_ml = u[nn++];//рад/с
-
-	//// управление (например, с ВУ)
-	//mst.faultReset = (unsigned short)u[nn++];
-	//mst.start = (unsigned short)u[nn++];
-	//mst.pzMode = (unsigned short)u[nn++];
-	//mst.wmZz = u[nn++];//o.e. (от N_BAZ)
-	//mst.pmZz = u[nn++]*(P_NOM/S_BAZ);//o.e. (от S_BAZ)
-	//mst.wmLim = u[nn++];//o.e. (от N_BAZ)
-	//mst.pmLim = u[nn++]*(P_NOM/S_BAZ);//o.e. (от S_BAZ)
-	//mst.pIncrMaxTy = u[nn++]*TY*DECIM_PSI_WM_PM*(P_NOM/S_BAZ);//o.e. (от S_BAZ)
-	//mst.pDecrMaxTy = u[nn++]*TY*DECIM_PSI_WM_PM*(P_NOM/S_BAZ);//o.e. (от S_BAZ)
-
-	//// 
-	//mst.off_curr_pi = (unsigned short)u[nn++];
-	//mst.only_one_km = (unsigned short)u[nn++];
-	//mst.enable_compens_iq1_iq2 = (unsigned short)u[nn++];
-	//mst.pi_iq_ki = u[nn++];
-	//mst.pi_id_ki = u[nn++];
-	//t = (unsigned short)u[nn++];
-	//t = (unsigned short)u[nn++];
-	//t = (unsigned short)u[nn++];
-	//t = (unsigned short)u[nn++];
-	//t = (unsigned short)u[nn++];
-
-
-	//// параметры (например, с ПУ)
-	//paramNo = FIRST_WRITE_PAR_NUM;
-	//paramNew[paramNo++] = (unsigned short)u[nn++];
-	//paramNew[paramNo++] = (unsigned short)u[nn++];
-
-
-	//// ВХОДЫ (end)
-
-
-}
-
-
 void processSFunctionIfChanged(SimStruct *S, int_T *iW) {
 
 	// обрабатываем параметры S-Function каждый раз, когда они изменились
 	if ( iW[0] == 1 ) {
 		iW[0] = 0;
-		kkk = 0;
-		for ( lll = 0; lll < NPARAMS; lll++ ) {
+		int kkk = 0;
+		for (int lll = 0; lll < NPARAMS; lll++ ) {
 			// определяем кол-во элементов в параметре
-			dimen = mxGetNumberOfElements(ssGetSFcnParam(S,lll));
+			int dimen = mxGetNumberOfElements(ssGetSFcnParam(S,lll));
 			// обрабатываем параметр в зависимости от его размера
 			if ( dimen > LEN_PARAM_MATR*2 ) {
 				ssSetErrorStatus(S,"В параметре-массиве слишком много элементов");
@@ -125,7 +73,7 @@ void processSFunctionIfChanged(SimStruct *S, int_T *iW) {
 				// запоминаем кол-во элементов параметра-матрицы
 				paramMatrDimen = dimen;
 				// запоминаем значения элементов параметра-матрицы
-				for ( mmm = 0; mmm < dimen; mmm++ )
+				for (int mmm = 0; mmm < dimen; mmm++ )
 					paramMatr[mmm] = mxGetPr(ssGetSFcnParam(S,lll))[mmm];
 			}
 			else {
@@ -134,8 +82,8 @@ void processSFunctionIfChanged(SimStruct *S, int_T *iW) {
 			}
 		}
 		// ПАРАМЕТРЫ (begin)
-		nn = 0;
-		dt = paramScal[nn++];//шаг дискретизации (всегда должен передаваться в S-function последним!)
+		int nn = 0;
+		double dt = paramScal[nn++];//шаг дискретизации (всегда должен передаваться в S-function последним!)
 		// ПАРАМЕТРЫ (end)
 	} //if ( iW[0] == 1 )
 
@@ -970,229 +918,10 @@ void simulateTripZoneSubmodule(void) {
 }
 
 
-void writeOutputParameters(real_T *xD) {
-
-//	// ВЫХОДЫ (begin)
-//	nn = 0;
-//	// Управление
-//	// ... INU1
-//	xD[nn++] = ci1A_DT;
-//	xD[nn++] = ci2A_DT;
-//	xD[nn++] = ci1B_DT;
-//	xD[nn++] = ci2B_DT;
-//
-//	xD[nn++] = ci3A_DT;
-//	xD[nn++] = ci4A_DT;
-//	xD[nn++] = ci3B_DT;
-//	xD[nn++] = ci4B_DT;
-//
-//	xD[nn++] = ci5A_DT;
-//	xD[nn++] = ci6A_DT;
-//	xD[nn++] = ci5B_DT;
-//	xD[nn++] = ci6B_DT;
-//	// ... INU2
-//	xD[nn++] = ci7A_DT;
-//	xD[nn++] = ci8A_DT;
-//	xD[nn++] = ci7B_DT;
-//	xD[nn++] = ci8B_DT;
-//
-//	xD[nn++] = ci9A_DT;
-//	xD[nn++] = ci10A_DT;
-//	xD[nn++] = ci9B_DT;
-//	xD[nn++] = ci10B_DT;
-//
-//	xD[nn++] = ci11A_DT;
-//	xD[nn++] = ci12A_DT;
-//	xD[nn++] = ci11B_DT;
-//	xD[nn++] = ci12B_DT;
-//
-//
-//// выходы ацп для контроля
-//	xD[nn++] = udc1_ml;
-//	xD[nn++] = udc2_ml;
-//	xD[nn++] = udc3_ml;
-//	xD[nn++] = udc4_ml;
-//
-//	xD[nn++] = idc1_ml;
-//	xD[nn++] = idc2_ml;
-//	xD[nn++] = idc3_ml;
-//	xD[nn++] = idc4_ml;
-//
-//	xD[nn++] = _IQtoF(analog.iqIa1_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(analog.iqIb1_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(analog.iqIc1_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(analog.iqIa2_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(analog.iqIb2_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(analog.iqIc2_1) * NORMA_ACP;
-//
-//// timers out
-//
-//	xD[nn++] = timers_adc;
-//	xD[nn++] = timers_pwm;
-//	xD[nn++] = Tadc;
-//	xD[nn++] = dt;
-//
-//	// Только для просмотра
-//	xD[nn++] = _IQtoF(rp.pmZ);
-//	xD[nn++] = _IQtoF(rs.wmZ);
-//
-//	xD[nn++] = mst.start;
-//	xD[nn++] = inuWork;
-//	xD[nn++] = mst.pzMode;
-//
-//	xD[nn++] = psi;
-//	xD[nn++] = rf.psiZ;
-//
-//	xD[nn++] = wm;
-//	xD[nn++] = _IQtoF(vect_control.koeff_correct_Id);//rs.wmZ;
-//	xD[nn++] = _IQtoF(vect_control.iqFrot) * NORMA_FROTOR * 60.0 / N_BAZ;//csp.wmLimZi;
-//
-//	xD[nn++] = pm*S_BAZ;///P_NOM;
-//	xD[nn++] = rp.pmZ*S_BAZ;///P_NOM;
-//	xD[nn++] = csp.pmLimZi*S_BAZ;///P_NOM;
-//
-//	xD[nn++] = _IQtoF(analog.iqId1)* NORMA_ACP;//_IQtoF(vect_control.iqPzad);
-//	xD[nn++] = _IQtoF(analog.iqIq1)* NORMA_ACP;// * NORMA_ACP;
-//	xD[nn++] = _IQtoF(analog.iqId2)* NORMA_ACP;//_IQtoF(vect_control.iqUqCompensation1);//
-//	xD[nn++] = _IQtoF(analog.iqIq2)* NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.iqId_zad)* NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.iqIq_zad)* NORMA_ACP;//iqZ;
-//
-//	xD[nn++] = me*M_BAZ/M_NOM;
-//
-//	xD[nn++] = _IQtoF(vect_control.iqPzad) * NORMA_ACP * NORMA_ACP / 1000.0;;
-//	xD[nn++] = _IQtoF(vect_control.iqPizm) * NORMA_ACP * NORMA_ACP / 1000.0;;
-//	// xD[nn++] = sqrt(idZ*idZ + iqZ*iqZ);
-//	// xD[nn++] = IzLim;
-//
-//	// xD[nn++] = EPwm2Regs.CMPA.half.CMPA;//xpwm_time.Ta0_0;//cc.yd1;
-//	// xD[nn++] = xpwm_time.Ta0_0;
-//	// xD[nn++] = xpwm_time.Ta0_1;
-//	// xD[nn++] = _IQtoF(cos_fi.cos_fi_nom);//cc.yd1;
-//	// xD[nn++] = _IQtoF(cos_fi.cos_fi_nom_squared);//cc.yq1;
-//	// xD[nn++] = _IQtoF(tetta_calc.k_t);
-//	xD[nn++] = _IQtoF(vect_control.iqUzad1);//cc.yd1;
-//	xD[nn++] = _IQtoF(vect_control.iqUzad2);//cc.yd1;
-////	xD[nn++] = _IQtoF(vect_control.iqUdKm1Out);//cc.yq1;
-////	xD[nn++] = _IQtoF(vect_control.iqUqKm1Out);
-//
-//	xD[nn++] = _IQtoF(vect_control.iqUdKm1);//sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
-//	xD[nn++] = _IQtoF(vect_control.iqUqKm1);//sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
-//	xD[nn++] = _IQtoF(vect_control.iqUdKm2);//Y_LIM;
-//	xD[nn++] = _IQtoF(vect_control.iqUqKm2);//Y_LIM;
-//
-//
-//	xD[nn++] = _IQtoF(vect_control.iqUdKm1Out);//sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
-//	xD[nn++] = _IQtoF(vect_control.iqUqKm1Out);//sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
-//	xD[nn++] = _IQtoF(vect_control.iqUdKm2Out);//Y_LIM;
-//	xD[nn++] = _IQtoF(vect_control.iqUqKm2Out);//Y_LIM;
-//
-//	xD[nn++] = _IQtoF(vect_control.k_modul_max);//Y_LIM;
-//
-//    xD[nn++] = _IQtoF(vect_control.k_modul_max_def);
-//   xD[nn++] = _IQtoF(vect_control.maxUq1);
-//   xD[nn++] = _IQtoF(vect_control.maxUq2);
-//   xD[nn++] = _IQtoF(vect_control.Uq1Out);
-//   xD[nn++] = _IQtoF(vect_control.Uq2Out);
-////    xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
-////    xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
-////    xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
-//
-//	
-//	// xD[nn++] = sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
-//	// xD[nn++] = sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
-//	// xD[nn++] = Y_LIM;
-//	// ВЫХОДЫ (end)
-//
-//
-/////////////////  new
-//	xD[nn++] = _IQtoF(f.iq_mzz_zad) * NORMA_ACP;//
-//	xD[nn++] = _IQtoF(pidPvect.OutMax) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(pidPvect.OutMin) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(pidPvect.Out) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.mzz_zad_int) * NORMA_ACP ;
-//	xD[nn++] = _IQtoF(filter.iqIm_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(filter.iqIm_2) * NORMA_ACP;
-//
-//	xD[nn++] = _IQtoF(vect_control.Pzad_rmp) * NORMA_ACP * NORMA_ACP / 1000.0;
-//	xD[nn++] = _IQtoF(f.iq_p_rampa) * NORMA_ACP * NORMA_ACP / 1000.0;
-//	xD[nn++] = _IQtoF(analog.iqPvsi1) * NORMA_ACP * NORMA_ACP / 1000.0;
-//	xD[nn++] = _IQtoF(analog.iqPvsi1) * NORMA_ACP * NORMA_ACP / 1000.0;
-//
-//	xD[nn++] = _IQtoF(analog.iqW1) * NORMA_ACP * NORMA_ACP / 1000.0;
-//	xD[nn++] = _IQtoF(analog.iqW2) * NORMA_ACP * NORMA_ACP / 1000.0;	
-//	xD[nn++] = _IQtoF(analog.iqW) * NORMA_ACP * NORMA_ACP / 1000.0;
-//	xD[nn++] = _IQtoF(filter.iqW1) * NORMA_ACP * NORMA_ACP / 1000.0;
-//	xD[nn++] = _IQtoF(filter.iqW2) * NORMA_ACP * NORMA_ACP / 1000.0;	
-//	xD[nn++] = _IQtoF(filter.iqW) * NORMA_ACP * NORMA_ACP / 1000.0;
-//
-//	
-//
-//	xD[nn++] = _IQtoF(vect_control.iqFrot) * NORMA_FROTOR * 60.0;
-//	xD[nn++] = vect_control.flag_reverse;//_IQtoF(0);
-//
-//	xD[nn++] = _IQtoF(vect_control.koeff_correct_Id); 
-//	xD[nn++] = _IQtoF(cos_fi.cos_fi_nom);
-//
-//	xD[nn++] = _IQtoF(filter.Fsl) * NORMA_FROTOR;
-//
-//	xD[nn++] = _IQtoF(filter.iqIa1_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(filter.iqIb1_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(filter.iqIc1_1) * NORMA_ACP;
-//
-//	xD[nn++] = _IQtoF(filter.iqIa2_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(filter.iqIb2_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(filter.iqIc2_1) * NORMA_ACP;
-//
-//	xD[nn++] = _IQtoF(tetta_calc.Imds);
-//	xD[nn++] = _IQtoF(tetta_calc.tetta);
-//
-//	xD[nn++] = _IQtoF(vect_control.Is) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.Ids) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.Id_ref_fw) * NORMA_ACP;	
-//	xD[nn++] = _IQtoF(vect_control.Id_ref_1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.Is_max) * NORMA_ACP;
-//
-//	xD[nn++] = vect_control.flag_fw;
-//
-//	xD[nn++] = _IQtoF(vect_control.ws_Iq1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.ws_Id_filter1) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(vect_control.ws_Id_filter2) * NORMA_ACP;
-//
-//	xD[nn++] = _IQtoF(vect_control.ws_ws_t1) * NORMA_FROTOR;
-//
-//	xD[nn++] = _IQtoF(analog.Fsl) * NORMA_FROTOR;
-//	xD[nn++] = _IQtoF(filter.Fsl) * NORMA_FROTOR;
-//
-//	xD[nn++] = vect_control.tmp1;
-//	xD[nn++] = vect_control.tmp2;
-//	xD[nn++] = vect_control.tmp3;
-//	//xD[nn++] = _IQtoF(0) * NORMA_ACP;
-//	//xD[nn++] = _IQtoF(0) * NORMA_ACP;
-//	xD[nn++] = _IQtoF(0) * NORMA_ACP;
-//
-//
-//
-//	xD[nn++] = _IQtoF(svgen_dq_1.Ta)*1000.0;
-//	xD[nn++] = _IQtoF(svgen_dq_1.Tb)*1000.0;
-//	xD[nn++] = _IQtoF(svgen_dq_1.Tc)*1000.0;
-//
-//	xD[nn++] = _IQtoF(svgen_dq_2.Ta)*1000.0;
-//	xD[nn++] = _IQtoF(svgen_dq_2.Tb)*1000.0;
-//	xD[nn++] = _IQtoF(svgen_dq_2.Tc)*1000.0;
-//
-
-
-
-
-}
-
 
 
 void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW, int_T *iW) {
 
-	static _iq Uzad1 = 0, Fzad = 0, Uzad2 = 0, Izad_out = 0, Uzad_from_master = 0;
-	_iq wd;
 
 	readInputParameters(u);
 	processSFunctionIfChanged(S, iW);
@@ -1213,33 +942,5 @@ void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW, int_T *iW
 
 	writeOutputParameters(xD);
 
-	if (edrk.flag_second_PCH == 0) {
-		wd = uf_alg.winding_displacement_bs1;
-	}
-	else {
-		wd = uf_alg.winding_displacement_bs2;
-	}
-
-	vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
-		WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
-		edrk.Mode_ScalarVectorUFConst,
-		edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
-		edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
-		&edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
-		0, 1);
-
-	test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
-		edrk.disable_alg_u_disbalance,
-		edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
-		filter.iqU_1_fast, filter.iqU_2_fast,
-		0,
-		edrk.Uzad_max,
-		edrk.MasterSlave,
-		edrk.flag_second_PCH,
-		&edrk.Kplus, &edrk.Uzad_to_slave);
-	analog.PowerFOC = edrk.P_to_master;
-	Fzad = vect_control.iqFstator;
-	Izad_out = edrk.Iq_to_slave;
-
-
+	mcu_simulate_step();
 } //void controller(SimStruct ...
diff --git a/Inu/controller.h b/Inu/controller.h
index 3db497d..a16fe3b 100644
--- a/Inu/controller.h
+++ b/Inu/controller.h
@@ -1,3 +1,5 @@
+#include "DSP281x_Device.h"
+
 #include "wrapper_inu.h"
 #include "def.h"
 #include "edrk_main.h"
@@ -9,6 +11,10 @@
 #include "v_rotor_22220.h"
 #include "v_pwm24_v2.h"
 #include "control_station.h"
+#include "control_station_project.h"
+#include "CAN_Setup.h"
+#include "RS_Functions.h"
+#include "master_slave.h"
 
 #include <params.h>
 #include <params_alg.h>
@@ -28,15 +34,6 @@ double paramScal[NPARAMS];
 double paramMatr[LEN_PARAM_MATR*2];
 int paramMatrDimen;
 
-// Индекс входного и выходного массива, а также массива параметров
-int nn; 
-// Шаг интегрирования
-double dt;
-// Для обработки параметров
-int kkk, lll, mmm, dimen;
-
-
-
 // Переменные, которые определены в controller.c (begin)
 //#########################################################################
 // Параметры
diff --git a/Inu/param.c b/Inu/param.c
deleted file mode 100644
index 4ebbffa..0000000
--- a/Inu/param.c
+++ /dev/null
@@ -1,426 +0,0 @@
-/**************************************************************************
-	Description: Функции для приёма и выдачи параметров.
-
-	Автор: Улитовский Д.И.
-	Дата последнего обновления: 2021.11.08
-**************************************************************************/
-
-
-#include "def.h"
-#include "param.h"
-
-
-#pragma CODE_SECTION(input_param, "ramfuncs");
-#pragma CODE_SECTION(output_param, "ramfuncs");
-
-
-extern short test_param(void);
-extern void process_sgm_parameters(void);
-
-
-// Изменяет значение параметра
-void input_param(unsigned short num, unsigned short val) {
-	switch ( num ) {
-	case 180://rf.PsiZ, %*10 от PSI_BAZ
-		if ( (val <= 2000) && (val != param[num]) ) {
-			param[num] = val;
-			rf.PsiZ = (float)val*0.001;//%*10 -> o.e.
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 200://offset.Ia1, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Ia1 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 201://offset.Ib1, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Ib1 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 202://offset.Ic1, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Ic1 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 203://offset.Udc1, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Udc1 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 206://offset.Ia2, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Ia2 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 207://offset.Ib2, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Ib2 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 208://offset.Ic2, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Ic2 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 209://offset.Udc2, ед. АЦП
-		if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
-			offset.Udc2 = param[num] = val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 210://cc.Kp, %
-		if ( (val <= 5000) && (val != param[num]) ) {
-			param[num] = val;
-			cc.Kp = (float)val*cc.KpOrig;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 211://cc.Ki, %
-		if ( (val <= 5000) && (val != param[num]) ) {
-			param[num] = val;
-			cc.Ki = (float)val*cc.KiOrig;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 212://cf.Kp, %
-		if ( (val <= 5000) && (val != param[num]) ) {
-			param[num] = val;
-			cf.Kp = (float)val*cf.KpOrig;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 213://cf.Ki, %
-		if ( (val <= 5000) && (val != param[num]) ) {
-			param[num] = val;
-			cf.Ki = (float)val*cf.KiOrig;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 214://csp.Kp, %
-		if ( (val <= 5000) && (val != param[num]) ) {
-			param[num] = val;
-			csp.Kp = (float)val*csp.KpOrig;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 215://csp.Ki, %
-		if ( (val <= 5000) && (val != param[num]) ) {
-			param[num] = val;
-			csp.Ki = (float)val*csp.KiOrig;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 220://protect.IacMax, % от IAC_SENS_MAX
-		if ( (val <= 99) && (val != param[num]) ) {
-			param[num] = val;
-			protect.IacMax = (short)(2047.*(float)val*0.01);//% -> ед. АЦП
-			protect.IacMin = -protect.IacMax;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 221://protect.UdcMax, % от U_NOM
-		if ( (val <= 136) && (val != param[num]) ) {
-			param[num] = val;
-			protect.UdcMax = (float)val*0.01;//% -> o.e.
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 222://IzLim, % от I_BAZ
-		if ( (val <= 200) && (val != param[num]) ) {
-			param[num] = val;
-			IzLim = (float)val*0.01;//% -> o.e.
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 223://cf.IdLim, % от I_BAZ
-		if ( (val <= 200) && (val != param[num]) ) {
-			param[num] = val;
-			cf.IdLim = (float)val*0.01;//% -> o.e.
-			cf.IdLimNeg = cf.IdLim*(-0.4);
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 224://csp.IqLim, % от I_BAZ
-		if ( (val <= 200) && (val != param[num]) ) {
-			param[num] = val;
-			csp.IqLim = (float)val*0.01;//% -> o.e.
-			csp.IqLimNeg = -csp.IqLim;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 225://protect.UdcMin, % от U_NOM
-		if ( (val <= 110) && (val != param[num]) ) {
-			param[num] = val;
-			protect.UdcMin = (float)val*0.01;//% -> o.e.
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 226://protect.WmMax, % от N_NOM
-		if ( (val <= 200) && (val != param[num]) ) {
-			param[num] = val;
-			protect.WmMax = (float)val*0.01;//% -> o.e.
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 228://rf.WmNomPsi, % от N_NOM
-		if ( (val <= 200) && (val != param[num]) ) {
-			param[num] = val;
-			rf.WmNomPsi = (float)val*0.01;//% -> o.e.
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 229://rf.YlimPsi, % от Y_LIM
-		if ( (val <= 101) && (val != param[num]) ) {
-			param[num] = val;
-			rf.YlimPsi = (float)val*0.01*Y_LIM;//% -> ед. счётчика таймера
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 231://protect.TudcMin, мс
-		if ( (val >= 1) && (val <= 8500) && (val != param[num]) ) {
-			param[num] = val;
-			protect.TudcMin = (unsigned short)((float)val*0.001/TY);
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 233://protect.TwmMax, мс
-		if ( (val >= 1) && (val <= 8500) && (val != param[num]) ) {
-			param[num] = val;
-			protect.TwmMax = (unsigned short)((float)val*0.001/TY);
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 244://rs.WlimIncr, мс
-		if ( (val >= 1) && (val != param[num]) ) {
-			param[num] = val;
-			// изм. на 1.0 за столько-то мс
-			rs.WlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)val*0.001);
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 245://csp.IlimIncr, мс
-		if ( (val >= 1) && (val != param[num]) ) {
-			param[num] = val;
-			// изм. на I_BAZ за столько-то мс
-			csp.IlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)val*0.001);
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 248://rp.PlimIncr, мс
-		if ( (val >= 1) && (val != param[num]) ) {
-			param[num] = val;
-			// изм. на 1.0 за столько-то мс
-			rp.PlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)val*0.001);
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 269://KmeCorr, %*100
-		if ( (val >= 5000) && (val <= 20000) && (val != param[num]) ) {
-			param[num] = val;
-			KmeCorr = (float)val*0.0001;//%*100 -> o.e.
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 285://Kudc, мс*10
-		if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
-			param[num] = val;
-			Kudc = (TY*10000.)/(float)val;
-			if ( Kudc > 1.0 )
-				Kudc = 1.0;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 286://Kwm, мс*10
-		if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
-			param[num] = val;
-			Kwm = (TY*10000.)/(float)val;
-			if ( Kwm > 1.0 )
-				Kwm = 1.0;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 288://rs.Kwmz, мс
-		if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
-			param[num] = val;
-			rs.Kwmz = (TY*DECIM_PSI_WM_PM*1000.)/(float)val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 289://rf.Kpsiz, мс
-		if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
-			param[num] = val;
-			rf.Kpsiz = (TY*DECIM_PSI_WM_PM*1000.)/(float)val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 290://Kme, мс
-		if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
-			param[num] = val;
-			Kme = (TY*1000.)/(float)val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 292://rp.Kpmz, мс
-		if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
-			param[num] = val;
-			rp.Kpmz = (TY*DECIM_PSI_WM_PM*1000.)/(float)val;
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 303://sgmPar.Rs, мкОм
-		if ( val != param[num] ) {
-			param[num] = val;
-			sgmPar.Rs = (float)val*1e-6;//мкОм -> Ом
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 304://sgmPar.Lls, мкГн*10
-		if ( val != param[num] ) {
-			param[num] = val;
-			sgmPar.Lls = (float)val*1e-7;//мкГн*10 -> Гн
-			process_sgm_parameters();
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 305://sgmPar.Rr, мкОм
-		if ( val != param[num] ) {
-			param[num] = val;
-			sgmPar.Rr = (float)val*1e-6;//мкОм -> Ом
-			process_sgm_parameters();
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 306://sgmPar.Llr, мкГн*10
-		if ( val != param[num] ) {
-			param[num] = val;
-			sgmPar.Llr = (float)val*1e-7;//мкГн*10 -> Гн
-			process_sgm_parameters();
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	case 307://sgmPar.Lm, мкГн
-		if ( val != param[num] ) {
-			param[num] = val;
-			sgmPar.Lm = (float)val*1e-6;//мкГн -> Гн
-			process_sgm_parameters();
-			eprom.writeRequestNumber += 1;
-		}
-		break;
-	default:
-		if ( num < PAR_NUMBER ) {
-			param[num] = val;
-		}
-		break;
-	} //switch ( num )
-} //void input_param(unsigned short num, unsigned short val)
-
-
-
-// Выдаёт значение параметра
-unsigned short output_param(unsigned short num) {
-	static unsigned short output;
-
-	switch ( num ) {
-	case 1: //udc1, o.e. -> o.e.*CONTROLLER_GAIN
-		if ( state == STATE_SHUTDOWN ) {
-			output = (unsigned short)(emerg.udc1*CONTROLLER_GAIN);
-		}
-		else {
-			output = (unsigned short)(out.udc1*CONTROLLER_GAIN);
-		}
-		break;
-	case 2: //udc2, o.e. -> o.e.*CONTROLLER_GAIN
-		if ( state == STATE_SHUTDOWN ) {
-			output = (unsigned short)(emerg.udc2*CONTROLLER_GAIN);
-		}
-		else {
-			output = (unsigned short)(out.udc2*CONTROLLER_GAIN);
-		}
-		break;
-	case 5: //iac1, o.e. -> o.e.*CONTROLLER_GAIN
-		if ( state == STATE_SHUTDOWN ) {
-			output = (unsigned short)(emerg.iac1*CONTROLLER_GAIN);
-		}
-		else {
-			output = (unsigned short)(out.iac1*CONTROLLER_GAIN);
-		}
-		break;
-	case 6: //iac2, o.e. -> o.e.*CONTROLLER_GAIN
-		if ( state == STATE_SHUTDOWN ) {
-			output = (unsigned short)(emerg.iac2*CONTROLLER_GAIN);
-		}
-		else {
-			output = (unsigned short)(out.iac2*CONTROLLER_GAIN);
-		}
-		break;
-	case 7: //me, o.e. -> (o.e. + CONTROLLER_BIAS)*CONTROLLER_GAIN
-		if ( state == STATE_SHUTDOWN ) {
-			if ( emerg.me > CONTROLLER_BIAS )
-				output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else if ( emerg.me > -CONTROLLER_BIAS )
-				output = (unsigned short)((emerg.me + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else
-				output = 0;
-		}
-		else {
-			if ( out.me > CONTROLLER_BIAS )
-				output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else if ( out.me > -CONTROLLER_BIAS )
-				output = (unsigned short)((out.me + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else
-				output = 0;
-		}
-		break;
-	case 8: //nm, o.e. -> (o.e. + CONTROLLER_BIAS)*CONTROLLER_GAIN
-		if ( state == STATE_SHUTDOWN ) {
-			if ( emerg.wm > CONTROLLER_BIAS )
-				output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else if ( emerg.wm > -CONTROLLER_BIAS )
-				output = (unsigned short)((emerg.wm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else
-				output = 0;
-		}
-		else {
-			if ( out.wm > CONTROLLER_BIAS )
-				output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else if ( out.wm > -CONTROLLER_BIAS )
-				output = (unsigned short)((out.wm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else
-				output = 0;
-		}
-		break;
-	case 9: //pm, o.e. -> (o.e. + CONTROLLER_BIAS)*CONTROLLER_GAIN
-		if ( state == STATE_SHUTDOWN ) {
-			if ( emerg.pm > CONTROLLER_BIAS )
-				output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else if ( emerg.pm > -CONTROLLER_BIAS )
-				output = (unsigned short)((emerg.pm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else
-				output = 0;
-		}
-		else {
-			if ( out.pm > CONTROLLER_BIAS )
-				output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else if ( out.pm > -CONTROLLER_BIAS )
-				output = (unsigned short)((out.pm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
-			else
-				output = 0;
-		}
-		break;
-	case 10: //compound
-		output = faultNo + (inuWork<<7);
-		break;
-	default:
-		output = param[num];
-		break;
-	} //switch ( num )
-	return output;
-} //unsigned short output_param(unsigned short num)
diff --git a/Inu/param.h b/Inu/param.h
deleted file mode 100644
index 9dc480e..0000000
--- a/Inu/param.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#ifndef PARAM
-#define PARAM
-
-// Переменные, которые определены в param.c (begin)
-//#########################################################################
-unsigned short param[PAR_NUMBER];
-//#########################################################################
-// Переменные, которые определены в param.c (end)
-
-
-
-
-// Переменные, которые объявлены в param.c (begin)
-//#########################################################################
-extern volatile short state;
-extern volatile short faultNo;
-extern short onceFaultReset;
-extern struct SgmPar sgmPar;
-extern struct Offset offset;
-extern float Kudc;
-extern float Kwm;
-extern short testParamFaultNo;
-extern float IzLim;
-extern float Kme;
-extern struct Protect protect;
-extern float KmeCorr;
-extern volatile struct Out out;
-extern volatile struct Emerg emerg;
-extern struct Rf rf;
-extern struct Rs rs;
-extern struct Rp rp;
-extern struct Cf cf;
-extern struct Csp csp;
-extern struct Cc cc;
-// для передачи на ВУ
-extern volatile short inuWork;
-// для работы с EEPROM
-extern struct Eprom eprom;
-//#########################################################################
-// Переменные, которые объявлены в param.c (end)
-#endif //PARAM
diff --git a/inu_im_2wnd_3lvl.slx b/inu_im_2wnd_3lvl.slx
index a4592ef..38a1ae1 100644
Binary files a/inu_im_2wnd_3lvl.slx and b/inu_im_2wnd_3lvl.slx differ
diff --git a/run_mex.bat b/run_mex.bat
index 16545dc..fd9494e 100644
--- a/run_mex.bat
+++ b/run_mex.bat
@@ -22,6 +22,7 @@ set params_o=-outdir "."
 
 set params_wrapper_c=.\Inu\controller.c^
  .\Inu\Src\main_matlab\init28335.c^
+ .\Inu\Src\main_matlab\param.c^
  .\Inu\Src\main_matlab\main_matlab.c^
  .\Inu\Src\main_matlab\IQmathLib_matlab.c
 
@@ -52,6 +53,9 @@ set params_libs_c=.\Inu\Src\N12_Libs\mathlib.c^
  .\Inu\Src\main\limit_power.c^
  .\Inu\Src\main\limit_lib.c^
  .\Inu\Src\main\pll_tools.c^
+ .\Inu\Src\main\calc_rms_vals.c^
+ .\Inu\Src\main\alg_simple_scalar.c^
+ .\Inu\Src\main\control_station_project.c^
  .\Inu\Src\main\ramp_zadanie_tools.c
 
 set params_obj=..\device_support_ml\source\C28x_FPU_FastRTS.obj ..\device_support_ml\source\DSP2833x_GlobalVariableDefs.obj