diff --git a/Core/Advance_Control/FBKW.c b/Core/Advance_Control/FBKW.c
index 27713a6..90a0dc4 100644
--- a/Core/Advance_Control/FBKW.c
+++ b/Core/Advance_Control/FBKW.c
@@ -134,8 +134,6 @@ void FBKW_init(void) {
     fbkw_getters.ctx            = NULL;
 
     pwm_init(&fbkw_rt, &pwm_cal_rom, &pwm_flash_rom, &fbkw_getters);
-    fbkw_rt.setpoint_offset = (int16_t)0xFD66;
-
 }
 
 void FBKW_service(void) {
diff --git a/Core/Advance_Control/cal_tables_rom.c b/Core/Advance_Control/cal_tables_rom.c
index e401f67..5a94bb7 100644
--- a/Core/Advance_Control/cal_tables_rom.c
+++ b/Core/Advance_Control/cal_tables_rom.c
@@ -3,13 +3,13 @@
  * @brief ROM-extracted calibration data for the VP44 PWM controller (compact).
  *
  * AUTO-GENERATED by tools/extract_calibration.py
- * Source ROM: rom_eeprom_dump_004002_0x0000-40960.bin
+ * Source ROM: rom_eeprom_dump_0000-9FFF_004002.bin
  * Calibration base (RWA4): 0x9C28
  * Flash anchor: 0x9618
- * Generated: 2026-04-17 22:03:12
+ * Generated: 2026-04-18 13:52:55
  *
  * DO NOT EDIT — regenerate with:
- *   python tools/extract_calibration.py rom_eeprom_dump_004002_0x0000-40960.bin --target compact
+ *   python tools/extract_calibration.py rom_eeprom_dump_0000-9FFF_004002.bin --target compact
  */
 #include "cal_tables_rom.h"
 
@@ -119,6 +119,11 @@ const pwm_calibration_t pwm_cal_rom = {
     .closed_loop_gain_const    = 4,        /* CAL+0x0156 */
     .error_persist_init_count  = 100,        /* CAL+0x0108 */
     .recovery_rpm_threshold    = 4194,        /* CAL+0x011A */
+
+    /* Setpoint offset latched at init by FUN_8643 (0x867d):
+     *   CAL[0x52]=2167 - CAL[0x54]=2833 = -666
+     * (RAM[0x0430] always 0, so omitted). */
+    .setpoint_offset           = (int16_t)0xFD66,        /* CAL+0x0052 - CAL+0x0054 */
 };
 
 /* ── ROM-extracted flash tables (rebased from FLASH:xxxx) ───────────── */
diff --git a/Core/Advance_Control/cal_tables_rom.h b/Core/Advance_Control/cal_tables_rom.h
index 340798a..c3bf61a 100644
--- a/Core/Advance_Control/cal_tables_rom.h
+++ b/Core/Advance_Control/cal_tables_rom.h
@@ -3,11 +3,11 @@
  * @brief Extern declarations for ROM-extracted calibration data (compact).
  *
  * AUTO-GENERATED by tools/extract_calibration.py
- * Source ROM: rom_dump_0000-9FFF.bin
+ * Source ROM: rom_eeprom_dump_0000-9FFF_004002.bin
  * Calibration base (RWA4): 0x9C28
  *
  * DO NOT EDIT — regenerate with:
- *   python tools/extract_calibration.py rom_dump_0000-9FFF.bin --target compact
+ *   python tools/extract_calibration.py rom_eeprom_dump_0000-9FFF_004002.bin --target compact
  */
 #ifndef CAL_TABLES_ROM_H
 #define CAL_TABLES_ROM_H
diff --git a/Core/Advance_Control/pwm.c b/Core/Advance_Control/pwm.c
index a3cba5a..7d36c8c 100644
--- a/Core/Advance_Control/pwm.c
+++ b/Core/Advance_Control/pwm.c
@@ -63,6 +63,7 @@ static void apply_calibration(pwm_runtime_t *rt, const pwm_calibration_t *c)
     rt->upper_integrator_gain   = c->pi_upper_integrator_gain;
     rt->center_integrator_gain  = c->pi_center_integrator_gain;
     rt->lower_integrator_gain   = c->pi_lower_integrator_gain;
+    rt->setpoint_offset         = c->setpoint_offset;
 }
 
 void pwm_init(pwm_runtime_t *rt,
@@ -139,14 +140,11 @@ static void setpoint_compute(pwm_runtime_t *rt, const pwm_calibration_t *cal)
     rt->compensation_angle = (int16_t)(rt->compensation_angle +
         s_combine(cal->y_pair[2], &rt->setpoint_slot_x, &rt->setpoint_slot_y));
 
-    //comp angle is 02b6
-
-
     int16_t sum  = (int16_t)(rt->inputs.b_fb_kw + rt->compensation_angle);
     int16_t half = shra16(sum, 1);  /* SHRA — signed halve */
-    rt->pre_offset_target = half;  //this is 012a
+    rt->pre_offset_target = half;
 
-    int16_t t = (int16_t)(half + rt->setpoint_offset); // offset is 0150
+    int16_t t = (int16_t)(half + rt->setpoint_offset);
     if (t < cal->target_minimum) t = cal->target_minimum;
     rt->target = t;
 }
@@ -518,6 +516,7 @@ const pwm_calibration_t pwm_cal_default = {
     .pi_upper_integrator_gain  = 1024,
     .pi_center_integrator_gain = 1024,
     .pi_lower_integrator_gain  = 2048,
+    .setpoint_offset           = 0,    /* CAL+0x52 - CAL+0x54 — populated from ROM */
 };
 
 const pwm_flash_t pwm_flash_default = {
diff --git a/Core/Advance_Control/pwm.h b/Core/Advance_Control/pwm.h
index 4cd26bb..0cc2d6f 100644
--- a/Core/Advance_Control/pwm.h
+++ b/Core/Advance_Control/pwm.h
@@ -202,6 +202,12 @@ struct pwm_calibration {
     /* fast_recovery tuning */
     int16_t error_persist_init_count;       /* CAL+0x0108 */
     int16_t recovery_rpm_threshold;         /* CAL+0x011A */
+
+    /* Setpoint offset latched once at init by FUN_8643 (0x867d):
+     *   RAM[0x0150] = CAL[0x52] - (CAL[0x54] + RAM[0x0430])
+     * RAM[0x0430] is observed as always 0 at runtime, so the effective
+     * constant is CAL[0x52] - CAL[0x54]. */
+    int16_t setpoint_offset;                /* CAL+0x0052 - CAL+0x0054 (RAM 0x0150) */
 };
 
 /* ── Flash-resident tables ──────────────────────────────────────────── */