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almera done, dynamic tested ckp reading, pid control, open loop, and phiad sweep with minimal error, testing in car required

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LucianoDev
2026-05-06 18:39:37 +02:00
parent 6d09ee3d79
commit bf0254f854
12 changed files with 1034 additions and 858 deletions
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2
Core/Advance_Control/FBKW.c
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@@ -157,7 +157,7 @@ void FBKW_service(void) {
fbkw_rt.system_flags_110 &= ~0x20u; // clear ONLY bit 5 (OL gate). Leave other bits alone.
#if defined(T06211)
fbkw_rt.pi_open_loop_flag = 0x00; //0x2000
//fbkw_rt.pi_open_loop_flag = 0x00; //0x2000
#endif
}
}

207
Core/Advance_Control/cal_tables_rom.c
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@@ -1,58 +1,47 @@
/**
* @file cal_tables_rom.c (families/T06215/compact_src)
* @brief ROM-decoded T06215 calibration.
* @file cal_tables_rom.c (variant/t06211/compact_src)
* @brief ROM-decoded t06211 calibration.
*
* Source ROM: 424026.bin (Bosch P/N 167002X9001494060200)
* Calibration base: RWA4 = 0x9BD8
* Flash anchor: 0x9618
* Generated: 2026-04-29 (hand-extracted via Ghidra MCP + ROM readback)
* AUTO-GENERATED by tools/extract_calibration.py
* Source ROM: rom_eeprom_dump_0000-9FFF_504012.bin
* Calibration base (RWA4): 0x9BD8
* Flash anchor: 0x7E18
* Generated: 2026-05-05 10:31:48
*
* Field name → ROM-address binding lives in pwm_addr_map.h. Boot-derived
* values that previously lived as hard-coded literals in pwm.c's
* runtime_reset are now in `init_*` fields here so each variant carries
* its own values without code edits.
*
* Cal-offset deltas vs t06211:
* - PI body thresholds (0x10E, 0x110, 0x116) — same offsets.
* - target/pi clamps (-512) live at cal+0x128 / cal+0x12A in T06215
* (vs t06211's cal+0x120 / cal+0x122).
* - pwm_y_table_ptr at cal+0x15C; shape_y_table_ptr at cal+0x166.
* - PWM RPM-window block 0xEE..0x104 — UNCHANGED offsets.
* - setpoint_offset = cal+0x4c - cal+0x4e = 3499 - 4147 = -648.
* - s_recovery RPM gate at cal+0x126 (t06211 used cal+0x11E).
* DO NOT EDIT — regenerate with:
* python tools/extract_calibration.py --variant t06211
*/
#include "pwm.h"
/* ── Submap x/y arrays ──────────────────────────────────────────────── */
static const int16_t setpoint_x[6] = { 8389, 5872, 3775, 2726, 1426, 0 };
static const int16_t setpoint_y[6] = { 1707, 1707, 1195, 768, 427, 427 };
static const int16_t setpoint_x[6] = { 8389, 5872, 4614, 2726, 1426, 0 };
static const int16_t setpoint_y[6] = { 1707, 1707, 1707, 939, 427, 427 };
static const int16_t pwm_A_x[9] = { 25166, 18455, 13841, 8389, 5872, 3775, 2726, 1426, 0 };
static const int16_t pwm_A_y[9] = { 1707, 1365, 1195, 768, 427, 85, 0, -171, -469 };
static const int16_t pwm_A_x[9] = { 25166, 18455, 13841, 8389, 5872, 4614, 2726, 1426, 0 };
static const int16_t pwm_A_y[9] = { 1707, 1365, 1195, 768, 427, 85, 0, -171, -469 };
static const int16_t pwm_B_x[10] = { 1707, 1365, 1195, 768, 427, 85, 0, -171, -469, -512 };
static const int16_t pwm_B_y[10] = { 819, 737, 492, 0, 41, 49, 82, 102, 205, 205 };
static const int16_t pwm_B_y[10] = { 819, 737, 492, 0, 41, 49, 82, 102, 205, 205 };
static const int16_t shape_x[4] = { 819, 737, 492, 0 };
static const int16_t shape_y[4] = { 41, 49, 82, 102 };
static const int16_t shape_y[4] = { 41, 49, 82, 102 };
/* ── Y-tables ────────────────────────────────────────────────────────── */
/* ── Y-tables (dereferenced from pwm_y_table_ptr / shape_y_table_ptr) ── */
static const int16_t shape_y_table_rom[4] = { 41, 49, 82, 102 };
/* PWM bilinear Y-table at flash 0x9E30 — 10 rows × 9 cols (90 entries). */
static const int16_t pwm_y_table_rom[90] = {
/* row 0 */ 205, 205, 205, 205, 205, 205, 205, 205, 0,
/* row 1 */ 1568, 1433, 1355, 1065, 799, 205, 205, 205, 0,
/* row 2 */ 1716, 1679, 1556, 1290, 983, 205, 205, 205, 0,
/* row 3 */ 2219, 2129, 2052, 1925, 1679, 880, 205, 205, 0,
/* row 4 */ 2744, 2580, 2518, 2477, 2355, 1740, 1310, 205, 0,
/* row 5 */ 3210, 3071, 3030, 3194, 3194, 3018, 2867, 737, 205,
/* row 6 */ 3702, 3493, 3403, 3583, 3583, 3493, 3071, 1192, 483,
/* row 7 */ 3890, 3890, 3890, 3890, 3890, 3890, 3890, 2076, 1229,
/* row 0 */ 205, 205, 205, 205, 205, 205, 0, 0, 0,
/* row 1 */ 1638, 1392, 1229, 962, 778, 512, 0, 0, 0,
/* row 2 */ 1843, 1577, 1433, 1208, 1003, 758, 0, 0, 0,
/* row 3 */ 2457, 2109, 1986, 1761, 1577, 1229, 287, 0, 0,
/* row 4 */ 2867, 2744, 2641, 2457, 2314, 2129, 1269, 205, 205,
/* row 5 */ 3686, 3481, 3460, 3378, 3276, 3174, 2907, 1024, 737,
/* row 6 */ 3890, 3870, 3849, 3829, 3808, 3788, 3235, 1310, 1024,
/* row 7 */ 3890, 3890, 3890, 3890, 3890, 3890, 3890, 2076, 1638,
/* row 8 */ 3890, 3890, 3890, 3890, 3890, 3890, 3890, 3890, 3481,
/* row 9 */ 3890, 3890, 3890, 3890, 3890, 3890, 3890, 3890, 4095,
/* row 9 */ 3890, 3890, 3890, 3890, 3890, 3890, 3890, 3890, 3890,
};
/* ── Descriptors ────────────────────────────────────────────────────── */
@@ -80,96 +69,96 @@ const int16_t *pwm_submap_y_of(uint16_t idx)
{
switch (idx) {
case PWM_SUBMAP_SETPOINT_INTERP: return setpoint_y;
case PWM_SUBMAP_PWM_A: return pwm_A_y;
case PWM_SUBMAP_PWM_B: return pwm_B_y;
case PWM_SUBMAP_SHAPE_EVAL: return shape_y;
default: return NULL;
case PWM_SUBMAP_PWM_A: return pwm_A_y;
case PWM_SUBMAP_PWM_B: return pwm_B_y;
case PWM_SUBMAP_SHAPE_EVAL: return shape_y;
default: return NULL;
}
}
/* ── Scalars ────────────────────────────────────────────────────────── */
const pwm_calibration_t pwm_cal_rom = {
/* PI controller error-band thresholds */
.large_pos_error_thresh = 128, /* cal+0x10E */
.large_neg_error_thresh = (int16_t)0xFF00, /* cal+0x110 = -256 */
.pi_low_clamp = (int16_t)0xFE00, /* cal+0x128 = -512 */
.pi_high_clamp = 1707, /* fallback; runtime uses pi_high_clamp_ceiling */
.large_pos_error_thresh = 128, /* cal+0x10E */
.large_neg_error_thresh = (int16_t)0xFF00, /* cal+0x110 */
.pi_low_clamp = (int16_t)0xFE00, /* cal+0x120 */
.pi_high_clamp = 1707, /* cal+0x124 */
/* CAN-decoded setpoint cal constants */
.b_fb_kw_upper_bound = 7680, /* cal+0x004 */
.b_fb_kw_lower_bound = (int16_t)0xFD00, /* cal+0x006 */
.setpoint_offset = -648, /* cal+0x4c − cal+0x4e */
.target_5e_min_clamp = (int16_t)0xFE00, /* cal+0x12A */
.can_aux_12e_max = 1451, /* cal+0x002 */
/* CAN-decoded setpoint (FUN_64c3) cal constants */
.b_fb_kw_upper_bound = 7680, /* cal+0x004 */
.b_fb_kw_lower_bound = (int16_t)0xFD00, /* cal+0x006 */
/* setpoint_offset = cal+0x4c - cal+0x4e = 3499 - 4156 = -657 */
.setpoint_offset = (int16_t)0xFD6F,
.target_5e_min_clamp = (int16_t)0xFE00, /* cal+0x122 */
.can_aux_12e_max = 1451, /* cal+0x002 */
/* CKP-zero acquisition — values re-extracted from this ROM
* (RWA4=0x9BD8); cal slot offsets differ from T06235 (T06215 has
* cal+0x4E/0x50/0xA0 vs T06235 cal+0x50/0x52/0xA2). */
.ckp_zero_anchor = 4147, /* cal+0x04E @ 0x9C26 = 0x1033 */
.can_dckp_offset_bias = -427, /* cal+0x050 @ 0x9C28 = 0xFE55 */
.ckp_modulus = 7680, /* cal+0x0A0 @ 0x9C78 = 0x1E00 (90°) */
/* CKP-zero acquisition (FUN_6b67 chain) — values re-extracted from
* rom_eeprom_dump_0000-9FFF_504012.bin (RWA4=0x9BD8). */
.ckp_zero_anchor = 4156, /* cal+0x04E @ 0x9C26 = 0x103C */
.can_dckp_offset_bias = -427, /* cal+0x050 @ 0x9C28 = 0xFE55 */
.ckp_modulus = 7680, /* cal+0x0A0 @ 0x9C78 = 0x1E00 (90°) */
/* CKP process-tooth derivation (FUN_7293 — feeds get_ckp_process_tooth()).
* Read direct from 424026.bin at RWA4=0x9BD8 + offset; default-family
* analogs are at cal+0x120/0x0A3/0x0A4. */
.ckp_advance_per_tick = 1707, /* cal+0x12C @ 0x9D04 = 0x06AB (= 20° per tick;
* t06211 cal+0x124, T06235 cal+0x140, default cal+0x120 = 1536 = 18°) */
.ckp_seg_wrap_threshold = 29, /* cal+0x09D @ 0x9C75 (default cal+0x0A3) */
.ckp_teeth_per_seg = 26, /* cal+0x09E @ 0x9C76 (default cal+0x0A4; same value across all variants) */
/* CKP process-tooth derivation (FUN_6d4a @ 0x6d4a). cal+0x124 is
* aliased with pi_high_clamp — same value (1707) used by both. */
.ckp_advance_per_tick = 1707, /* cal+0x124 @ 0x9CFC = 0x06AB (= 20° per tick;
* matches T06215 cal+0x12C semantically). */
.ckp_seg_wrap_threshold = 29, /* cal+0x09D @ 0x9C75 (byte) */
.ckp_teeth_per_seg = 26, /* cal+0x09E @ 0x9C76 (byte; same value across all variants) */
/* Recovery / sustained-error machinery */
.pi_state_c2_reload = 100, /* cal+0x114 (ROM 0x9CEC = 0x0064) */
.inj_qty_thresh = 96, /* cal+0x116 (ROM 0x9CEE = 0x0060) */
.pi_sat_count_threshold = 800, /* cal+0x112 (ROM 0x9CEA = 0x0320) */
.rpm_threshold_recovery = 2936, /* cal+0x126 (ROM 0x9CFE = 0x0B78) — was wrong (256, t06211 holdover) */
.pi_cl_rpm_floor = 420, /* flash[0x605C] = 0x01A4 */
.error_thresh_114 = 100, /* cal+0x114 */
.pi_thresh_116 = 96, /* cal+0x116 */
.pi_sat_count_threshold = 800, /* cal+0x112 = 0x0320 */
.rpm_threshold_11E = 2936, /* cal+0x11E */
.pi_cl_rpm_floor = 420, /* RAM[0x605c] = 0x01A4 (flash mirror) */
/* PI runtime-reset values (ROM-extracted from t06215 cal block at
* RWA4=0x9BD8 + offset). Boot multipliers DAT_0410..0416 are
* uninitialized RAM (no writers anywhere in ROM), so they default
* to 0 — the boot equation `(trim_byte << N) + cal_value` resolves
* to cal_value. Earlier defaults of ±853 / 480 / etc. were t06211
* holdovers from the original fork; corrected 2026-04-29 against
* the actual t06215 ROM bytes. */
.init_p_shape_bound_pos = +107, /* cal+0x10A (ROM 0x9CE2 = 0x006B) → DAT_0450 */
.init_p_shape_bound_neg = -107, /* cal+0x10C (ROM 0x9CE4 = 0xFF95) → DAT_0452 */
.init_p_gain_normal = +336, /* cal+0x118 (ROM 0x9CF0 = 0x0150) → DAT_0454 */
.init_p_slope_large_pos = +1792, /* cal+0x11A (ROM 0x9CF2 = 0x0700) → DAT_027e */
.init_p_slope_large_neg = +512, /* cal+0x11C (ROM 0x9CF4 = 0x0200) → DAT_0280 */
.init_integ_step_normal = +256, /* cal+0x11E (ROM 0x9CF6 = 0x0100) → DAT_0456 */
.init_integ_step_large_pos = +512, /* cal+0x120 (ROM 0x9CF8 = 0x0200) → DAT_0282 */
.init_integ_step_large_neg = +256, /* cal+0x122 (ROM 0x9CFA = 0x0100) → DAT_0284 */
.init_open_loop_p_gain = +6, /* cal+0x124 (ROM 0x9CFC = 0x06, byte, clamped to 15) → DAT_033e */
.pwm_detail_x0 = (int16_t)0x9C40, /* cal+0x0EE */
.pwm_detail_x1 = (int16_t)0x8235, /* cal+0x0F0 */
.pwm_cached_ptr_0F2 = 5662, /* cal+0x0F2 (legacy scalar) */
.pwm_cached_ptr_102 = 168, /* cal+0x102 (legacy scalar) */
/* CL correction normalizers — boot-cached at DAT_0340/DAT_0342 in
* the ROM (NOT 0x0332/0x0334 — that was a t06211 holdover). Source
* cal offsets are 0x108 (pos) and 0x106 (neg); both equal 350 in
* this ROM. */
.init_pos_error_normalizer = 350, /* cal+0x108 (ROM 0x9CE0 = 0x015E) → DAT_0340 */
.init_neg_error_normalizer = 350, /* cal+0x106 (ROM 0x9CDE = 0x015E) → DAT_0342 */
/* PWM stage scalars */
.pwm_detail_x0 = (int16_t)0x9C40,
.pwm_detail_x1 = (int16_t)0x8235,
.pwm_cached_ptr_0F2 = 5662,
.pwm_cached_ptr_102 = 168,
.pwm_const_104 = 354,
.pwm_rpm_windows = { 5662, 6837, 8808, 10486, 11954, 13422, 18036, 19713 },
/* RPM-window matching: inline 8-int16 band array at cal+0x0F2..0x100
* (4 (lo,hi) pairs) plus halfwidth at cal+0x102. Drives the three-
* phase pwm_period slew in FUN_5314 (open-questions §5 closeout). */
.pwm_rpm_windows = { 5662, 6795, 8808, 10486, 11954, 13422, 18036, 19713 },
.pwm_window_halfwidth = 168,
.pwm_slew_step = 354,
.pwm_y_table = pwm_y_table_rom,
.shape_y_table = shape_y_table_rom,
/* pwm_const_104 / pwm_slew_step are the same value (cal+0x104 = 354);
* pwm_const_104 retained for backward compat, pwm_slew_step is the
* semantic name used by the RPM-window matcher (per-cycle pwm_period
* slew magnitude, applied at Phase 1 / Phase 3). Cached to
* RAM[0x02ec] at FUN_5314:0x53b9. */
.pwm_const_104 = 354, /* cal+0x104 (legacy alias) */
.pwm_slew_step = 354, /* cal+0x104 (semantic) */
.closed_loop_gain_const = 10,
.pwm_y_table = pwm_y_table_rom, /* cal+0x154 @ 0x9E28 */
.shape_y_table = shape_y_table_rom, /* cal+0x15E @ 0x9E20 */
.pwm_period_min = 33333,
.pwm_period_max = 40000,
/* CL-correction gain — cached at absolute ROM[0x6056], not cal-relative. */
.closed_loop_gain_const = 10, /* ROM[0x6056] */
.pwm_min = 0x00CD,
.pwm_max = 0x0F32,
/* PI runtime-reset values — boot-derived in ROM (FUN_76aa @ 0x76aa).
* Trim bytes at RAM[0x0410-0x0416] have no writers so each cal base
* passes through verbatim. Field shape mirrors T06215's
* pwm_calibration_t for cross-family consistency. */
.init_p_shape_bound_pos = 853, /* cal+0x10A */
.init_p_shape_bound_neg = (int16_t)0xFCAB, /* cal+0x10C */
.init_p_gain_normal = 480, /* cal+0x118 */
.init_integ_step_normal = 256, /* cal+0x11A */
.init_open_loop_p_gain = 6, /* cal+0x11C low byte (clamped <=15) */
.init_pos_error_normalizer = 350, /* cal+0x108 */
.init_neg_error_normalizer = 350, /* cal+0x106 */
/* PWM period endpoints (alias of pwm_detail_x0/x1) as unsigned. */
.pwm_period_min = 33333, /* cal+0x0F0 */
.pwm_period_max = 40000, /* cal+0x0EE */
/* Duty clamp bounds — RAM[0x6058]/RAM[0x605a] flash mirrors with the
* same defaults as the default family's pwm_min/pwm_max. */
.pwm_min = 0x00CD, /* RAM[0x6058] = 205 */
.pwm_max = 0x0F32, /* RAM[0x605a] = 3890 */
};
/* Family-1 API parity placeholder — t06211 keeps Y-tables inside
* pwm_cal_rom, so pwm_flash_rom has no data. Callers pass &pwm_flash_rom
* to pwm_init() purely for signature compatibility. */
const pwm_flash_t pwm_flash_rom = { 0 };

4
Core/Advance_Control/cal_tables_rom.h
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@@ -1,6 +1,6 @@
/**
* @file cal_tables_rom.h (families/T06215/compact_src)
* @brief Extern decls for the ROM-decoded T06215 calibration.
* @file cal_tables_rom.h (families/t06211/compact_src)
* @brief Extern decls for the ROM-decoded t06211 calibration.
* All declarations live in pwm.h; this file just re-exports the enum
* and array symbols for the compact_src/pwm.c translation unit.
*/

50
Core/Advance_Control/ckp_acquisition.h
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@@ -1,54 +1,44 @@
/*
* ckp_acquisition.h (variant/T06215/compact_src)
* ckp_acquisition.h (variant/t06211/compact_src)
*
* CKP-zero acquisition chain for T06215. Mirrors ROM
* FUN_624a-class Stage-1 caller @ 0x6330 (LCALL FUN_70d8) → FUN_70d8 @ 0x70d8.
*
* Body copied verbatim from variant/T06235 per the pillar-port copy gate
* (docs/pillar-functions.md). Only cal-field bindings change.
*
* See docs/algorithm-ckp-zero-acquisition.md for the data-flow summary.
* CKP-zero acquisition chain for t06211. Mirrors ROM Stage-1 caller @
* 0x65c7 (LCALL FUN_6b67) → FUN_6b67 @ 0x6b67. Body verbatim from T06235;
* cal-field bindings differ — see pwm_addr_map / cal_offsets.py.
*/
#ifndef PWM_T06215_CKP_ACQUISITION_H
#define PWM_T06215_CKP_ACQUISITION_H
#ifndef PWM_T06211_CKP_ACQUISITION_H
#define PWM_T06211_CKP_ACQUISITION_H
#include <stdint.h>
/* Inputs */
extern int16_t B_CKP_OFFSET; /* RW134 / DAT_0134 — CAN raw input */
extern uint8_t commitCKP_offset; /* unused for now (commit gate hook) */
extern int16_t B_CKP_OFFSET;
extern uint8_t commitCKP_offset;
/* Internal RAM trims (DAT_0430 word, DAT_0404 signed byte). No runtime
* writer was found in this ROM/car; sit at 0 unless a future step wires
* them up. Exposed for diagnostic poking. */
extern int16_t CKP_RAM_TRIM_0430;
extern int8_t CKP_RAM_TRIM_0404;
/* Outputs */
extern int16_t dCKP_OFFSET; /* DAT_0434 — output of Stage 1 */
extern int16_t CKP_ZERO_OFFSET; /* DAT_0152 — output of Stage 2 (FUN_70d8) */
extern int16_t dCKP_OFFSET; /* DAT_0434 */
extern int16_t CKP_ZERO_OFFSET; /* DAT_0152 */
int16_t get_ckp_zero(void);
/* Get the next process-tooth index — mirrors the byte stored to R90
* in ROM FUN_7293 @ 0x7293 (analog of default-family FUN_87ea @ 0x87ea).
*
* The ROM routine advances the CKP zero-crossing accumulator by a fixed
* per-tick angular increment, then renormalizes the high byte (segment-
* tooth view) into the valid tooth range with two wrap branches:
* in ROM FUN_6d4a @ 0x6d4a (analog of T06215 FUN_7293 / default
* FUN_87ea). Same body shape as T06215; the only difference is the
* cal slot for `ckp_advance_per_tick` (cal+0x124 in t06211 vs cal+0x12C
* in T06215). cal+0x124 is **aliased** with pi_high_clamp — same flash
* word, value 1707, used both as the PI Block-4 ceiling and the
* per-tick CKP angular advance.
*
* advanced = CKP_ZERO_OFFSET + ckp_advance_per_tick (16-bit ADD)
* tooth = (advanced >> 8) + 1 (byte INC of high)
* if (tooth > ckp_seg_wrap_threshold) (T06215: 29)
* if (tooth > ckp_seg_wrap_threshold) (t06211: 29)
* tooth -= (ckp_modulus >> 8) (= 30 — angular wrap)
* else if (tooth > ckp_teeth_per_seg) (T06215: 26)
* else if (tooth > ckp_teeth_per_seg) (t06211: 26)
* tooth = 0 (hard reset)
* return tooth;
*
* No side-effects on CKP_ZERO_OFFSET or dCKP_OFFSET — the ROM SUB on
* RW1C is local to the function frame; only the byte (R90) escapes via
* the store at 0x72d1.
* No side-effects on CKP_ZERO_OFFSET or dCKP_OFFSET.
*/
uint8_t get_ckp_process_tooth(void);
#endif /* PWM_T06215_CKP_ACQUISITION_H */
#endif /* PWM_T06211_CKP_ACQUISITION_H */

577
Core/Advance_Control/pwm.c
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@@ -1,24 +1,22 @@
/**
* @file pwm.c (families/T06215/compact_src)
* @brief Compact single-file implementation of the T06215 PWM control
* pipeline.
* @file pwm.c (families/t06211/compact_src)
* @brief Compact single-file implementation of the t06211 PWM control
* pipeline. Merges the 10 per-module files from
* families/t06211/src/ into one translation unit.
*
* Pipeline (pwm_service @ 0x7780):
* 0. setpoint interp (FUN_7051) — writes pi_high_clamp_ceiling (DAT_0344)
* 1. supervisor (s_supervisor) — reset + counter + error + clamp
* 2. publish_cl (s_publish_cl) — calls cl_correction, publishes est_angle
* 3. pi_update (s_pi_update @ 0x542f) — open/closed-loop PI body
* 4. pwm_output (s_pwm_output) — eval+eval+combine+saturate+HW shadow
* Pipeline (t06211 FUN_77b3 @ 0x77b3):
* 1. setpoint (FUN_7168) — single-submap RPM-indexed interp
* 2. supervisor (FUN_7beb) — reset + counter + error + clamp
* 3. publish_cl (FUN_7cd8) — calls cl_correction, publishes est_angle
* 4. pi_controller (FUN_67c4) — open/closed-loop branch
* 5. pwm_output (FUN_5314) — eval+eval+combine+saturate+HW shadow
*
* The PI block (s_pi_update + s_recovery) was re-translated 1:1 from the
* t06215 disasm at 0x542f / 0x53a2 on 2026-04-29. Earlier versions of this
* file inherited a t06211-shaped body (separate s_pi_compensation /
* s_pi_integrator_step / pi_flag_338 / pi_flag_c7) whose cited addresses
* (0x67c4, 0x66ad, 0x672b, 0x7c85) do not exist in this binary.
* Per-block address citations follow the families/t06211/src/ per-module
* ports verbatim; see those files for expanded commentary.
*/
#include "pwm.h"
/* Forward decls. */
/* Forward decls for file-static helpers. */
static void s_eval_submap(const pwm_submap_descr_t *d,
pwm_interp_slot_t *slot);
static int16_t s_combine(const int16_t *y_base,
@@ -37,8 +35,6 @@ static void s_pi_update (pwm_runtime_t *rt,
const pwm_calibration_t *cal);
static void s_pwm_output (pwm_runtime_t *rt,
const pwm_calibration_t *cal);
static void s_recovery (pwm_runtime_t *rt,
const pwm_calibration_t *cal);
/* ═════════════════════════════════════════════════════════════════════
* Init / binding
@@ -47,21 +43,24 @@ static void s_recovery (pwm_runtime_t *rt,
static void apply_cal(pwm_runtime_t *rt,
const pwm_calibration_t *cal)
{
/* All boot-derived constants come from cal — no literals here. */
rt->setpoint_offset = cal->setpoint_offset;
/* All boot-derived constants come from cal — no literals here.
* Mirrors FUN_76aa @ 0x76aa, which copies cal+0x108/0x106 into
* RAM[0x0332]/[0x0334] (normalizers), cal+0x10A/0x10C into
* RAM[0x0450]/[0x0452] (P-shape bounds; trim bytes at RAM[0x414]/
* [0x416] have no writers in the ROM so the bases pass through),
* cal+0x118/0x11A into RAM[0x0454]/[0x0456] (P-gain + integ step;
* same trim-byte note for RAM[0x0410]/[0x0412]), and cal+0x11C
* (byte, clamped to 15) into RAM[0x0330]. */
rt->setpoint_offset = cal->setpoint_offset;
rt->p_shape_bound_pos = cal->init_p_shape_bound_pos;
rt->p_shape_bound_neg = cal->init_p_shape_bound_neg;
rt->p_gain_normal = cal->init_p_gain_normal;
rt->integ_step_normal = cal->init_integ_step_normal;
rt->p_slope_large_pos = cal->init_p_slope_large_pos;
rt->p_slope_large_neg = cal->init_p_slope_large_neg;
rt->integ_step_large_pos = cal->init_integ_step_large_pos;
rt->integ_step_large_neg = cal->init_integ_step_large_neg;
rt->open_loop_p_gain = cal->init_open_loop_p_gain;
rt->p_shape_bound_pos = cal->init_p_shape_bound_pos;
rt->p_shape_bound_neg = cal->init_p_shape_bound_neg;
rt->p_gain_normal = cal->init_p_gain_normal;
rt->integ_step_normal = cal->init_integ_step_normal;
rt->open_loop_p_gain = cal->init_open_loop_p_gain;
rt->pos_error_normalizer = cal->init_pos_error_normalizer;
rt->neg_error_normalizer = cal->init_neg_error_normalizer;
rt->pos_error_normalizer = cal->init_pos_error_normalizer;
rt->neg_error_normalizer = cal->init_neg_error_normalizer;
}
static void runtime_reset(pwm_runtime_t *rt)
@@ -74,7 +73,7 @@ void pwm_init(pwm_runtime_t *rt,
const pwm_flash_t *flash,
const pwm_input_getters_t *getters)
{
(void)flash;
(void)flash; /* family-1 API parity; t06211 keeps Y-tables in cal */
runtime_reset(rt);
rt->bound_cal = cal;
rt->bound_getters = getters;
@@ -88,18 +87,22 @@ static void read_inputs(pwm_runtime_t *rt)
void *ctx = g->ctx;
rt->inputs.ckp_in = g->ckp_in (ctx);
rt->inputs.rpm = g->rpm (ctx);
rt->inputs.angle_dec_cmd = g->angle_dec_cmd (ctx);
rt->inputs.angle_dec_cmd = g->angle_dec_cmd (ctx); /* accepted; unused */
rt->inputs.inj_qty_demand = g->inj_qty_demand(ctx);
rt->inputs.b_fb_kw = g->b_fb_kw (ctx);
rt->inputs.cl_gate_input = g->cl_gate_input (ctx);
rt->inputs.cl_gate_input = g->cl_gate_input (ctx);
rt->inputs.supply_voltage = g->supply_voltage(ctx);
rt->inputs.temperature = g->temperature (ctx);
rt->inputs.temperature = g->temperature (ctx); /* accepted; unused */
/* The b_fb_kw getter result drives the CAN-decoded setpoint chain
* (FUN_64c3). Mirrors the real ROM where RAM[0x12c] is written by
* the CAN parser before FUN_64c3 runs. */
rt->can_raw_b_fb_kw = rt->inputs.b_fb_kw;
}
/* ═════════════════════════════════════════════════════════════════════
* Interpolation (FUN_7168, fingerprint #3)
* Interpolation — FUN_7168 (0x7168-0x71d7), fingerprint #3
* Raw helper; also drives the setpoint stage via descriptor.
* ═════════════════════════════════════════════════════════════════════ */
int16_t pwm_interp_lookup(const int16_t *x, const int16_t *y,
@@ -118,11 +121,19 @@ int16_t pwm_interp_lookup(const int16_t *x, const int16_t *y,
int32_t prod = MUL_S16(num, dy);
int16_t quot = (int16_t)(prod / (int32_t)dx);
/* Disasm 0x71c5: ADD RW1C, -0x2[RW20]. After the disasm's pointer
* advance to the y[] half (0x71b2 ADD RW20, RW1E), RW20 points one
* past the breakpoint where the search settled, so -0x2[RW20] is
* y at that breakpoint — which is y[k] in C's k-naming (k = first
* index where in >= x[k] given descending x). Earlier this returned
* y[k-1], producing wrong-polarity setpoints (e.g. pi_high_clamp_ceiling
* = 1962 instead of 1195 at rpm=3355). */
return (int16_t)(quot + y[k]);
}
/* ═════════════════════════════════════════════════════════════════════
* Submap eval / bilinear combine / refine
* Submap eval / bilinear combine / refine — t06211 FUN_6fb8 / FUN_7035 /
* FUN_7014. Scratch layout matches the family-1 ROM convention.
* ═════════════════════════════════════════════════════════════════════ */
static void s_eval_submap(const pwm_submap_descr_t *d,
@@ -144,6 +155,7 @@ static void s_eval_submap(const pwm_submap_descr_t *d,
}
if (k == 1u && input >= d->x[0]) {
/* Upper-clamp sentinel [_, 2, 2, 2] */
slot->x_interval = 2;
slot->x_offset = 2;
slot->y_byte_off = 2;
@@ -199,6 +211,7 @@ static int16_t s_refine(const int16_t *y_base,
return (int16_t)(y_here + (int32_t)(diff / (int32_t)den));
}
/* Descriptor-driven wrapper used only by the setpoint stage. */
static int16_t s_interp_descr(const pwm_submap_descr_t *d,
const int16_t *y_array)
{
@@ -207,8 +220,7 @@ static int16_t s_interp_descr(const pwm_submap_descr_t *d,
}
/* ═════════════════════════════════════════════════════════════════════
* Stage 0 — Setpoint interp (pwm_service:0x7780 → FUN_7051(cal+0x142))
* Writes pi_high_clamp_ceiling (DAT_0344 in ROM).
* Stage 1 — Setpoint (FUN_77b3:77b3-77c7 + FUN_7168)
* ═════════════════════════════════════════════════════════════════════ */
static void s_setpoint(pwm_runtime_t *rt)
@@ -220,20 +232,29 @@ static void s_setpoint(pwm_runtime_t *rt)
}
/* ═════════════════════════════════════════════════════════════════════
* Stage 0b — CAN-decoded setpoint (FUN_64c3 family)
* Stage 1b — CAN-decoded setpoint (FUN_64c3 @ 0x64c3-0x650a)
* Real ROM call site: FUN_6192:0x61cc (CAN parser dispatcher).
* For the C model, invoked from pwm_service after read_inputs so the
* harness's per-cycle b_fb_kw value flows into target before PI runs.
* Skip the RE7 gate and error path (sim trusts caller).
* ═════════════════════════════════════════════════════════════════════ */
static void s_setpoint_can_decode(pwm_runtime_t *rt,
const pwm_calibration_t *cal)
{
int16_t raw = rt->can_raw_b_fb_kw;
/* [0x64ca-0x64d6] Bounds check */
if (raw > cal->b_fb_kw_upper_bound) return;
if (raw < cal->b_fb_kw_lower_bound) return;
/* [0x64dd] half = raw >> 1 (SHRA — sign-extending) */
int16_t half = shra16(raw, 1);
rt->can_half_12a = half;
/* [0x64e5-0x64ea] result = half + RAM[0x150] + RW42 */
int16_t result = (int16_t)(half + rt->setpoint_offset + rt->rw42_state);
/* [0x64ed-0x64f9] Lower clamp */
if (result < cal->target_5e_min_clamp) {
result = cal->target_5e_min_clamp;
}
@@ -241,57 +262,47 @@ static void s_setpoint_can_decode(pwm_runtime_t *rt,
}
/* ═════════════════════════════════════════════════════════════════════
* Stage 1 — Supervisor (s_supervisor @ 0x7d26)
*
* 1:1 re-translation 2026-04-29. Earlier port body was inherited from
* t06211 and used `compensation_angle` (no t06215 producer) and a
* `b_fb_kw_baseline` reset stash (no t06215 binding). The actual t06215
* supervisor adds the **PI P-term** (DAT_0276) and stashes the
* integrator high word into DAT_02ec on reset (a dead store, but kept
* here for parity).
*
* Disasm:
* 7d26 LDBZE pi_shape_flag-adjacent (R2E = reset_flag)
* 7d2b CMP #1 ; JNE LAB_7d4c
* ; --- reset path ---
* 7d31 reset_flag = 0
* 7d36 cl_enable_counter (DAT_02ee) = 0
* 7d3b supervisor_state (RW17E) = 0
* 7d40-7d45 DAT_02ec = pi_integ_hi (DAT_028a snapshot — dead store)
* 7d4a SJMP LAB_7d5b
* ; --- non-reset path ---
* LAB_7d4c LD RW1C, cl_enable_counter; RW1E = RW1C+1; ST cl_enable_counter
* ; --- common publish ---
* LAB_7d5b SUB RW1C, RW5E, ckp_in
* ADD RW1C, pi_p_term (DAT_0276)
* ST angle_error_raw (DAT_02f0), RW1C
* CMP RW1C, pi_high_clamp_ceiling (DAT_0344)
* JLE exit
* angle_error_raw = pi_high_clamp_ceiling
* Stage 2 — Supervisor (FUN_7beb @ 0x7beb-0x7c41)
* ═════════════════════════════════════════════════════════════════════ */
static void s_supervisor(pwm_runtime_t *rt)
{
/* Reset-flag branch (0x7beb-0x7c0c). Disasm:
* 7bf6 reset_flag = 0
* 7bfb cl_enable_counter (DAT_033c) = 0
* 7c00 supervisor_state (RW17E) = 0
* 7c05 LD RW1C, DAT_02b4 ; pi_integ_hi
* 7c0a ST RW1C, DAT_033a ; snapshot pi_integ_hi
* The DAT_033a store is a dead-store (no readers anywhere in the
* ROM); kept here for parity. The earlier port assigned
* rt->inputs.b_fb_kw to this slot — that was inherited from the
* family-1 idiom and is wrong for this variant. */
if (rt->reset_flag == 1u) {
rt->reset_flag = 0u;
rt->cl_enable_counter = 0u;
rt->supervisor_state = 0;
rt->pi_integ_hi_snapshot = rt->pi_integ_hi; /* dead-store parity */
rt->reset_flag = 0u;
rt->cl_enable_counter = 0u;
rt->supervisor_state = 0;
rt->pi_integ_hi_snapshot = rt->pi_integ_hi; /* dead-store parity */
} else {
/* Counter tick (0x7c11-0x7c1b) */
rt->cl_enable_counter = (uint16_t)(rt->cl_enable_counter + 1u);
}
/* Error compute (0x7c20-0x7c2b)
* Disasm: SUB RW1C, RW5E, DAT_02f8 — primary setpoint is target_5e. */
int16_t error = (int16_t)(rt->target_5e - rt->inputs.ckp_in);
error = (int16_t)(error + rt->pi_p_term);
rt->angle_error_raw = error;
/* Ceiling clamp (0x7c30-0x7c41)
* Disasm: CMP RW1C, DAT_0336 — clamp uses RPM-derived ceiling. */
if (error > rt->pi_high_clamp_ceiling) {
rt->angle_error_raw = rt->pi_high_clamp_ceiling;
}
}
/* ═════════════════════════════════════════════════════════════════════
* Stage 2a — Closed-loop correction
* Stage 3a — Closed-loop correction (FUN_5f1f @ 0x5f1f-0x5f66)
* Fingerprint #10 bit-for-bit match to family-1 algorithm.
* ═════════════════════════════════════════════════════════════════════ */
static void s_cl_correct(pwm_runtime_t *rt,
@@ -299,6 +310,7 @@ static void s_cl_correct(pwm_runtime_t *rt,
{
int16_t correction;
/* Gate on low byte of cl_enable_counter (0x5f1f-0x5f24). */
if ((rt->cl_enable_counter & 0xFFu) == 0u) {
correction = 0;
} else {
@@ -319,7 +331,7 @@ static void s_cl_correct(pwm_runtime_t *rt,
}
/* ═════════════════════════════════════════════════════════════════════
* Stage 2 — Publish CL
* Stage 3 — Publish CL (FUN_7cd8 @ 0x7cd8-0x7cea)
* ═════════════════════════════════════════════════════════════════════ */
static void s_publish_cl(pwm_runtime_t *rt,
@@ -330,119 +342,202 @@ static void s_publish_cl(pwm_runtime_t *rt,
}
/* ═════════════════════════════════════════════════════════════════════
* Stage 3 — PI controller
*
* 1:1 re-translation from t06215 disasm s_pi_update @ 0x542f and
* s_recovery @ 0x53a2 (live Ghidra session, 2026-04-29). Cross-reference:
* the trailing byte rotate at LAB_56e8 (56e8–5708) saves bits 4,5 of the
* current cycle into bits 6,7 for next cycle's s_recovery sustained-band
* detector.
* Stage 4 — PI controller (FUN_67c4 @ 0x67c4 + FUN_66a8 + FUN_672b)
* ═════════════════════════════════════════════════════════════════════ */
/* s_recovery @ 0x53a2.
*
* Disasm:
* 53a2 LDBZE RW1C, pi_shape_flag ; zero-extended into 16-bit
* 53a7 SHL RW1C, #2 ; <<2 (in 16-bit reg)
* 53aa LDBZE RW1E, pi_shape_flag
* 53af AND RW1C, RW1E ; (flag<<2) & flag
* 53b2 CMP RW1C, #0x30
* 53b6 JNH LAB_5421 ; <= 0x30 → "no sustained" path
* ; --- Sustained large-error detected (this+previous cycle bit4 or bit5) ---
* 53b8 LD RW1C, pi_state_118
* 53bd CMP RW1C, RAM[0x027a] ; RAM[0x027a] = cal+0x112 boot-cached
* 53c2 JNC LAB_53ea ; counter < threshold → gated-increment
* ; --- Latch path: counter saturated ---
* 53c4 system_flags_110 |= 1
* 53d1 pi_state_118 = 0
* 53e1 pi_state_c2 = cal[0x114] ; reload cooldown
* 53e9 RET
* LAB_53ea: ; counter still < threshold
* 53f5 CMP rpm, cal[0x126]
* 53f8 JLE LAB_542e (RET) ; rpm <= threshold → no increment
* 53fa-5407 if (system_flags_110 & 0x30) RET
* 540a if pi_state_c2 != 0 RET
* 5411 pi_state_118 += 1
* 5420 RET
* LAB_5421: ; no sustained large-error
* 5421 if (system_flags_110 & 1) RET ; latched → keep counter
* 5429 pi_state_118 = 0
* 542e RET
/* FUN_66a8 — saturation-latch recovery handler. Role-equivalent to the
* default family's `s_recovery` / `fast_recovery`; same name across
* variants for cross-family alignment. Disasm/source mapping (audit
* table — keep the cooldown gate and gated-increment branches in this
* exact order):
* 66ad-66b2 CMPB pi_shape_flag, pi_flag_c6 ; JNE LAB_671d
* 66b9-66be CMP pi_state_118, [0x02c0]=cal+0x112 ; JNC LAB_66e6
* JNC ⇒ counter < threshold ⇒ gated-increment
* fall-through ⇒ counter ≥ threshold ⇒ latch+reset
* 66c0-66e5 latch bit0 ; counter = 0 ; pi_state_c2 ← cal+0x114
* 66e6-66f4 CMP rpm, [cal+0x11E] ; JLE exit
* 66f6-6705 JBS bit4 / JBS bit5 — exit
* 6706-670b CMP ZR, pi_state_c2 ; JNE exit
* 670d-6717 pi_state_118 += 1
* 671d-6725 JBS bit0 exit ; pi_state_118 = 0
*/
static void s_recovery(pwm_runtime_t *rt,
const pwm_calibration_t *cal)
{
uint16_t flag_u16 = (uint16_t)rt->pi_shape_flag;
uint16_t fold = (uint16_t)((flag_u16 << 2) & flag_u16);
if (fold > 0x30u) {
/* Sustained large-error detected. */
if ((uint16_t)rt->pi_state_118 < (uint16_t)cal->pi_sat_count_threshold) {
/* Counter still below threshold — gated increment. */
if ((int16_t)rt->inputs.rpm <= cal->rpm_threshold_recovery) return;
if ((rt->system_flags_110 & 0x10u) != 0u) return;
if ((rt->system_flags_110 & 0x20u) != 0u) return;
if (rt->pi_state_c2 != 0) return;
rt->pi_state_118 = (int16_t)(rt->pi_state_118 + 1);
} else {
/* Saturated — latch + reset. */
rt->system_flags_110 = (uint8_t)(rt->system_flags_110 | 0x01u);
rt->pi_state_118 = 0;
rt->pi_state_c2 = cal->pi_state_c2_reload;
}
} else {
/* No sustained large-error this cycle. */
if (rt->pi_shape_flag != rt->pi_flag_c6) {
if ((rt->system_flags_110 & 0x01u) == 0u) {
rt->pi_state_118 = 0;
}
return;
}
/* Counter ≥ threshold → latch+reset. Threshold is boot-cached at
* RAM[0x02c0] from cal+0x112 by FUN_6b7b:0x6bd4. */
if ((uint16_t)rt->pi_state_118 >= (uint16_t)cal->pi_sat_count_threshold) {
rt->system_flags_110 = (uint8_t)(rt->system_flags_110 | 0x01u);
rt->pi_state_118 = 0;
rt->pi_state_c2 = cal->error_thresh_114;
return;
}
/* Gated increment: rpm > rpm_threshold_11E required. */
if ((int16_t)rt->inputs.rpm <= cal->rpm_threshold_11E) return;
/* Bits 4 or 5 of system_flags abort. */
if ((rt->system_flags_110 & 0x30u) != 0u) return;
/* c2 cooldown gate — counter advances only after c2 has decayed to 0. */
if (rt->pi_state_c2 != 0) return;
rt->pi_state_118 = (int16_t)(rt->pi_state_118 + 1);
}
/* FUN_7c85 @ 0x7c85-0x7cbf — PI integrator step. Anti-windup gates
* the update direction against pi_flag_c7 (0=in-range, 1=clamped low,
* 2=clamped high). Updates the {pi_integ_hi:pi_integ_lo} 32-bit pair.
* Disasm:
* 7c85 LD RW1C, err
* 7c8a MUL RL1C, [0x0456] ; signed 32-bit, RL1C = err*integ_step_normal
* 7c90 SHLL RL1C, #0x4 ; RL1C <<= 4
* 7c93 JGE LAB_7ca1 ; if signed result >= 0
* 7c95-7c9d if pi_flag_c7==1 RET ; (clamped-low → don't push more negative)
* 7c9f SJMP LAB_7cab ; else update
* LAB_7ca1: if pi_flag_c7==2 RET ; (clamped-high → don't push more positive)
* LAB_7cab: integrator += RL1C ; ADD lo, ADDC hi
*/
static void s_pi_integrator_step(pwm_runtime_t *rt)
{
int32_t prod = MUL_S16(rt->angle_error_pi, rt->integ_step_normal);
int32_t step = (int32_t)((uint32_t)prod << 4);
if (step >= 0) {
if (rt->pi_flag_c7 == 0x02) return; /* anti-windup: clamped-high */
} else {
if (rt->pi_flag_c7 == 0x01) return; /* anti-windup: clamped-low */
}
/* Combine {hi:lo} as int32 -> add step -> split back. */
int32_t accum = ((int32_t)rt->pi_integ_hi << 16)
| (uint16_t)rt->pi_integ_lo;
accum += step;
rt->pi_integ_lo = (int16_t)(accum & 0xFFFF);
rt->pi_integ_hi = (int16_t)((accum >> 16) & 0xFFFF);
}
/* FUN_672b @ 0x672b-0x67c3 — PI compensation + final clamp.
* Two arms decided by (pi_flag_338==1 || pi_open_loop_flag==0):
* "fresh" → reset pi_integ_hi from a new (err*open_loop_p_gain>>4)+ckp
* "settled" → step the integrator via FUN_7c85
* Then compute pi_p_term = (p_gain_normal * err) >> 8 and
* active_request = pi_p_term + pi_integ_hi, clamped to
* [pi_low_clamp, pi_high_clamp_ceiling].
*/
static void s_pi_compensation(pwm_runtime_t *rt,
const pwm_calibration_t *cal)
{
int16_t error = rt->angle_error_pi;
/* [0x672b-0x673a] Branch select. */
bool fresh = (rt->pi_flag_338 == 0x01) || (rt->pi_open_loop_flag == 0u);
if (fresh) {
/* [LAB_673c 0x673c-0x6762] Reset pi_integ_hi. Disasm:
* STB ZRlo, DAT_0338 ; pi_flag_338 = 0
* LD RW1C, err
* EXT RL1C ; sign-extend to 32-bit
* MUL RL1C, [0x0330] ; signed: RL1C = err32 * open_loop_p_gain
* SHRA RW1C, #0x4 ; LOW WORD shifted (high word discarded)
* ADD RW1C, RW1C, ckp_in
* ST RW1C, DAT_02b4 ; pi_integ_hi = result
*/
rt->pi_flag_338 = 0;
int32_t prod = MUL_S16(error, rt->open_loop_p_gain);
int16_t scaled = shra16((int16_t)(prod & 0xFFFF), 4);
rt->pi_integ_hi = (int16_t)(scaled + rt->inputs.ckp_in);
} else {
/* [LAB_6764 0x6764] LCALL FUN_7c85 — integrator step. */
s_pi_integrator_step(rt);
}
/* [LAB_6767 0x6767-0x6779] pi_p_term = (RL1C = p_gain_normal*err) >> 8.
* Disasm:
* LD RW1C, [0x0454] ; p_gain_normal (cal+0x118 default +480)
* MUL RL1C, err ; RL1C = p_gain_normal * err (signed)
* SHRAL RL1C, #0x8 ; arithmetic shift right 8 (32-bit)
* ST RW1C, DAT_02b8 ; pi_p_term = lo16
*/
int32_t comp32 = MUL_S16(rt->p_gain_normal, error);
int16_t comp = (int16_t)(shra32(comp32, 8) & 0xFFFF);
rt->pi_p_term = comp;
/* [0x677a-0x677f] active_request = pi_p_term + pi_integ_hi */
int16_t combined = (int16_t)(comp + rt->pi_integ_hi);
rt->active_request = combined;
/* [0x6782-0x67a8] Lower clamp: if active_request < pi_low_clamp,
* pin to pi_low_clamp and set pi_flag_c7=1. */
if (rt->active_request < cal->pi_low_clamp) {
rt->active_request = cal->pi_low_clamp;
rt->pi_flag_c7 = 0x01;
return;
}
/* [LAB_67a9 0x67a9-0x67bd] Upper clamp: if active_request >
* pi_high_clamp_ceiling, pin to ceiling and set pi_flag_c7=2.
* Disasm 0x67a9-0x67b0: CMP RW46, DAT_0336 — upper clamp uses
* the RPM-derived ceiling, not the CAN-decoded primary setpoint. */
if (rt->active_request > rt->pi_high_clamp_ceiling) {
rt->active_request = rt->pi_high_clamp_ceiling;
rt->pi_flag_c7 = 0x02;
return;
}
/* [LAB_67be 0x67be-0x67c3] In-range: pi_flag_c7 = 0. */
rt->pi_flag_c7 = 0;
}
/* s_pi_update @ 0x542f. See doc-comment at top of "Stage 3". */
static void s_pi_update(pwm_runtime_t *rt,
const pwm_calibration_t *cal)
{
/* ── Phase A — Open-loop gate [0x542f-0x5489] ──
* Disasm: bit-test R110.5; CMP RW130 < 0; CMP rpm < flash[0x605c]. */
/* PI CL-gate threshold = cached ROM[0x605c]. Disasm site:
* FUN_67c4:67d9 `CMP RW1C, DAT_605c` (literal 0x01A4 = 420). In the
* real ECU, cl_gate_input is almost always negative (CAN inactive
* sentinel) which forces OL at line 67d4 before this RPM gate is
* reached. Lifted to cal->pi_cl_rpm_floor. */
int16_t rpm_floor = cal->pi_cl_rpm_floor;
bool open_loop = false;
if ((rt->system_flags_110 & 0x20u) != 0u) open_loop = true;
else if (rt->inputs.cl_gate_input < 0) open_loop = true;
else if ((int16_t)rt->inputs.rpm < cal->pi_cl_rpm_floor) open_loop = true;
if ((rt->system_flags_110 & 0x20u) != 0u) open_loop = true;
else if (rt->inputs.cl_gate_input < 0) open_loop = true;
else if ((int16_t)rt->inputs.rpm < rpm_floor) open_loop = true;
if (open_loop) {
/* 0x544b-0x5453: pi_shape_flag |= 0x01 */
rt->pi_shape_flag = (uint8_t)(rt->pi_shape_flag | 0x01u);
/* 0x5458: DAT_0274 = RW5E */
rt->pi_preclamp_out = rt->target_5e;
/* 0x5468-0x5482: if (RW5E < cal[0x128]) DAT_0274 = cal[0x128] */
if (rt->target_5e < cal->pi_low_clamp) {
rt->pi_preclamp_out = cal->pi_low_clamp;
rt->pi_open_loop_flag = 0;
/* Disasm 0x67e5: LD RW46, RW5E — open-loop assigns the CAN-decoded
* primary setpoint, NOT the RPM-derived ceiling. */
rt->active_request = rt->target_5e;
/* cal+0x120 is a LOWER bound here (disasm: JLT clamps when
* active_request < limit). Same constant also serves as the
* Block-4 low clamp, hence `pi_low_clamp`. See
* families/t06211/src/pi_controller_t06211.c for the full-disasm
* annotation. */
if (rt->active_request < cal->pi_low_clamp) {
rt->active_request = cal->pi_low_clamp;
}
goto trailing_rotate;
goto final_flag;
}
/* ── Phase B — Error-band classify [0x5489-0x554e] ──
* Disasm 0x5489: SUB RW1C, RW5E, DAT_02cc → DAT_0278. */
int16_t err = (int16_t)(rt->target_5e - rt->estimated_angle);
rt->angle_error_pi = err;
/* Disasm 0x680a: SUB RW1C, RW5E, DAT_02cc — CL error uses target. */
rt->angle_error_pi = (int16_t)(rt->target_5e - rt->estimated_angle);
int16_t err = rt->angle_error_pi;
if (err > cal->large_pos_error_thresh) {
/* 0x54a4-0x54af: flag = (flag | 0x10) & 0xDF */
rt->pi_shape_flag = (uint8_t)((rt->pi_shape_flag | 0x10u) & 0xDFu);
rt->pi_shape_flag = 0;
s_recovery(rt, cal);
} else if (err < cal->large_neg_error_thresh) {
/* 0x54cd-0x54d8: flag = (flag | 0x20) & 0xEF */
rt->pi_shape_flag = (uint8_t)((rt->pi_shape_flag | 0x20u) & 0xEFu);
/* 0x54dd-0x54f9: JH check is unsigned; matches CMP RW44, cal[0x116]. */
if ((uint16_t)rt->inputs.inj_qty_demand > (uint16_t)cal->inj_qty_thresh) {
s_recovery(rt, cal);
} else {
rt->pi_shape_flag = 0x01;
if (rt->inputs.inj_qty_demand <= cal->pi_thresh_116) {
rt->pi_state_118 = 0;
} else {
s_recovery(rt, cal);
}
} else {
/* 0x54fb-0x554e: flag &= 0xCF; decrement c2 (clear latch when 0); decrement 118 */
rt->pi_shape_flag = (uint8_t)(rt->pi_shape_flag & 0xCFu);
if ((uint16_t)rt->pi_state_c2 != 0u) {
rt->pi_shape_flag = 0x20;
if (rt->pi_state_c2 > 0) {
rt->pi_state_c2 = (int16_t)(rt->pi_state_c2 - 1);
}
if (rt->pi_state_c2 == 0) {
@@ -453,125 +548,73 @@ static void s_pi_update(pwm_runtime_t *rt,
}
}
/* ── Phase C — P-shape into pi_p_term / pi_p_gain_active [0x554e-0x560c] ── */
int32_t pterm32; /* 32-bit accumulator for the SHRAL (>>8) */
/* ── Block 4: error-window decision [0x68b7-0x68ef] ──
* Strict > / < per disasm JLE 68c9 / JGE 68ed. P-shape bounds at
* DAT_0450 / DAT_0452 are set once at boot by FUN_76aa — see
* docs/open-questions.md §2 closeout. */
if (err > rt->p_shape_bound_pos) {
/* 0x555a-0x558f: large-positive arm. */
rt->pi_shape_flag = (uint8_t)(rt->pi_shape_flag | 0x02u);
rt->pi_p_gain_active = rt->integ_step_large_pos; /* DAT_0286 = DAT_0282 */
int32_t slope_part = MUL_S16((int16_t)(err - rt->p_shape_bound_pos),
rt->p_slope_large_pos);
int32_t anchor_part = MUL_S16(rt->p_gain_normal, rt->p_shape_bound_pos);
pterm32 = slope_part + anchor_part;
rt->pi_p_term = (int16_t)(shra32(pterm32, 8) & 0xFFFF);
rt->active_request = cal->pi_high_clamp;
rt->pi_flag_338 = 0x01;
} else if (err < rt->p_shape_bound_neg) {
/* 0x559d-0x55cc: large-negative arm. */
rt->pi_shape_flag = (uint8_t)(rt->pi_shape_flag | 0x02u);
rt->pi_p_gain_active = rt->integ_step_large_neg; /* DAT_0286 = DAT_0284 */
int32_t slope_part = MUL_S16((int16_t)(err - rt->p_shape_bound_neg),
rt->p_slope_large_neg);
int32_t anchor_part = MUL_S16(rt->p_gain_normal, rt->p_shape_bound_neg);
pterm32 = slope_part + anchor_part;
rt->pi_p_term = (int16_t)(shra32(pterm32, 8) & 0xFFFF);
rt->active_request = cal->pi_low_clamp;
rt->pi_flag_338 = 0x01;
} else {
/* 0x55e2-0x5607: normal-range arm. */
rt->pi_shape_flag = (uint8_t)(rt->pi_shape_flag & 0xFDu);
rt->pi_p_gain_active = rt->integ_step_normal; /* DAT_0286 = DAT_0456 */
int32_t prod = MUL_S16(rt->p_gain_normal, err);
rt->pi_p_term = (int16_t)(shra32(prod, 8) & 0xFFFF);
s_pi_compensation(rt, cal);
}
/* ── Phase D — Integrator gate [0x560c-0x5679] ──
* Disasm 0x560c-0x5611: if pi_shape_flag.bit0 set (open-loop, but we
* returned earlier in that case) → take fast-path that overrides
* pi_integ_hi from open_loop_p_gain. We never enter here in the
* closed-loop path, but preserve the structure.
* 0x563b onward: closed-loop integrator step with anti-windup. */
if ((rt->pi_shape_flag & 0x01u) != 0u) {
/* Open-loop fast-path (defensive — the open-loop early-return
* above means this branch is unreachable from the closed-loop
* path; preserved here in case a future cycle enters with bit 0
* latched from elsewhere). */
int32_t prod = MUL_S16(rt->open_loop_p_gain, err);
int16_t shifted = shra16((int16_t)(prod & 0xFFFF), 4);
rt->pi_integ_hi = (int16_t)(shifted + rt->inputs.ckp_in);
rt->pi_shape_flag = (uint8_t)(rt->pi_shape_flag & 0xFEu);
} else {
/* 0x563b-0x5654: anti-windup gate via previous-cycle clamp bits. */
bool gate_skip;
if (err < 0) {
gate_skip = (rt->pi_shape_flag & 0x04u) != 0u; /* bit 2: clamped low */
} else {
gate_skip = (rt->pi_shape_flag & 0x08u) != 0u; /* bit 3: clamped high */
}
if (!gate_skip) {
/* 0x5657-0x5674: 32-bit signed integrator step.
* step = (err * pi_p_gain_active) << 4
* {hi:lo} += step
* MCS-96 SHLL is logical, so cast through unsigned. */
int32_t prod = MUL_S16(err, rt->pi_p_gain_active);
int32_t step = (int32_t)((uint32_t)prod << 4);
int32_t accum = ((int32_t)rt->pi_integ_hi << 16)
| (uint16_t)rt->pi_integ_lo;
accum += step;
rt->pi_integ_lo = (int16_t)(accum & 0xFFFF);
rt->pi_integ_hi = (int16_t)((accum >> 16) & 0xFFFF);
}
}
/* ── Phase E — Combine + clamp [0x5679-0x56e3] ── */
rt->pi_preclamp_out = (int16_t)(rt->pi_p_term + rt->pi_integ_hi);
if (rt->pi_preclamp_out < cal->pi_low_clamp) {
/* 0x5696-0x56b6: clamp low; flag = (flag & 0xF7) | 4 */
rt->pi_preclamp_out = cal->pi_low_clamp;
rt->pi_shape_flag = (uint8_t)((rt->pi_shape_flag & 0xF7u) | 0x04u);
} else if (rt->pi_preclamp_out > rt->pi_high_clamp_ceiling) {
/* 0x56c2-0x56d9: clamp high; flag = (flag & 0xFB) | 8 */
rt->pi_preclamp_out = rt->pi_high_clamp_ceiling;
rt->pi_shape_flag = (uint8_t)((rt->pi_shape_flag & 0xFBu) | 0x08u);
} else {
/* 0x56db-0x56e0: in-range — clear bits 2,3 */
rt->pi_shape_flag = (uint8_t)(rt->pi_shape_flag & 0xF3u);
}
trailing_rotate:
/* ── Trailing rotate [LAB_56e8 0x56e8-0x5708] ──
* Disasm 0x56e8: ST DAT_0274, RW46 ; publish active_request
* 0x56ed-0x5703: pi_shape_flag = (flag & 0x3F) | ((flag<<2) & 0xC0)
* Saves this cycle's bits 4,5 into bits 6,7 for the next cycle's
* s_recovery sustained-band detector.
*/
rt->active_request = rt->pi_preclamp_out;
{
uint8_t f = rt->pi_shape_flag;
rt->pi_shape_flag = (uint8_t)((f & 0x3Fu) | (uint8_t)((f << 2) & 0xC0u));
}
final_flag:
rt->pi_open_loop_flag = 0x01;
rt->pi_flag_c6 = rt->pi_shape_flag;
}
/* ═════════════════════════════════════════════════════════════════════
* Stage 4 — PWM output (FUN_5314 @ 0x5314-0x565f)
* Stage 5 — PWM output (FUN_5314 @ 0x5314-0x565f)
* ═════════════════════════════════════════════════════════════════════ */
static void s_pwm_output(pwm_runtime_t *rt,
const pwm_calibration_t *cal)
{
/* A. eval pwm_A */
s_eval_submap(&pwm_submap_descrs[PWM_SUBMAP_PWM_A],
&rt->pwm_slot_a);
/* B. eval pwm_B */
s_eval_submap(&pwm_submap_descrs[PWM_SUBMAP_PWM_B],
&rt->pwm_slot_b);
/* C. combine bilinear */
int16_t duty = s_combine(cal->pwm_y_table, &rt->pwm_slot_a, &rt->pwm_slot_b);
rt->pwm_duty = (uint16_t)duty;
/* D. Duty-range classification [0x5361-0x538b] — based on pre-shape duty. */
if (rt->pwm_duty < 0x29u) rt->pwm_duty_range_flag = 1u;
else if (rt->pwm_duty > 0xFD7u) rt->pwm_duty_range_flag = 2u;
else rt->pwm_duty_range_flag = 0u;
/* E1. RPM-window three-phase matcher [0x53be-0x552a].
*
* Phase 1 (strict-band): rpm strictly inside any of 4 bands at
* cal+0xF2 → slew_increment = +pwm_slew_step.
* Phase 2 (hysteresis margin): rpm in any band's halfwidth-extended
* region → HOLD (preserve previous slew_increment).
* Phase 3 (deep-out): rpm clear of every extended band AND
* pwm_period < pwm_period_max → slew_increment = -pwm_slew_step.
*
* Slew applied as `pwm_period -= slew_increment` (subtraction;
* positive increment shrinks period → faster PWM).
* pwm_slew_increment lives in rt and persists across cycles so the
* HOLD path keeps the previous direction.
*
* Disasm note: high-edge tests use JC (db) at 0x5463/0x5497 for
* bands 0/1 and JNC (d3) at 0x54cb/0x54fd for bands 2/3 — these
* encodings produce equivalent control flow (HOLD on rpm < hi+hw,
* advance on rpm >= hi+hw). See open-questions.md §5 closeout. */
uint16_t *pwm_period = (uint16_t *)&rt->pwm_shape_state[0];
const int16_t rpm_s = (int16_t)rt->inputs.rpm;
const int16_t halfwidth = cal->pwm_window_halfwidth;
const int16_t step_mag = cal->pwm_slew_step;
/* Phase 1 — strict-band test [0x53be-0x542d] */
int slew_set = 0;
for (int bi = 0; bi < 4; bi++) {
int16_t lo = cal->pwm_rpm_windows[bi * 2];
@@ -584,31 +627,38 @@ static void s_pwm_output(pwm_runtime_t *rt,
}
if (!slew_set) {
/* Phase 2 — fine hysteresis margin [0x5434-0x54fe] */
int phase3 = 1;
for (int bi = 0; bi < 4; bi++) {
int16_t lo = cal->pwm_rpm_windows[bi * 2];
int16_t hi = cal->pwm_rpm_windows[bi * 2 + 1];
if (rpm_s <= (int16_t)(lo - halfwidth)) {
continue;
continue; /* below extended low: try next band */
}
if (rpm_s < (int16_t)(hi + halfwidth)) {
phase3 = 0;
phase3 = 0; /* HOLD */
break;
}
/* rpm_s >= hi + halfwidth: advance to next band */
}
if (phase3 && *pwm_period < cal->pwm_period_max) {
/* Phase 3 — deep-out negative slew [0x54ff-0x551b] */
rt->pwm_slew_increment = (int16_t)(-step_mag);
}
/* else: HOLD (no write) */
}
/* Slew application [0x5520-0x552a] */
int32_t period_next = (int32_t)*pwm_period - (int32_t)rt->pwm_slew_increment;
if (period_next < 0) period_next = 0;
if (period_next > 0xFFFF) period_next = 0xFFFF;
*pwm_period = (uint16_t)period_next;
/* Final clamp [0x552f-0x5575] */
if (*pwm_period < cal->pwm_period_min) *pwm_period = cal->pwm_period_min;
if (*pwm_period > cal->pwm_period_max) *pwm_period = cal->pwm_period_max;
/* E2. Shape detail [0x557a-0x5608] */
pwm_interp_slot_t shape_slot;
s_eval_submap(&pwm_submap_descrs[PWM_SUBMAP_SHAPE_EVAL],
&shape_slot);
@@ -617,6 +667,11 @@ static void s_pwm_output(pwm_runtime_t *rt,
if (shape_height > 0x199) shape_height = 0x199;
rt->pwm_shape_state[5] = shape_height;
/* E3. Shape composition additive [0x55cb-0x560f]. ROM formula:
* slope = (period_max - period_min) >> 8
* numerator = ((period_max - pwm_period) >> 8) * shape_height
* pwm_duty += numerator / slope
* Shifts happen before multiply (MCS-96 16-bit intermediate). */
int16_t slope = (int16_t)(((int32_t)cal->pwm_period_max
- (int32_t)cal->pwm_period_min) >> 8);
int16_t pmx_delta = (int16_t)(((int32_t)cal->pwm_period_max
@@ -626,10 +681,14 @@ static void s_pwm_output(pwm_runtime_t *rt,
: 0;
int32_t duty_new = (int32_t)rt->pwm_duty + shape_add;
/* F. Duty bounds clamp [0x5614-0x5636] — ROM reads RAM[0x6058]/[0x605a]
* (producers open-questions §3). Lifted to cal->pwm_min/cal->pwm_max
* (defaults 205/3890, same as the default family). */
if (duty_new < (int32_t)cal->pwm_min) duty_new = (int32_t)cal->pwm_min;
if (duty_new > (int32_t)cal->pwm_max) duty_new = (int32_t)cal->pwm_max;
rt->pwm_duty = (uint16_t)duty_new;
/* G. HW shadow writes [0x563b-0x565f] using the slewed pwm_period. */
uint32_t on_product = (uint32_t)(*pwm_period) * (uint32_t)rt->pwm_duty;
rt->pwm_on_time = (uint16_t)(on_product / 0xFFFu);
rt->pwm_off_time = (uint16_t)(*pwm_period - rt->pwm_on_time);
@@ -637,7 +696,10 @@ static void s_pwm_output(pwm_runtime_t *rt,
}
/* ═════════════════════════════════════════════════════════════════════
* Bypass-PI LUT helper
* Bypass-PI LUT helper: query the ROM Y-table directly with (rpm, fbkw)
* as the two axes, applying the same eval+combine+clamp the PWM stage
* does. Useful for plotting the static (rpm, fbkw) → duty surface
* without the PI controller in the loop.
* ═════════════════════════════════════════════════════════════════════ */
uint16_t pwm_lut_duty(const pwm_calibration_t *cal,
@@ -658,7 +720,8 @@ uint16_t pwm_lut_duty(const pwm_calibration_t *cal,
}
/* ═════════════════════════════════════════════════════════════════════
* Public entry — pwm_service (mirrors pwm_service @ 0x7780)
* Public entry — pwm_service
* Mirrors FUN_77b3 (0x77b3-0x77d8) — 5-call linear dispatcher.
* ═════════════════════════════════════════════════════════════════════ */
void pwm_service(pwm_runtime_t *rt)
@@ -667,10 +730,10 @@ void pwm_service(pwm_runtime_t *rt)
const pwm_calibration_t *cal = rt->bound_cal;
s_setpoint(rt); /* writes pi_high_clamp_ceiling */
s_setpoint_can_decode(rt, cal);
s_supervisor(rt);
s_publish_cl(rt, cal);
s_pi_update(rt, cal);
s_pwm_output(rt, cal);
s_setpoint(rt); /* [0x77b3-0x77c7] pi_high_clamp_ceiling = setpoint_interp(rpm) */
s_setpoint_can_decode(rt, cal); /* CAN-decoded target (FUN_64c3 in ROM) */
s_supervisor(rt); /* [0x77cc] */
s_publish_cl(rt, cal);/* [0x77cf] */
s_pi_update(rt, cal); /* [0x77d2] */
s_pwm_output(rt, cal);/* [0x77d5] */
}

445
Core/Advance_Control/pwm.h
View File

@@ -1,20 +1,21 @@
/**
* @file pwm.h (families/T06215/compact_src)
* @brief Compact single-header API for the T06215 PWM controller.
* @file pwm.h (families/t06211/compact_src)
* @brief Compact single-header API for the t06211 PWM controller.
*
* Variant note: this header was originally forked from t06211 and carried
* runtime/cal field names that embedded RAM addresses (e.g. `pi_b4_state`,
* `target_336`). Those addresses were t06211-correct but t06215-wrong.
* Field names here are now purely semantic; the address binding for any
* field lives in `pwm_addr_map.h` (documentation-only; not included by
* pwm.c).
* Mirrors the public shape of the default family's `compact_src/pwm.h`
* but tailored to t06211's 5-stage pipeline (no standalone max_cl_error
* lookup, single-submap setpoint, factor+offset target compute).
*
* Public API:
* Public API is just two functions:
* pwm_init() — one-time setup
* pwm_service() — per-cycle update (5-stage pipeline)
* pwm_service() — per-cycle update (pulls inputs via getters,
* runs the 5-stage pipeline, writes rt outputs)
*
* External inputs arrive through a getter vtable; callbacks return one
* signal in native PWM units.
* External inputs arrive through a getter vtable; each callback returns
* one signal in native PWM units.
*
* Every arithmetic choice mirrors the MCS-96 assembly; see
* families/t06211/src/ for per-stage commentary.
*/
#ifndef PWM_H
#define PWM_H
@@ -43,37 +44,49 @@ static inline int32_t shra32(int32_t v, unsigned n) {
/* ══════════════════════════════════════════════════════════════════════
* 1D INTERPOLATION SLOT
* Layout matches family-1's pwm_interp_slot_t and the family-1 ROM
* convention [count*2, range, offset, seg_bytes] — t06211's FUN_6fb8
* fingerprints identically, so the same layout applies.
* ══════════════════════════════════════════════════════════════════════ */
typedef struct pwm_interp_slot {
int16_t row_stride;
int16_t x_interval;
int16_t x_offset;
int16_t y_byte_off;
int16_t row_stride; /* count * 2 (byte stride for Y-table rows) */
int16_t x_interval; /* x[k-1] - x[k] */
int16_t x_offset; /* input - x[k] */
int16_t y_byte_off; /* k * 2 */
} pwm_interp_slot_t;
/* ══════════════════════════════════════════════════════════════════════
* EXTERNAL INPUTS
* Populated each cycle by pwm_service via the getter vtable.
* t06211-specific set: no temperature, no angle_dec_cmd in the setpoint
* (the family-2 setpoint is single-submap RPM-indexed).
* ══════════════════════════════════════════════════════════════════════ */
typedef struct pwm_inputs {
int16_t ckp_in; /* sensed position */
uint16_t rpm; /* engine RPM */
int16_t angle_dec_cmd; /* accepted for cross-family API parity; unused here */
int16_t inj_qty_demand; /* CAN: injection-quantity demand */
int16_t b_fb_kw; /* CAN: plunger feedback baseline (drives target) */
int16_t cl_gate_input; /* CAN: open/closed-loop discriminant (was state_130) */
uint16_t supply_voltage; /* shape_eval submap input */
int16_t temperature; /* accepted for cross-family API parity; unused here */
int16_t ckp_in; /* 0x02f8 — sensed position */
uint16_t rpm; /* 0x0040 — engine RPM */
int16_t angle_dec_cmd; /* 0x0042 — accepted for family-1 API parity; unused here */
int16_t inj_qty_demand; /* 0x0044 — CAN: inj quantity demand (PI large-neg gate) */
int16_t b_fb_kw; /* CAN: plunger feedback baseline. Gets copied into
can_raw_b_fb_kw and decoded by s_setpoint_can_decode
(port of FUN_64c3) to produce target. */
int16_t cl_gate_input; /* 0x0130 — CAN: open/closed-loop discriminant */
uint16_t supply_voltage; /* 0x0142 — shape_eval submap input */
int16_t temperature; /* 0x0146 — accepted for family-1 API parity; unused here */
} pwm_inputs_t;
/** Getter vtable. 8-callback layout matches family-1's pwm_input_getters_t
* so a single FBKW.c can drive either family's pwm.c without changes.
* t06211 does not consume angle_dec_cmd or temperature; those getters are
* called and stored into rt->inputs but the pipeline ignores them. */
typedef struct pwm_input_getters {
int16_t (*ckp_in) (void *ctx);
uint16_t (*rpm) (void *ctx);
int16_t (*angle_dec_cmd) (void *ctx);
int16_t (*angle_dec_cmd) (void *ctx); /* accepted; unused by t06211 */
int16_t (*inj_qty_demand)(void *ctx);
int16_t (*b_fb_kw) (void *ctx);
int16_t (*cl_gate_input) (void *ctx);
int16_t (*cl_gate_input) (void *ctx);
uint16_t (*supply_voltage)(void *ctx);
int16_t (*temperature) (void *ctx);
int16_t (*temperature) (void *ctx); /* accepted; unused by t06211 */
void *ctx;
} pwm_input_getters_t;
@@ -82,95 +95,135 @@ typedef struct pwm_submap_descr pwm_submap_descr_t;
/* ══════════════════════════════════════════════════════════════════════
* RUNTIME STATE
* Field names are purely semantic. ROM-address bindings live in
* pwm_addr_map.h (documentation-only).
* RAM-address comments reference the t06211 MCS-96 map (see
* families/t06211/docs/variable-glossary.md).
* ══════════════════════════════════════════════════════════════════════ */
typedef struct pwm_runtime {
/* External inputs — refreshed each cycle from getters */
pwm_inputs_t inputs;
/* Async flags. */
uint8_t reset_flag;
uint8_t system_flags_110; /* bit 5 = OL force; bit 0 = recovery latch */
/* Async flags.
* reset_flag — set on reset edge; supervisor clears.
* system_flags_110 — bit 5 forces open-loop; bit 0 is fast-recovery latch.
*/
uint8_t reset_flag; /* 0x002e */
uint8_t system_flags_110; /* 0x0110 */
/* ── Setpoint architecture ── */
/* target_5e: PRIMARY CAN-decoded setpoint (RW5E in t06215). */
int16_t target_5e;
/* pi_high_clamp_ceiling: SECONDARY RPM-derived ceiling — written each
* cycle by pwm_service from the setpoint submap interp; consumed as
* the PI integrator output upper-clamp inside s_pi_update and the
* supervisor error ceiling. (DAT_0344 in t06215; was misnamed
* target_336 in the original fork from t06211.) */
/* ── Dual-target setpoint architecture ── */
/* target (RW5E = RAM[0x005e]): PRIMARY CAN-driven setpoint
* computed by FUN_64c3 (called from CAN parser FUN_6192). Drives
* the PI controller in both open-loop (FUN_67c4:67e5) and
* closed-loop (FUN_67c4:680a) paths, and supervisor error compute
* (FUN_7beb:7c20). Formula: raw/2 + setpoint_offset + rw42_state,
* clamped >= cal->target_5e_min_clamp. */
int16_t target_5e; /* RW5E — primary CAN-decoded setpoint */
/* pi_high_clamp_ceiling (DAT_0336): SECONDARY RPM-derived ceiling
* computed by FUN_7168(setpoint_descr) + FUN_77b3:77c7. Used ONLY as
* upper-clamp in FUN_672b PI compensation (0x67a9/0x67b0) and
* FUN_7beb supervisor (0x7c30/0x7c37). Does not drive control
* directly. (Was misnamed `target_336` across earlier ports — the
* address-suffixed style hid that this is a PI clamp, not a target.) */
int16_t pi_high_clamp_ceiling;
/* CAN-staging buffers — written before pwm_service so s_setpoint_can_decode
* can transform them into target_5e. */
int16_t can_raw_b_fb_kw;
int16_t can_aux_12e;
int16_t can_half_12a;
int16_t setpoint_offset; /* runtime copy of cal->setpoint_offset */
int16_t rw42_state;
int16_t angle_error_raw; /* DAT_02f0 — supervisor's published error */
int16_t pi_integ_hi_snapshot; /* DAT_02ec — supervisor reset stash; dead store but kept for parity */
uint16_t cl_enable_counter; /* DAT_02ee */
/* CAN-staging buffers — written externally before pwm_service so
* s_setpoint_can_decode can transform them into target. */
int16_t can_raw_b_fb_kw; /* 0x012c — raw b_fb_kw from CAN */
int16_t can_aux_12e; /* 0x012e — secondary CAN field (drives rw42_state) */
int16_t can_half_12a; /* 0x012a — cached raw>>1 (debug visibility) */
/* setpoint_offset (RAM[0x0150]) is copied at runtime_init from
* cal.setpoint_offset (mirrors family-1's pattern at
* compact_src/pwm.c:66). The REAL ROM derives it at boot via
* FUN_6b7b @ 0x6bb5: RAM[0x150] = cal+0x4c - RW1E. Because RW1E's
* source at the call site (0x6c46) is in a Ghidra-unrecognised code
* region, we expose the field directly through cal so the user can
* set it to the match-fitted value without needing to simulate the
* full FUN_6b7b boot path. */
int16_t setpoint_offset; /* runtime copy of cal->setpoint_offset (DAT_0150 in ROM) */
int16_t rw42_state; /* RW42 register — = can_aux_12e when valid */
/* DAT_033a — supervisor reset stash: snapshots pi_integ_hi at the
* reset edge (FUN_7beb:7c05-7c0a). Dead store (no readers anywhere
* in the ROM); kept here for parity with the disasm. NOT a baseline
* of b_fb_kw — that name was inherited from the family-1 idiom and
* is incorrect for this variant. */
int16_t pi_integ_hi_snapshot;
/* PI P-term — produced by FUN_672b @ 0x6775 as `(p_gain_normal * err) >> 8`
* and consumed by the supervisor at FUN_7beb:0x7c26 as the additive
* shaping term on the error. (DAT_02b8 in ROM; was named
* `compensation_angle` in earlier ports.) */
int16_t pi_p_term;
int16_t angle_error_raw; /* DAT_033e — supervisor output (raw + ceiling-clamped) */
uint16_t cl_enable_counter; /* DAT_033c */
/* ── CL correction ── */
int16_t cl_correction_raw;
int16_t angle_offset;
int16_t supervisor_state;
int16_t pos_error_normalizer; /* runtime copy of cal->pos_error_normalizer */
int16_t neg_error_normalizer; /* runtime copy of cal->neg_error_normalizer */
int16_t cl_correction_raw; /* DAT_0176 */
int16_t angle_offset; /* DAT_017c */
int16_t supervisor_state; /* RW17E — CL accumulator */
int16_t pos_error_normalizer; /* runtime copy of cal->init_pos_error_normalizer (DAT_0332 in ROM) */
int16_t neg_error_normalizer; /* runtime copy of cal->init_neg_error_normalizer (DAT_0334 in ROM) */
/* ── Publish + PI ── */
int16_t estimated_angle;
int16_t angle_error_pi; /* target_5e − estimated_angle (DAT_0278) */
int16_t active_request; /* PI output = pre-clamp output (RW46 + DAT_0274) */
int16_t estimated_angle; /* DAT_02cc */
int16_t angle_error_pi; /* DAT_02be — target_5e − estimated_angle */
int16_t active_request; /* RW46 — published PI output / PWM feed-forward */
uint8_t pi_open_loop_flag; /* DAT_02c4 */
uint8_t pi_shape_flag; /* DAT_02c5 */
uint8_t pi_flag_c6; /* DAT_02c6 — previous-cycle pi_shape_flag latch */
uint8_t pi_flag_338; /* DAT_0338 — Block-4 cal-pinned latch */
/* PI flag byte (DAT_028c). Bit layout (s_pi_update @ 0x542f):
* bit 0 = open-loop indicator (consumed by integrator gate)
* bit 1 = P-shape large-error arm taken
* bit 2 = output clamped to pi_low_clamp this cycle
* bit 3 = output clamped to pi_high_clamp_ceiling this cycle
* bit 4 = error > large_pos_error_thresh this cycle
* bit 5 = error < large_neg_error_thresh this cycle
* bits 6,7 = previous cycle's bits 4,5 (rotated by trailing op) */
uint8_t pi_shape_flag;
/* P-shape segment bounds (boot-init from cal+0x10A/0x10C). PI Block-4
* error-window bounds (independent int16s, NOT a 32-bit integrator).
* Trim bytes at RAM[0x0414]/[0x0416] have no writers in the ROM, so
* bounds resolve to the cal bases verbatim. See open-questions §2. */
int16_t p_shape_bound_pos; /* DAT_0450 */
int16_t p_shape_bound_neg; /* DAT_0452 */
/* PI working state used by s_pi_update */
int16_t pi_p_term; /* DAT_0276 — output of P-shape segment */
int16_t pi_p_gain_active; /* DAT_0286 — selected gain for integrator step */
int16_t pi_preclamp_out; /* DAT_0274 — pre-publish active_request */
int16_t pi_state_118; /* DAT_0118 — recovery counter */
int16_t pi_state_c2; /* DAT_02c2 — cooldown counter */
/* PI integrator pair {hi:lo} = {DAT_028a:DAT_0288} */
int16_t pi_integ_lo;
int16_t pi_integ_hi;
/* PI integrator pair {hi:lo} at {DAT_02b4 : DAT_02b6}. Disasm
* `disasm_nav rw 0x02b4` shows only internal writers (FUN_672b,
* FUN_76aa, FUN_7c85), confirming this is a PI integrator state,
* not an external/CAN input. (Was misnamed `b_fb_kw` in the original
* glossary; renamed via the address-suffixed `pi_b4_state`/`pi_b6_state`
* intermediate; final semantic name aligns with the cross-family pair.) */
int16_t pi_integ_hi; /* DAT_02b4 — integrator high word */
int16_t pi_integ_lo; /* DAT_02b6 — integrator low word */
/* P-shape segment bounds (boot-init from cal+0x10A/0x10C). */
int16_t p_shape_bound_pos;
int16_t p_shape_bound_neg;
/* PI gains — boot-set by FUN_76aa from cal scalars (with optional
* trim bytes at RAM[0x0410]/[0x0412] which have no writers anywhere
* in the ROM, so the cal bases pass through unchanged). */
int16_t p_gain_normal; /* DAT_0454 — boot from cal+0x118; multiplier in pi_p_term = (gain*err)>>8 */
int16_t integ_step_normal; /* DAT_0456 — boot from cal+0x11A; multiplier in FUN_7c85 integrator step */
int16_t open_loop_p_gain; /* DAT_0330 — boot from cal+0x11C byte (clamped ≤15); used in `pi_integ_hi = (gain*err)>>4 + ckp` reset branch */
/* P-shape gains and integrator steps (boot-init from cal). */
int16_t p_gain_normal; /* DAT_0454 — normal-range P-term multiplier */
int16_t integ_step_normal; /* DAT_0456 — normal-range integrator multiplier */
int16_t p_slope_large_pos; /* DAT_027e */
int16_t p_slope_large_neg; /* DAT_0280 */
int16_t integ_step_large_pos; /* DAT_0282 */
int16_t integ_step_large_neg; /* DAT_0284 */
int16_t open_loop_p_gain; /* DAT_033e (byte, boot-clamped to 15) */
int16_t pi_state_118; /* recovery counter */
int16_t pi_state_c2; /* cooldown counter */
/* Anti-windup flag set by FUN_672b clamps; consulted by FUN_7c85
* to gate integration direction. Values: 0 (in-range), 1 (clamped
* low), 2 (clamped high). */
uint8_t pi_flag_c7; /* DAT_02c7 */
/* ── PWM output ── */
uint16_t pwm_duty;
uint16_t pwm_on_time;
uint16_t pwm_off_time;
uint16_t pwm_duty; /* 0x02d2 */
uint16_t pwm_on_time; /* 0x02ce */
uint16_t pwm_off_time; /* 0x02d0 */
/* pwm_period — total period in Timer2 ticks = on_time + off_time.
* Mirrored from t06211 RAM[0x02e4] (computed each cycle by the PWM
* output stage). Exposed for family-1 FBKW.c API parity
* (UpdatePWM(&htim4, ch, pwm_on_time, pwm_period)). */
uint16_t pwm_period;
uint8_t pwm_duty_range_flag;
pwm_interp_slot_t pwm_slot_a;
pwm_interp_slot_t pwm_slot_b;
int16_t pwm_shape_state[6];
int16_t pwm_slew_increment;
uint8_t pwm_duty_range_flag; /* 0x00d1 */
pwm_interp_slot_t pwm_slot_a; /* 0x02d4 */
pwm_interp_slot_t pwm_slot_b; /* 0x02dc */
/* pwm_shape_state[6] mirrors RAM[0x02e4..0x02ee]:
* [0] pwm_period working value (RAM 0x02e4)
* [1] (unused — was slew_increment, broken out as field below)
* [2] (RAM 0x02e8 — ROM band-array ptr, unused in C)
* [3] (RAM 0x02ea — ROM halfwidth ptr, unused in C)
* [4] (RAM 0x02ec — slew step magnitude, unused; read from cal)
* [5] shape_height (RAM 0x02ee, E2 output) */
int16_t pwm_shape_state[6]; /* 0x02e4-0x02ee */
/* Persistent slew_increment (RAM[0x02e6]). Carried across cycles so
* the hysteresis-margin HOLD path can preserve previous direction.
* Subtracted from pwm_period each cycle. See open-questions §5. */
int16_t pwm_slew_increment; /* 0x02e6 */
/* ── Bindings (set once by pwm_init) ── */
const pwm_calibration_t *bound_cal;
@@ -179,96 +232,122 @@ typedef struct pwm_runtime {
/* ── Calibration (decoded ROM values) ───────────────────────────────── */
struct pwm_calibration {
/* PI controller error-band thresholds */
/* Scalars (from families/t06211/cal_offsets.py FLASH_OFFSETS) */
int16_t large_pos_error_thresh; /* cal+0x10E */
int16_t large_neg_error_thresh; /* cal+0x110 */
int16_t pi_low_clamp; /* cal+0x128 — output low clamp + open-loop lower bound */
int16_t pi_high_clamp; /* fallback upper clamp; runtime uses pi_high_clamp_ceiling */
int16_t pi_low_clamp; /* cal+0x120 = -512 — Block-4 low clamp + open-loop lower bound */
int16_t pi_high_clamp; /* cal+0x124 = +1707 — Block-4 high clamp */
/* CAN-decoded setpoint (FUN_64c3 family) cal constants */
int16_t b_fb_kw_upper_bound; /* cal+0x004 */
int16_t b_fb_kw_lower_bound; /* cal+0x006 */
int16_t setpoint_offset; /* = cal+0x4c − cal+0x4e */
int16_t target_5e_min_clamp; /* cal+0x12A */
int16_t can_aux_12e_max; /* cal+0x002 */
/* CAN-decoded setpoint (FUN_64c3) cal constants */
int16_t b_fb_kw_upper_bound; /* cal+0x004 = +7680 — raw b_fb_kw upper sanity bound */
int16_t b_fb_kw_lower_bound; /* cal+0x006 = -768 — raw b_fb_kw lower sanity bound */
/* CKP-zero acquisition (FUN_70d8 chain) cal constants — see
* docs/algorithm-ckp-zero-acquisition.md. T06215 cal slot offsets
* differ from T06235 (T06235 has +0x02 lower-region shift). */
int16_t ckp_zero_anchor; /* cal+0x04E — FUN_70d8 additive anchor */
/* setpoint_offset — static bias added after halving raw b_fb_kw.
* Family-1 analog: CAL+0x0052 - CAL+0x0054 (compact_src/pwm.h:210).
* For t06211, FUN_6b7b computes the equivalent as cal+0x4c - cal+0x4e
* (= 3499 - 4156 = -657) at boot and stores at RAM[0x150].
* Copied into runtime.setpoint_offset by runtime_reset. */
int16_t setpoint_offset; /* = cal+0x4c - cal+0x4e */
int16_t target_5e_min_clamp; /* cal+0x122 = -512 — RW5E lower clamp */
int16_t can_aux_12e_max; /* cal+0x002 — upper bound for RAM[0x12e] (FUN_649e) */
/* CKP-zero acquisition (FUN_6b67 chain — caller @ 0x65c7).
* Slot offsets verified at FUN_6b67:0x6b71/0x6b81/0x6b93 + Stage-1
* caller @ 0x654f/0x656d. */
int16_t ckp_zero_anchor; /* cal+0x04E — FUN_6b67 additive anchor */
int16_t can_dckp_offset_bias; /* cal+0x050 — Stage-1/Stage-2 bias */
int16_t ckp_modulus; /* cal+0x0A0 — FUN_70d8 modulo wrap (also reused
* by the FUN_7293 process-tooth derivation
int16_t ckp_modulus; /* cal+0x0A0 — FUN_6b67 modulo wrap (also
* reused by FUN_6d4a process-tooth
* below; high byte = ckp_modulus>>8 = 30). */
/* CKP process-tooth derivation (FUN_7293 @ 0x7293 — analog of default-
* family FUN_87ea @ 0x87ea). Computes the byte stored to R90: a
* segment-counter view of (CKP_ZERO_OFFSET + advance) with wrap rules.
* Consumed by get_ckp_process_tooth() in ckp_acquisition.c. */
int16_t ckp_advance_per_tick; /* cal+0x12C — angular advance added to
* word[0x152] before tooth derivation
* (T06215: 1707 = 20° at 85.33/°). */
int16_t ckp_seg_wrap_threshold; /* cal+0x09D — tooth-counter test:
* if tooth > threshold → tooth -= 30
* (T06215: 29). */
int16_t ckp_teeth_per_seg; /* cal+0x09E — per-segment clamp:
* if tooth > teeth_per_seg → tooth = 0
* (T06215: 26 teeth / 90° segment). */
/* CKP process-tooth derivation (FUN_6d4a @ 0x6d4a — analog of T06215
* FUN_7293 / default FUN_87ea). Same body shape; cal slot for the
* per-tick advance is at cal+0x124 (NOT cal+0x12C as in T06215),
* verified as the sole `TABLE[RWA4]` reader at FUN_6d4a:0x6d6a.
* Consumed by get_ckp_process_tooth() in ckp_acquisition.c.
*
* Note: cal+0x124 is **aliased** with `pi_high_clamp` (FUN_67c4
* reads it via the indirect cal-address idiom at 0x68c3/0x68d9).
* The value 1707 happens to serve both roles in this ROM. */
int16_t ckp_advance_per_tick; /* cal+0x124 — angular advance per tick
* (t06211: 1707 = same value as
* pi_high_clamp; alias by coincidence). */
int16_t ckp_seg_wrap_threshold; /* cal+0x09D — tooth-counter test
* (t06211: 29; if tooth > threshold
* → tooth -= 30). */
int16_t ckp_teeth_per_seg; /* cal+0x09E — per-segment clamp
* (t06211: 26 teeth / 90° segment;
* if tooth > teeth_per_seg → 0). */
int16_t error_thresh_114; /* cal+0x114 */
int16_t pi_thresh_116; /* cal+0x116 */
/* pi_state_118 saturation threshold — when the recovery counter
* reaches this, FUN_66a8 latches bit0 of system_flags_110, zeroes
* the counter, and reloads pi_state_c2 from error_thresh_114.
* Boot-cached at RAM[0x02c0] by FUN_6b7b:0x6bd4. ROM literal 0x0320 = 800. */
int16_t pi_sat_count_threshold; /* cal+0x112 */
int16_t rpm_threshold_11E; /* cal+0x11E — RPM gate inside FUN_66a8 */
/* Closed-loop entry RPM floor (FUN_67c4:0x67d9). Sourced from
* RAM[0x605c] (flash mirror; ROM literal 0x01A4 = 420). */
int16_t pi_cl_rpm_floor;
/* Recovery / sustained-error machinery */
int16_t pi_state_c2_reload; /* cal+0x114 — reload value for pi_state_c2 on latch */
int16_t inj_qty_thresh; /* cal+0x116 — inj-qty threshold for recovery vs reset */
int16_t pi_sat_count_threshold; /* cal+0x112 — recovery counter latch threshold */
int16_t rpm_threshold_recovery; /* cal+0x126 — s_recovery RPM gate (was wrongly cal+0x11E in t06211 idiom) */
int16_t pi_cl_rpm_floor; /* flash[0x605C] — s_pi_update OL gate threshold */
int16_t pwm_detail_x0; /* cal+0x0EE */
int16_t pwm_detail_x1; /* cal+0x0F0 */
int16_t pwm_cached_ptr_0F2; /* cal+0x0F2 — first RPM-window breakpoint (legacy scalar) */
int16_t pwm_cached_ptr_102; /* cal+0x102 — window halfwidth (legacy scalar) */
int16_t pwm_const_104; /* cal+0x104 */
/* PI runtime-reset values (boot-derived in ROM; cal-resident here so
* each variant carries its own values without code edits). */
/* RPM-window matching for pwm_period slew (ROM 0x538b-0x5575).
* Eight breakpoints at cal+0xF2 define four bands (lo,hi); the
* cal+0x102 halfwidth adds hysteresis. RPM INSIDE any band drives
* pwm_period toward pwm_period_min (→ non-zero shape contribution
* adds ~49 duty ticks). RPM OUTSIDE all bands drives pwm_period
* toward pwm_period_max (→ zero contribution; Y-table floor). */
int16_t pwm_rpm_windows[8]; /* cal+0xF2 — 4 (lo,hi) pairs */
int16_t pwm_window_halfwidth; /* cal+0x102 — hysteresis halfwidth */
/* Per-cycle slew step magnitude for pwm_period. Sourced from
* cal+0x104 (= 354); cached to RAM[0x02ec] at FUN_5314:0x53b9 and
* read at the Phase 1 and Phase 3 sites. Aliases pwm_const_104 —
* same offset, semantic name. */
int16_t pwm_slew_step; /* cal+0x104 — slew magnitude */
const int16_t *pwm_y_table; /* cal+0x154 (indirect) */
const int16_t *shape_y_table; /* cal+0x15E (indirect) */
int16_t closed_loop_gain_const; /* cached at ROM 0x6056 = 0x000A */
/* PI runtime-reset values — boot-derived in ROM (FUN_76aa @ 0x76aa);
* cal-resident here so each variant carries its own values without
* code edits. Trim bytes at RAM[0x0410-0x0416] have no writers in the
* ROM (EEPROM trim slots, default 0), so each cal base is used
* verbatim — see open-questions §2 closeout. Field shape mirrors
* T06215's pwm_calibration_t for cross-family consistency. */
int16_t init_p_shape_bound_pos; /* cal+0x10A — copied to rt->p_shape_bound_pos */
int16_t init_p_shape_bound_neg; /* cal+0x10C — copied to rt->p_shape_bound_neg */
int16_t init_p_gain_normal; /* cal+0x118 — copied to rt->p_gain_normal */
int16_t init_integ_step_normal; /* cal+0x11E — copied to rt->integ_step_normal */
int16_t init_p_slope_large_pos; /* cal+0x11A — copied to rt->p_slope_large_pos */
int16_t init_p_slope_large_neg; /* cal+0x11C — copied to rt->p_slope_large_neg */
int16_t init_integ_step_large_pos;/* cal+0x120 — copied to rt->integ_step_large_pos */
int16_t init_integ_step_large_neg;/* cal+0x122 — copied to rt->integ_step_large_neg */
int16_t init_open_loop_p_gain; /* cal+0x124 byte, clamped to 15 — copied to rt->open_loop_p_gain */
int16_t init_integ_step_normal; /* cal+0x11A — copied to rt->integ_step_normal */
int16_t init_open_loop_p_gain; /* cal+0x11C byte clamped to 15 — copied to rt->open_loop_p_gain */
int16_t init_pos_error_normalizer;/* cal+0x108 — copied to rt->pos_error_normalizer */
int16_t init_neg_error_normalizer;/* cal+0x106 — copied to rt->neg_error_normalizer */
/* CL correction normalizers (RAM in ROM, cal-resident here for parity). */
int16_t init_pos_error_normalizer;
int16_t init_neg_error_normalizer;
uint16_t pwm_period_min; /* hypothesised; see cal_tables_rom.c */
uint16_t pwm_period_max; /* hypothesised */
/* PWM stage scalars */
int16_t pwm_detail_x0;
int16_t pwm_detail_x1;
int16_t pwm_cached_ptr_0F2;
int16_t pwm_cached_ptr_102;
int16_t pwm_const_104;
int16_t pwm_rpm_windows[8];
int16_t pwm_window_halfwidth;
int16_t pwm_slew_step;
const int16_t *pwm_y_table;
const int16_t *shape_y_table;
int16_t closed_loop_gain_const;
uint16_t pwm_period_min;
uint16_t pwm_period_max;
uint16_t pwm_min;
uint16_t pwm_max;
/* PWM duty clamp bounds — RAM[0x6058]/RAM[0x605a] flash mirrors.
* Defaults 0x00CD/0x0F32 match the default family's pwm_min/pwm_max. */
uint16_t pwm_min; /* RAM[0x6058] cache */
uint16_t pwm_max; /* RAM[0x605a] cache */
};
/* ── Submap descriptor ──────────────────────────────────────────────── */
struct pwm_submap_descr {
uint16_t flags;
const int16_t *input_ptr;
uint16_t count;
const int16_t *x;
uint16_t flags; /* +0 */
const int16_t *input_ptr; /* +2 (bound at runtime) */
uint16_t count; /* +4 */
const int16_t *x; /* +6 */
uint16_t input_addr;
};
/** Bind descriptor input_ptr fields to rt inputs. */
static inline void pwm_bind_submap_inputs(
pwm_runtime_t *rt,
pwm_submap_descr_t *descrs,
@@ -289,8 +368,15 @@ static inline void pwm_bind_submap_inputs(
* PUBLIC API
* ══════════════════════════════════════════════════════════════════════ */
/** pwm_flash_t — placeholder for family-1 API parity. Family-1 has Y-tables
* in a separate `pwm_flash_t` struct; t06211 keeps them inside
* pwm_calibration_t so this struct is empty. Kept so FBKW.c / callers
* can pass &pwm_flash_rom without the call failing. */
typedef struct pwm_flash { char _unused; } pwm_flash_t;
/** 4-argument init matching family-1's pwm_init signature. The `flash`
* pointer is accepted (must be non-NULL — pass &pwm_flash_rom) and
* ignored by the t06211 pipeline. */
void pwm_init(pwm_runtime_t *rt,
const pwm_calibration_t *cal,
const pwm_flash_t *flash,
@@ -298,17 +384,44 @@ void pwm_init(pwm_runtime_t *rt,
void pwm_service(pwm_runtime_t *rt);
/** @brief CKP-edge reset hook — call from the CKP interrupt handler.
*
* Sets rt->reset_flag = 1 so the next pwm_service() call zeroes the
* closed-loop accumulator (supervisor_state) and the enable counter
* (cl_enable_counter). Byte store is atomic on all mainstream targets;
* no locking required as long as it is not called concurrently with
* pwm_service().
*
* Pattern parity with the default family. See
* docs/re-guide-ckp-reset-pattern.md for the full rationale.
*
* **Variant note for t06211:** the reset_flag producer is **absent from
* the ROM** (no STB #1 site writing to 0x002e). The supervisor at 0x7beb
* still consumes reset_flag == 1 and clears it, but nothing inside the
* ROM ever sets it. Consequence: the accumulator walk-off hazard is
* structurally identical to family-1, and the application layer must
* drive this hook itself at engine-rev rate (typically 4 pulses per
* revolution on VP44, ~12–15 scheduler cycles apart at 1200 rpm with a
* 1 kHz scheduler). Without it, supervisor_state integrates forever.
*/
static inline void pwm_ckp_isr(pwm_runtime_t *rt) { rt->reset_flag = 1; }
/** Utility: 1D descending-X piecewise-linear lookup. */
int16_t pwm_interp_lookup(const int16_t *x, const int16_t *y,
uint16_t n, int16_t in);
/** Utility: bypass-PI bilinear LUT — eval(pwm_A, rpm), eval(pwm_B, fbkw),
* combine over Y-table, then apply [205, 3890] clamp. Use this to query
* the ROM Y-table directly as a (rpm, fbkw) lookup, skipping the PI
* controller entirely. Returns the clamped duty. */
uint16_t pwm_lut_duty(const pwm_calibration_t *cal,
uint16_t rpm, int16_t fbkw);
/* ── ROM-decoded cal + flash placeholder (defined in cal_tables_rom.c) ── */
extern const pwm_calibration_t pwm_cal_rom;
extern const pwm_flash_t pwm_flash_rom;
/** Descriptor array indices. */
enum pwm_submap_id {
PWM_SUBMAP_SETPOINT_INTERP = 0,
PWM_SUBMAP_PWM_A = 1,

2
Core/CAN_Libs/can_db.c
View File

@@ -338,7 +338,7 @@ static CanSymbolDef SYM_ID_SEND4[] = {
#endif
static CanSymbolDef SYM_ID_SEND3[] = {
#if defined(T06235) || defined(T06215)
#if defined(T06235) || defined(T06215) || defined(T06211)
{ "CKP_OFFSET", 0, 16, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &B_CKP_OFFSET, NULL, CAN_STORE_S16},
{ "commit", 16, 1, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &commitCKP_offset, NULL, CAN_STORE_U8},

19
Core/Inc/id.h
View File

@@ -12,13 +12,13 @@
/* DEBUG PARAMETERS*/
//#define T06301 //ford 004 -> 002 004 006 || 504 -> 010 018
#define T06215 //bmw rover 004 -> 005 014 015 016 017 || 504 -> 005 007 017 || 006 -> 001 002 003 004 007 008
//#define T06215 //bmw rover 004 -> 005 014 015 016 017 || 504 -> 005 007 017 || 006 -> 001 002 003 004 007 008
//#define T15021 //audi 506 -> 030 033
//#define T31804 //audi 506 -> 037 038
//#define T06209 //eq: T06216
//#define T06211
#define T06211
#define _424026
#define _504012
/* FORD */
#define FORD_SYNC_PULSE_OUT 0
@@ -29,14 +29,15 @@
#define CYLINDERS 4
/* TIMING COMPENSATIONS */
#define PHI1 41.0f
#define PHI1 41.004
#define TEIN_NOMINAL 1556
//(phiad - injangle with fault tein)*totime = teinnom
#define TEIN_FAULT 950
//#define FBKW_FEEDBACK_ZERO 45.2
#define FBKW_FEEDBACK_ZERO 53.613
/* ALL FBKW */
#define FBKW_FEEDBACK_ZERO 53.719
#define FBKW_FEEDBACK_MIN -5.367
#define FBKW_FEEDBACK_MAX 21.27
@@ -48,12 +49,6 @@
#define CAN_RPM_SEND_ASYNC 250
#define CAN_EMPF2_INSTANT 0
/* ALL FUELMAP */
#define FM_N_RPM 6
#define FM_N_ME 11
#define FM_N_T 5
/* PEAK AND HOLD */
#define PH_PEAK_DEF 600

284
Core/Phi/phi.c
View File

@@ -1,17 +1,14 @@
/**
* @file phi.c
* @brief T06215 compact-port — monolithic single-translation-unit
* @brief T06211 compact-port — monolithic single-translation-unit
* implementation of the injection-angle producer chain.
*
* All seven producer stages and the shared submap helpers are inlined
* directly into this file as `static` functions (1:1 translations of
* the verbose modules under variants/T06215/src/, brought along
* the verbose modules under variants/T06211/src/, brought along
* verbatim so per-block disassembly-address comments remain
* authoritative). The producer itself (s_final_injection_angle @
* 0x754D) is byte-equivalent to T06211's FUN_7453 — see
* variants/T06215/README.md — so the inlined bodies and assembly
* address ranges are shared with T06211. The call order in
* `phi_service` matches T06211's fused-scheduler walk
* authoritative). The call order in `phi_service` matches the
* disassembly walk through the fused scheduler at FUN_698C
* (variants/T06211/docs/open-questions.md §4 / §5).
*
* Pipeline (Stages 2–7 in `phi_service`):
@@ -25,7 +22,7 @@
*
* Every MCS-96 arithmetic choice (MUL vs MULU, SHRA vs SHR logical, JGE
* vs JC) mirrors the disassembly — see the per-block comments with
* disassembly address ranges, and variants/T06215/src/ for the
* disassembly address ranges, and variants/T06211/src/ for the
* long-form function-level commentary these stages were ported from.
*/
#include "phi.h"
@@ -40,7 +37,7 @@
* combine_three_submaps_to_word, refine_submap_result), plus two
* file-static utilities (bytes_to_words, bilinear_at_plane).
*
* Brought verbatim from variants/T06215/src/submap_eval.c with
* Brought verbatim from variants/T06211/src/submap_eval.c with
* external linkage demoted to `static`.
* ══════════════════════════════════════════════════════════════════════ */
@@ -232,7 +229,7 @@ static int16_t refine_submap_result(const int16_t *data_table,
/* ══════════════════════════════════════════════════════════════════════
* Producer stages — 1:1 ports of the seven verbose modules under
* variants/T06215/src/, brought along verbatim with external linkage
* variants/T06211/src/, brought along verbatim with external linkage
* demoted to `static`. Each docstring identifies the originating ROM
* function (FUN_xxxx @ 0xyyyy).
* ══════════════════════════════════════════════════════════════════════ */
@@ -439,8 +436,8 @@ static void compute_angle_accumulator_3d(runtime_state_t *rt, const calibration_
/* 0x7288–0x728a: LD RW52, RW1C — write angle_accumulator. */
rt->angle_accumulator = result;
/* 0x728b–0x72af: Alternate_phiad_calc embedded gate (FUN_5df3 @
* 0x5e50–0x5e62 in T06215, analog of T06031's FUN_5dd0 tail).
/* 0x728b–0x72af: Alternate_phiad_calc embedded gate (FUN_5dd0 tail in
* T06031, FUN_5df3 in T06215; T06211 mirrors the same structure).
*
* Below the hysteresis threshold (gate_0220 == 0) the live ROM both
* recomputes the accel_comp_gain and force-flags REC.1 so the next
@@ -455,7 +452,13 @@ static void compute_angle_accumulator_3d(runtime_state_t *rt, const calibration_
* any prior value). This is the PTS-event fallback path — at high
* RPM the per-cylinder hook will have already set REC.0, so this
* gate skips and the producer fires from the per-cylinder side
* exclusively. */
* exclusively.
*
* Note: in T06211, this function only runs from the orchestrator's
* else-branch (inj_qty_demand != 0), which matches the live ROM
* behavior where Alternate_phiad_calc lives inside the kick chain
* skipped on demand=0. The per-cylinder hook fires the producer
* independently of demand. */
if (rt->gate_0220 == 0u) {
rt->rec = (uint8_t)(rt->rec | 0x02u);
}
@@ -471,8 +474,8 @@ static void compute_angle_accumulator_3d(runtime_state_t *rt, const calibration_
* Sole producer of `rt->rw9e` — the high word of the signed 32-bit
* IIR-filter accumulator `{rt->rw9e:rt->rw9c}`. Low-passes the
* rpm-derived term `rt->rw9a` (produced by compute_temp_comp_factor at
* 0x6AF9). `rt->rw9e` is consumed by the same compute_temp_comp_factor
* at 0x6AFC.
* 0x5DBD). `rt->rw9e` is consumed by the same compute_temp_comp_factor
* at 0x5DC0.
*
* Cadence: in the ROM the IIR step runs from Timer_1khz (1 kHz) gated
* by an R94 prescaler that reloads from DAT_6061 = 0x64 = 100, so the
@@ -606,20 +609,17 @@ void phi_tick_1khz(phi_state_t *state, const phi_cal_t *cal)
}
/*
* 1:1 translation of orphan calc_temp_comp_factor @ 0x6AE7–0x6B29
* (T06215 variant; algorithmically byte-equivalent to T06211 FUN_5DAB
* @ 0x5DAB).
* 1:1 translation of orphan FUN_5DAB @ 0x5DAB–0x5DED (T06211 variant).
*
* Per-tick producer of `rt->temp_comp_factor` (the runtime mirror of
* *(0x02FC) in T06215; T06211 uses *(0x02F4)). Reached on-tick by
* `LCALL calc_temp_comp_factor` at 0x7B14 inside the per-cylinder gate
* that precedes the orphan scheduler at FUN_7b1c.
* Per-tick producer of `rt->temp_comp_factor` (= the runtime mirror of
* *(0x02F4)). Reached on-tick by `LCALL 0x5DAB` at 0x79D9 inside the
* per-cylinder gate that precedes the orphan scheduler at 0x79E1.
*
* Both MULs in this function carry the FE prefix → signed 16×16→32.
* The final store at 0x6B1E is `ST RW1C, temp_comp` — the LOW word of
* The final store at 0x5DE2 is `ST RW1C, *(0x02F4)` — the LOW word of
* the second product, NOT the high word.
*
* The R0CB-gated `ADD RW20, RWCE` branch at 0x6B00–0x6B07 is
* The R0CB-gated `ADD RW20, RWCE` branch at 0x5DC4–0x5DCB is
* INTENTIONALLY DROPPED — both register-bank slots are observed zero in
* nominal operation, so the branch is dead. Restore it if a future
* live-ECU dump shows R0CB transitioning out of zero.
@@ -628,98 +628,95 @@ void phi_tick_1khz(phi_state_t *state, const phi_cal_t *cal)
*/
static void compute_temp_comp_factor(runtime_state_t *rt, const calibration_t *cal)
{
/* 0x6AE7–0x6AEC: prologue (PUSH RW1C, RW1E, RW20) — handled by C locals. */
/* 0x5DAB–0x5DB0: prologue (PUSH RW1C, RW1E, RW20) — handled by C locals. */
/* 0x6AED–0x6AEF: LD RW1C, RW40 — rw1c = rpm. */
/* 0x5DB1–0x5DB3: LD RW1C, RW40 — rw1c = rpm. */
int16_t rpm_signed = (int16_t)rt->rpm;
/* 0x6AF0–0x6AF5: MUL RL1C, RW1C, temp_comp_dynamic — signed (FE prefix);
* cal_temp_comp_switch_dynamic mirrors temp_comp_dynamic.
* 0x6AF6–0x6AF8: SHRAL RL1C, #2 — arithmetic right shift on the
/* 0x5DB4–0x5DB9: MUL RL1C, RW1C, *(0x02F6) — signed (FE prefix);
* cal_temp_comp_switch_dynamic mirrors *(0x02F6).
* 0x5DBA–0x5DBC: SHRAL RL1C, #2 — arithmetic right shift on the
* 32-bit signed product. */
int32_t rl1c = (int32_t)rpm_signed
* (int32_t)cal->cal_temp_comp_switch_dynamic;
rl1c = rl1c >> 2; /* arithmetic */
int16_t rw1e = (int16_t)((rl1c >> 16) & 0xFFFF); /* high word */
/* 0x6AF9–0x6AFB: LD RW9A, RW1E — publish high word as state.
* Consumed by other orphans outside the RW48 chain. */
/* 0x5DBD–0x5DBF: LD RW9A, RW1E — publish high word as state.
* Consumed by other orphans (FUN_5E12) outside the RW48 chain. */
rt->rw9a = rw1e;
/* 0x6AFC–0x6AFF: SUB RW20, RW9E, RW1E (3-op) — rw20 = RW9E − rw1e. */
/* 0x5DC0–0x5DC3: SUB RW20, RW9E, RW1E (3-op) — rw20 = RW9E − rw1e. */
int16_t rw20 = (int16_t)(rt->rw9e - rw1e);
/* 0x6B00–0x6B07: R0CB-gated `ADD RW20, RWCE` — DROPPED (see docstring). */
/* 0x5DC4–0x5DCB: R0CB-gated `ADD RW20, RWCE` — DROPPED (see docstring). */
/* 0x6B08–0x6B0C: ADD RW20, *(0x0146) — fold in temperature. */
/* 0x5DCC–0x5DD0: ADD RW20, *(0x0146) — fold in temperature. */
rw20 = (int16_t)(rw20 + rt->temperature);
/* 0x6B0D–0x6B11: SUB RW20, [RWA4+0x007E] — temperature reference. */
/* 0x5DD1–0x5DD5: SUB RW20, [RWA4+0x007E] — temperature reference. */
rw20 = (int16_t)(rw20 - cal->cal_7e);
/* 0x6B12–0x6B16: SUB RW20, *(0x0402) — sign-extended boot byte
* (cal_byte_402 = 0xFFF2 = -14 in this T06215 image). */
/* 0x5DD6–0x5DDA: SUB RW20, *(0x0402) — sign-extended boot byte
* (cal_byte_402 = 0xFFF8 = -8 in this image). */
rw20 = (int16_t)(rw20 - cal->cal_byte_402);
/* 0x6B17–0x6B1D: MUL RL1C, RW20, temp_comp_complete — signed (FE prefix);
* cal_temp_comp_switch_complete mirrors temp_comp_complete.
/* 0x5DDB–0x5DE1: MUL RL1C, RW20, *(0x02F2) — signed (FE prefix);
* cal_temp_comp_switch_complete mirrors *(0x02F2).
* With switch == 1, rl1c == rw20 (sign-extended). */
int32_t prod = (int32_t)rw20
* (int32_t)cal->cal_temp_comp_switch_complete;
/* 0x6B1E–0x6B22: ST RW1C, temp_comp — LOW word of RL1C.
/* 0x5DE2–0x5DE6: ST RW1C, *(0x02F4) — LOW word of RL1C.
* NOTE: stores the LOW 16 bits of the signed 32-bit product, not
* the high word. Anything that overflows int16 wraps. */
rt->temp_comp_factor = (int16_t)((uint32_t)prod & 0xFFFFu);
/* 0x6B23–0x6B29: epilogue. */
/* 0x5DE7–0x5DED: epilogue. */
}
/*
* 1:1 translation of orphan compute_angle_kick_2d @ 0x6A94–0x6AE6
* (T06215 variant; algorithmically byte-equivalent to T06211 FUN_5D58
* @ 0x5D58).
* 1:1 translation of orphan FUN_5D58 @ 0x5D58–0x5DAA (T06211 variant).
*
* Per-tick producer of `rt->angle_kick_2d` (RW3E). Reached by
* `LCALL compute_angle_kick_2d` at 0x7B76 in the orphan scheduler
* FUN_7b1c, immediately after the angle-accumulator-3D analog and
* immediately before `RW52 += RW3E` at 0x7B79. Reuses scratch_rpm /
* scratch_demand already populated by compute_angle_accumulator_3d
* earlier in the same tick.
* `LCALL 0x5D58` at 0x7A3B in the orphan scheduler, immediately after
* `compute_angle_accumulator_3d` (FUN_722E) and immediately before
* `RW52 += RW3E` at 0x7A3E. Reuses scratch_rpm / scratch_demand
* already populated by compute_angle_accumulator_3d earlier in the
* same tick.
*
* Both MULs are SIGNED (FE prefix). SHRAL is arithmetic; SHLL is
* logical.
*/
static void compute_angle_kick_2d(runtime_state_t *rt, const calibration_t *cal)
{
/* 0x6A94–0x6AA3: prologue (PUSH RW1C/.../RW2A) — handled by C locals.
* 0x6AA4–0x6AAA: RW2A = RWC6 + 0x32 — points at the kick table cal slot. */
/* 0x5D58–0x5D67: prologue (PUSH RW1C/.../RW2A) — handled by C locals.
* 0x5D68–0x5D6E: RW2A = RWC6 + 0x32 — points at the kick table cal slot. */
/* 0x6AAB–0x6AB6: PUSH #0x194 / #0x184 / [RW2A] / LCALL FUN_6f1e
* (T06215's combine_two_submaps_to_word analog).
/* 0x5D6F–0x5D79: PUSH #0x194 / #0x184 / [RW2A] / LCALL FUN_7035.
* 2-D bilinear combine on (rpm, demand) over data_table_2d_kick.
* 0x6AB6: ST RW1C, RW3E — RW3E = bilinear result. */
* 0x5D7A: ST RW1C, RW3E — RW3E = bilinear result. */
int16_t bilinear = combine_two_submaps_to_word(cal->data_table_2d_kick,
&rt->scratch_rpm,
&rt->scratch_demand);
rt->angle_kick_2d = bilinear;
/* 0x6ABD–0x6AC2: MUL RL1C, RW42, [RWC6+0x34] — signed (FE prefix);
* 0x6AC3–0x6AC5: SHRAL RL1C, #0x8 (arithmetic).
* 0x6AC6–0x6AC8: ADD RW3E, RW1C — fold demand-weighted offset in. */
/* 0x5D81–0x5D89: MUL RL1C, RW42, [RWC6+0x34] — signed (FE prefix);
* SHRAL RL1C, #0x8 (arithmetic).
* 0x5D8A: ADD RW3E, RW1C — fold demand-weighted offset in. */
int32_t dem_prod = (int32_t)rt->angle_dec_cmd * (int32_t)cal->cal_rwc6_34;
int32_t dem_shifted = dem_prod >> 8; /* arithmetic */
int16_t dem_low = (int16_t)(dem_shifted & 0xFFFF);
rt->angle_kick_2d = (int16_t)(rt->angle_kick_2d + dem_low);
/* 0x6AC9–0x6ACF: MUL RL1C, RW3E, temp_comp — signed (FE prefix);
* 0x6AD0–0x6AD2: SHLL RL1C, #0x2 (LOGICAL); take HIGH word.
* 0x6AD3–0x6AD5: ST RW1E, RW3E — RW3E = high_word((RW3E × temp_comp_factor) << 2). */
/* 0x5D8D–0x5D97: MUL RL1C, RW3E, *(0x02F4) — signed (FE prefix);
* SHLL RL1C, #0x2 (LOGICAL); take HIGH word.
* 0x5D97: ST RW1E, RW3E — RW3E = high_word((RW3E × temp_comp_factor) << 2). */
int32_t scale_prod = (int32_t)rt->angle_kick_2d * (int32_t)rt->temp_comp_factor;
uint32_t scale_shifted = ((uint32_t)scale_prod) << 2; /* logical */
rt->angle_kick_2d = (int16_t)(uint16_t)(scale_shifted >> 16);
/* 0x6AD6–0x6AE6: epilogue. */
/* 0x5D9A–0x5DAA: epilogue. */
}
/*
@@ -778,36 +775,35 @@ static void compute_accel_comp_offset(runtime_state_t *rt, const calibration_t *
}
/*
* 1:1 translation of FUN_5f33 @ 0x5f33–0x5f4d (T06215 ROM analog of
* T06031's FUN_736e). The "Try_calc_accel_offset" wrapper that conditionally
* calls compute_accel_comp_offset based on REC.0 / REC.1 / gate_0220.
* 1:1 translation of FUN_736e @ 0x736e–0x7388 (T06211 — Try_calc_accel_offset
* analog; byte-equivalent in shape to T06215's FUN_5f33 and T06031's
* FUN_736e — same address in T06211 / T06031, different in T06215). The
* verbose tree's compute_accel_comp_offset_gated translates the same
* function. Triggered from the live-ROM tooth dispatcher at the per-cylinder
* cal_byte_56 (=13) tooth event, immediately after Calculate_mid_rpm
* updates RW138. Wired into the public API as phi_per_cylinder_event.
*
* Triggered from the live-ROM Tooth_scheduler at 0x7abe, on the per-cylinder
* tooth event where R88 == cal_byte_56 — i.e. once per cylinder cycle,
* immediately after the rpm_baseline producer (Calculate_mid_rpm @ 0x51e1)
* updates *(0x0138). Wired into the public API as phi_per_cylinder_event.
*
* 0x5f37: ORB REC, #0x4 ; REC.2 := 1 (wrapper visited flag)
* 0x5f3a: JBS REC, 0x0, exit ; REC.0 set → fresh value pending, skip
* 0x5f3d: JBS REC, 0x1, compute ; REC.1 set → forced compute path
* 0x5f40: CMPB ZRlo, *(0x0220) ; gate_0220 (is_rpm_above_1000_hyst.)
* 0x5f45: JE exit ; gate_0220 == 0 → skip
* 0x5f47: SCALL FUN_5ef2 ; compute_accel_comp_offset
* 0x5f49: epilogue
* 0x7372: ORB REC, #0x4 ; REC.2 := 1 (wrapper visited flag)
* 0x7375: JBS REC, 0x0, exit ; REC.0 set → fresh value pending, skip
* 0x7378: JBS REC, 0x1, compute ; REC.1 set → forced compute path
* 0x737b: CMPB ZRlo, *(0x0220) ; gate_0220 (is_rpm_above_1000_hyst.)
* 0x7380: JE exit ; gate_0220 == 0 → skip
* 0x7382: SCALL FUN_732d ; compute_accel_comp_offset
* 0x7384: epilogue
*/
static void compute_accel_comp_offset_gated(runtime_state_t *rt,
const calibration_t *cal)
{
/* 0x5f37: REC |= 0x04 — set unconditionally, even on skip paths. */
/* 0x7372: REC |= 0x04 — set unconditionally, even on skip paths. */
rt->rec = (uint8_t)(rt->rec | 0x04u);
/* 0x5f3a: REC.0 set → consumer (FUN_7453) hasn't drained the previous
/* 0x7375: REC.0 set → consumer (FUN_7453) hasn't drained the previous
* RW3C yet; skip recomputation to avoid losing the pending value. */
if ((rt->rec & 0x01u) != 0u) {
return;
}
/* 0x5f3d–0x5f47: REC.1 forces the compute path; otherwise gate on
/* 0x7378–0x7381: REC.1 forces the compute path; otherwise gate on
* the live-byte hysteresis at *(0x0220). */
if (((rt->rec & 0x02u) != 0u) || (rt->gate_0220 != 0u)) {
compute_accel_comp_offset(rt, cal);
@@ -1076,7 +1072,7 @@ static void compute_target_injection_angle(runtime_state_t *rt, const calibratio
/* 0x74a2–0x74a7: ADD RW5A, RW1C, 0x14e (3-op, TABLE[ZR])
* target_eoi = target_inj_angle + phi1, where phi1 is the precomputed
* cell at *(0x014e). The C model recomputes phi1 = phi0 + dphi inline
* (see variants/T06215/docs/open-questions.md §6). */
* (see variants/T06211/docs/open-questions.md §6). */
{
int16_t phi1 = (int16_t)(cal->phi0 + rt->dphi);
rt->target_eoi = (int16_t)(rw1c + phi1);
@@ -1100,7 +1096,7 @@ void phi_init(phi_state_t *state, const phi_cal_t *cal,
* input_var field is runtime-bound by design (the C model treats the
* cal as a writable buffer, not flash-resident, since extract_*.py
* emits a non-const initializer for this very reason). */
phi_t06215_bind_inputs(&state->rt, (phi_cal_t *)cal);
phi_t06211_bind_inputs(&state->rt, (phi_cal_t *)cal);
/* Pull boot-only getters — Phase-1 / Phase-2 thresholds for the
* FUN_62a2 state machine. */
@@ -1147,15 +1143,17 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)
* tooth-13-event-driven, not main-loop-driven. The pull happens at
* the two consumer-side entry points instead:
* - phi_per_cylinder_event (the per-cylinder hook)
* - just before compute_angle_accumulator_3d in Stage 3b (the
* PTS-event fallback path's embedded Alternate_phiad_calc gate).
* - just before compute_angle_accumulator_3d in Stage 3b's
* else-branch (the PTS-event fallback path's embedded
* Alternate_phiad_calc gate; on demand=0 the orchestrator's
* alt-path skips this branch, matching the live-ROM behavior).
* See the comment at each pull site. */
rt->rwc2 = g->get_rwc2();
rt->reset_gate_0226 = g->get_reset_gate_0226();
rt->dphi = g->get_dphi();
/* rt->rw9e is produced internally by compute_temp_phi_comp on its
* 10 Hz cadence; it is not pulled from a getter. The host drives the
* 1 kHz hook compute_temp_phi_comp_tick_1khz from a separate timer. */
/* rt->rw9e is produced internally by phi_tick_1khz on its 10 Hz
* cadence; it is not pulled from a getter. The host drives the 1 kHz
* hook from a separate timer. */
/* Per-tick constants — hard-wire chain inputs that the live ECU drives
* but the simulation pins to a single value:
@@ -1185,46 +1183,51 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)
* unconditionally so the gain is fresh each tick. */
compute_accel_comp_gain(rt, cal);
/* ── Stage 3b: compute_angle_accumulator_3d (FUN_722e @ 0x722e) ────
* Three RWC6-relative submap evals (RPM, demand, angle_dec_cmd) through
* FUN_7092 (3-D trilinear = combine_three_submaps_to_word) → writes
* rt->angle_accumulator (RW52) and rt->scratch_0158 debug mirror.
* Also populates rt->scratch_rpm and rt->scratch_demand which the
* angle-kick stage (3d) reuses without re-evaluating.
/* ── Stages 3b–3e: angle accumulator + temperature-kick fold ──────
* (Aligned with T06215/T06235: no orchestration-level demand-zero
* guard — the demand=0 alt path is handled inside
* compute_target_injection_angle at Stage 7.)
*
* The Alternate_phiad_calc embedded gate at the tail of this function
* may fire compute_accel_comp_offset (the "PTS-event fallback path").
* Pull rpm_baseline FRESH right before this gate so the producer reads
* the latest tooth-13 snapshot rather than whatever stale value Stage
* 1 left behind — phi_service's main-loop cadence is not synchronised
* with the per-cylinder tooth-13 event, so a Stage-1 pull may capture
* the previous cycle's baseline and invert RW3C polarity. Mirrors the
* pull at the top of phi_per_cylinder_event so both producer entry
* points see the same snapshot ordering. */
* ── Stage 3b: compute_angle_accumulator_3d (FUN_722e @ 0x722e)
* Three RWC6-relative submap evals (RPM, demand, angle_dec_cmd)
* through FUN_7092 (3-D trilinear) → writes rt->angle_accumulator
* (RW52) and rt->scratch_0158 debug mirror. Also populates
* rt->scratch_rpm and rt->scratch_demand which the angle-kick
* stage (3d) reuses without re-evaluating.
*
* The Alternate_phiad_calc embedded gate at the tail of this
* function may fire compute_accel_comp_offset (the "PTS-event
* fallback path"). Pull rpm_baseline FRESH right before this
* gate so the producer reads the latest tooth-13 snapshot rather
* than whatever stale value Stage 1 left behind — phi_service's
* main-loop cadence is not synchronised with the per-cylinder
* tooth-13 event. Mirrors the pull at the top of
* phi_per_cylinder_event so both producer entry points see the
* same snapshot ordering. */
rt->rpm_baseline = g->get_rpm_baseline();
compute_angle_accumulator_3d(rt, cal);
/* ── Stage 3c: compute_temp_comp_factor (orphan calc_temp_comp_factor @ 0x6AE7) ─
* Per-tick rebuild of *(0x02FC) in T06215 (T06211: *(0x02F4)) from rpm,
* temperature, the two boot switches (cal_temp_comp_switch_complete /
* _dynamic), and the external rw9e state input. Mirrors the orphan call
* at 0x7B14 that fires before the angle scheduler at FUN_7b1c. */
/* ── Stage 3c: compute_temp_comp_factor (orphan FUN_5DAB @ 0x5DAB)
* Per-tick rebuild of *(0x02F4) from rpm, temperature, the two
* boot switches (cal_temp_comp_switch_complete / _dynamic), and
* the external rw9e state input. Mirrors the orphan call at
* 0x79D9 that fires before the angle scheduler at 0x79E1. */
compute_temp_comp_factor(rt, cal);
/* ── Stage 3d: compute_angle_kick_2d (orphan @ 0x6A94) ─────────────
/* ── Stage 3d: compute_angle_kick_2d (orphan FUN_5D58 @ 0x5D58)
* 2-D bilinear kick over the table at *(RWC6+0x32), reusing the
* scratches populated by Stage 3b, plus a demand-weighted offset
* `(angle_dec_cmd × cal_rwc6_34) >> 8`, post-scaled by
* temp_comp_factor (Stage 3c output). Mirrors `LCALL compute_angle_kick_2d`
* at 0x7B76. Writes rt->angle_kick_2d (RW3E). */
* temp_comp_factor (Stage 3c output). Mirrors `LCALL 0x5D58` at
* 0x7A3B. Writes rt->angle_kick_2d (RW3E). */
compute_angle_kick_2d(rt, cal);
/* ── Stage 3e: fold the kick into the accumulator + saturate ──────
* Mirrors `ADD RW52, RW3E` at 0x7B79 followed by the `JBC R53.7 /
* CLR RW52` saturate at 0x7B7C–0x7B7F. This happens BEFORE
* compute_target_injection_angle (FUN_7453 analog @ 0x754D);
* FUN_7453's own REC.0 fold of accel_comp_offset (RW3C) and
* *(0x0200) drain run later inside Stage 7. */
/* ── Stage 3e: fold the kick into the accumulator + saturate ──
* Mirrors `ADD RW52, RW3E` at 0x7A3E followed by the `JBC R53.7
* / CLR RW52` saturate at 0x7A41–0x7A44. This happens BEFORE
* compute_target_injection_angle (FUN_7453); FUN_7453's own
* REC.0 fold of accel_comp_offset (RW3C) and *(0x0200) drain
* run later inside Stage 7. */
rt->angle_accumulator = (int16_t)(rt->angle_accumulator + rt->angle_kick_2d);
if (rt->angle_accumulator < 0) {
rt->angle_accumulator = 0;
@@ -1234,18 +1237,21 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)
* The producer is now driven by the live-ROM cadence:
*
* 1. Per-cylinder path — host calls phi_per_cylinder_event() at the
* cal_byte_56 tooth (mirrors Tooth_scheduler @ 0x7abe). This
* sets REC.2 and may run compute_accel_comp_offset depending on
* gate_0220 / REC.1 state.
* cal_byte_56 (=13) tooth (mirrors Tooth_scheduler @ 0x7abe in
* T06215; T06211 same tooth value). This sets REC.2 and may run
* compute_accel_comp_offset depending on gate_0220 / REC.1 state.
*
* 2. PTS-event fallback path — the Alternate_phiad_calc embedded
* gate at the tail of compute_angle_accumulator_3d (Stage 3b)
* runs compute_accel_comp_offset when REC.2 is set AND REC.0
* is clear.
* is clear. In T06211 this lives inside the demand!=0 else-branch,
* so on demand=0 the fallback is skipped (matching the live-ROM
* alt-path); the per-cylinder hook still fires the producer
* independently of demand.
*
* Calling the bare producer here would overwrite RW3C every tick
* regardless of cadence, which is the pre-2026-05-06 divergence the
* live-ECU comparison surfaced. */
* regardless of cadence, which is the divergence the live-ECU
* comparison surfaced. */
/* ── Stage 5: compute_gate_0220 (orphan @ 0x77ff) ───────────────
* Updates rt->gate_0220 from current rpm with hysteresis bands at
@@ -1298,42 +1304,38 @@ size_t phi_state_size(void) { return sizeof(phi_state_t); }
size_t phi_cal_size(void) { return sizeof(phi_cal_t); }
/*
* phi_per_cylinder_event — public per-cylinder hook.
* phi_per_cylinder_event — public per-cylinder hook for T06211.
*
* Models the live-ROM `Tooth_scheduler` dispatch at 0x7abe:
* Models the live-ROM tooth dispatcher path that fires once per cylinder
* at the cal_byte_56 = 13 tooth event:
*
* if (R88 == cal_byte_56) { // 0x7aa9 JE LAB_7abb
* Calculate_mid_rpm(); // 0x7abb LCALL FUN_51e1
* Try_calc_accel_offset(); // 0x7abe LCALL FUN_5f33
* if (R88 == cal_byte_56) {
* Calculate_mid_rpm(); // updates rpm_baseline (RW138)
* compute_accel_comp_offset_gated(); // FUN_736e @ 0x736e
* }
*
* The host is responsible for the `Calculate_mid_rpm` analog: write the
* fresh rpm_baseline (RW138) into `state->rt.rpm_baseline` (or via the
* getter) BEFORE calling this hook. This routine then runs the
* Try_calc_accel_offset wrapper (compute_accel_comp_offset_gated), which
* sets REC.2 and conditionally calls compute_accel_comp_offset.
* Pulls rpm_baseline from the getter at hook entry — the host computes
* the fresh tooth-13 snapshot just before invoking this hook, but
* phi_service's Stage 1 used to capture rpm_baseline at main-loop cadence
* (independent of tooth-13 events), leaving rt->rpm_baseline stale at
* this moment. The fresh pull here guarantees the producer sees the
* just-computed snapshot. The mirror pull just before Stage 3b in
* phi_service does the same for the PTS-event fallback path.
*
* Cadence (per the live-ECU side-by-side traces):
* - High RPM (gate_0220 == 1): hook fires the producer; REC.0 is set;
* phi_service's Stage 3b fallback gate observes REC.0 and skips.
* - Low RPM (gate_0220 == 0): hook only sets REC.2; phi_service's
* Stage 3b runs the producer because REC.1 was set there and REC.0
* is still clear.
* - In both cases compute_target_injection_angle (Stage 7) clears the
* is still clear (provided demand != 0; on demand=0 only the hook
* can fire the producer).
* - In all cases compute_target_injection_angle (Stage 7) clears the
* entire REC byte after consuming RW3C, so REC reads back as 0
* between events — matching the live observation that *(0x00ec)
* stays at zero on the bus probe.
*
* Reentrant per phi_state_t. Safe to invoke from a tooth-edge ISR
* provided the host serialises against phi_service.
*
* Pulls rpm_baseline from the getter at hook entry — the host computes
* the fresh tooth-13 snapshot just before invoking this hook, but
* phi_service's Stage 1 pull captures rpm_baseline at main-loop cadence
* (independent of tooth-13 events), leaving rt->rpm_baseline stale at
* this moment. The fresh pull here guarantees the producer sees the
* just-computed snapshot. The mirror pull just before Stage 3b in
* phi_service does the same for the PTS-event fallback path.
*/
void phi_per_cylinder_event(phi_state_t *state, const phi_cal_t *cal)
{

52
Core/Phi/phi.h
View File

@@ -1,16 +1,16 @@
/**
* @file phi.h
* @brief T06215 injection-angle algorithm — compact public interface.
* @brief T06211 injection-angle algorithm — compact public interface.
*
* AUTO-GENERATED by tools/extract_t06215_cal.py
* Source ROM: rom_eeprom_dump_0000-9FFF_424026.bin
* Bases: RWA4 = 0x9BD8, RWC6 = 0x7E56
* AUTO-GENERATED by tools/extract_t06211_cal.py
* Source ROM: rom_eeprom_dump_0000-9FFF_504012.bin
* Bases: RWA4 = 0x9BD8, RWC6 = 0x7D0E
*
* DO NOT EDIT -- regenerate with:
* python tools/extract_t06215_cal.py --target compact
* python tools/extract_t06211_cal.py --target compact
*
* Companion to phi.c (single-translation-unit port of the per-function
* verbose tree under variants/T06215/src/) and the auto-generated
* verbose tree under variants/T06211/src/) and the auto-generated
* phi_cal_tables.c. Callers see only this header; embedded
* `runtime_state_t` / `calibration_t` fields are IMPLEMENTATION DETAIL
* — touch only the outputs struct and the getter vtable.
@@ -19,7 +19,7 @@
*
* phi_input_getters_t getters = { .get_rpm = ..., ... };
* phi_state_t state;
* phi_cal_t cal = phi_t06215_cal; // copy from auto-extracted master
* phi_cal_t cal = phi_t06211_cal; // copy from auto-extracted master
* phi_outputs_t out;
*
* phi_init(&state, &cal, &getters); // boot-once
@@ -46,14 +46,14 @@
* the host must drive it once per 1 ms from its own millisecond timer.
* See variants/T06211/docs/open-questions.md §9.
*/
#ifndef PHI_T06215_H
#define PHI_T06215_H
#ifndef PHI_T06211_H
#define PHI_T06211_H
#include <stdint.h>
#include <stddef.h>
/* ─── Internal runtime / calibration types ───────────────────────────
* Inlined verbatim from variants/T06215/src/injection_angle_state.h.
* Inlined verbatim from variants/T06211/src/injection_angle_state.h.
* Treat all fields as IMPLEMENTATION DETAIL — see the lifecycle
* comment above; the supported surface is `phi_outputs_t` and the
* getter vtable. */
@@ -220,7 +220,15 @@ typedef struct {
int16_t (*get_angle_dec_cmd)(void); /* RW42 */
uint16_t (*get_rpm)(void); /* RW40 */
int16_t (*get_temperature)(void); /* *(0x0146) */
int16_t (*get_rpm_baseline)(void); /* *(0x0138) */
int16_t (*get_rpm_baseline)(void); /* *(0x0138) — tooth-13 snapshot.
* Called by phi_per_cylinder_event AND by phi_service
* just before Stage 3b (NOT from Stage 1's bulk pull).
* Must return the rpm sampled at the most recent
* cal_byte_56=13 tooth event — a point sample, not
* a moving average. Doing the unit conversion (e.g.
* MT_offset_RPM × scale) inside the getter body is
* the right place; the algorithm reads it as an
* already-converted int16 Q-unit value. */
uint16_t (*get_rwc2)(void); /* RWC2 */
uint8_t (*get_reset_gate_0226)(void); /* *(0x0226) */
int16_t (*get_dphi)(void); /* *(0x014c) */
@@ -256,18 +264,22 @@ void phi_service(phi_state_t *state,
void phi_tick_1khz(phi_state_t *state, const phi_cal_t *cal);
/** Per-cylinder hook. Host invokes once per cylinder cycle, on the tooth
* edge where `current_tooth == cal->cal_byte_56`, AFTER the host has
* written the fresh rpm_baseline (RW138) into the runtime state.
* edge where `current_tooth == cal->cal_byte_56` (= 13 in this ROM),
* AFTER the host has computed the fresh rpm_baseline (RW138).
*
* Mirrors the live-ROM Tooth_scheduler dispatch at 0x7abe (T06215):
* Mirrors the live-ROM Tooth_scheduler dispatch (T06211 mirrors T06215's
* 0x7abe path):
*
* if (R88 == cal_byte_56) {
* Calculate_mid_rpm(); // host responsibility (writes rpm_baseline)
* Calculate_mid_rpm(); // host responsibility — host's
* // get_rpm_baseline() must return
* // this fresh value when called.
* Try_calc_accel_offset(); // this function
* }
*
* Internally calls the FUN_5f33 analog (compute_accel_comp_offset_gated)
* which sets REC.2 unconditionally and then conditionally fires
* Internally calls compute_accel_comp_offset_gated (FUN_5f33 analog),
* which pulls rpm_baseline fresh from the host getter at hook entry,
* then sets REC.2 unconditionally and conditionally fires
* compute_accel_comp_offset based on REC.0 / REC.1 / gate_0220:
* - REC.0 set → skip (fresh value already pending)
* - REC.1 set OR gate_0220 != 0 → run producer (writes RW3C, sets REC.0)
@@ -286,8 +298,8 @@ size_t phi_cal_size(void);
/* ─── Auto-generated cal export (defined in phi_cal_tables.c) ──────── */
extern calibration_t phi_t06215_cal;
extern calibration_t phi_t06211_cal;
void phi_t06215_bind_inputs(runtime_state_t *rt, calibration_t *cal);
void phi_t06211_bind_inputs(runtime_state_t *rt, calibration_t *cal);
#endif /* PHI_T06215_H */
#endif /* PHI_T06211_H */

248
Core/Phi/phi_cal_tables.c
View File

@@ -1,38 +1,38 @@
/**
* @file phi_cal_tables.c
* @brief T06215 compact-port calibration data (auto-generated).
* @brief T06211 compact-port calibration data (auto-generated).
*
* AUTO-GENERATED by tools/extract_t06215_cal.py
* Source ROM: rom_eeprom_dump_0000-9FFF_424026.bin
* Bases: RWA4 = 0x9BD8, RWC6 = 0x7E56
* AUTO-GENERATED by tools/extract_t06211_cal.py
* Source ROM: rom_eeprom_dump_0000-9FFF_504012.bin
* Bases: RWA4 = 0x9BD8, RWC6 = 0x7D0E
*
* DO NOT EDIT -- regenerate with:
* python tools/extract_t06215_cal.py --target compact
* python tools/extract_t06211_cal.py --target compact
*/
#include <stddef.h>
#include "phi.h"
/* ======================================================================
* Accel axes + data tables (file-local; expose only phi_t06215_cal).
* Accel axes + data tables (file-local; expose only phi_t06211_cal).
* Angle accumulator axes + 3-D table (FUN_722e producer chain).
* ====================================================================== */
/* Accel RPM axis -- 7 words @ 0x9D40. */
/* Accel RPM axis -- 7 words @ 0x9D38. */
static const int16_t phi_accel_axis_rpm[7] = {
(int16_t)0x4B5E, (int16_t)0x3127, (int16_t)0x16F0, (int16_t)0x1206, (int16_t)0x09D5, (int16_t)0x068E, (int16_t)0x0000
};
/* Accel inj_qty_demand axis -- 6 words @ 0x9D4E. */
/* Accel inj_qty_demand axis -- 6 words @ 0x9D46. */
static const int16_t phi_accel_axis_demand[6] = {
(int16_t)0x08C0, (int16_t)0x0640, (int16_t)0x0460, (int16_t)0x0280, (int16_t)0x01E0, (int16_t)0x0000
(int16_t)0x08C0, (int16_t)0x0640, (int16_t)0x0320, (int16_t)0x0280, (int16_t)0x01E0, (int16_t)0x0000
};
/* Accel temperature axis -- 5 words @ 0x9D5A. */
/* Accel temperature axis -- 5 words @ 0x9D52. */
static const int16_t phi_accel_axis_temp[5] = {
(int16_t)0x12F0, (int16_t)0x1250, (int16_t)0x1110, (int16_t)0x0FD0, (int16_t)0x0000
};
/* Accel 2-D combine (RPM x demand) -- 42 words @ 0x9D64. */
/* Accel 2-D combine (RPM x demand) -- 42 words @ 0x9D5C. */
static const int16_t phi_accel_combine_table[42] = {
(int16_t)0x0000, (int16_t)0x020A, (int16_t)0x052C, (int16_t)0x082A, (int16_t)0x082A, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x020A, (int16_t)0x052C,
(int16_t)0x082A, (int16_t)0x082A, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x020A, (int16_t)0x052C, (int16_t)0x082A, (int16_t)0x082A, (int16_t)0x0000,
@@ -41,145 +41,157 @@ static const int16_t phi_accel_combine_table[42] = {
(int16_t)0x0000, (int16_t)0x0000
};
/* Accel 1-D refine (temperature) -- 5 words @ 0x9DB8. */
/* Accel 1-D refine (temperature) -- 5 words @ 0x9DB0. */
static const int16_t phi_accel_refine_table[5] = {
(int16_t)0x00FF, (int16_t)0x00FF, (int16_t)0x00FF, (int16_t)0x00FF, (int16_t)0x00FF
};
/* Angle RPM axis -- 13 words @ 0x7E8C. */
static const int16_t phi_angle_axis_rpm[13] = {
(int16_t)0x4B5E, (int16_t)0x4674, (int16_t)0x4189, (int16_t)0x3AFB, (int16_t)0x346E, (int16_t)0x2DE0, (int16_t)0x240B, (int16_t)0x1A37, (int16_t)0x13A9, (int16_t)0x0D1B,
(int16_t)0x068E, (int16_t)0x0347, (int16_t)0x0000
/* Angle RPM axis -- 15 words @ 0x7D44. */
static const int16_t phi_angle_axis_rpm[15] = {
(int16_t)0x51EC, (int16_t)0x4D01, (int16_t)0x4817, (int16_t)0x4189, (int16_t)0x3AFB, (int16_t)0x346E, (int16_t)0x2DE0, (int16_t)0x2752, (int16_t)0x20C5, (int16_t)0x1A37,
(int16_t)0x13A9, (int16_t)0x0D1B, (int16_t)0x068E, (int16_t)0x0347, (int16_t)0x0000
};
/* Angle inj_qty_demand axis -- 15 words @ 0x7EA6. */
/* Angle inj_qty_demand axis -- 15 words @ 0x7D62. */
static const int16_t phi_angle_axis_demand[15] = {
(int16_t)0x0F90, (int16_t)0x0C73, (int16_t)0x0A60, (int16_t)0x0956, (int16_t)0x08D2, (int16_t)0x07C8, (int16_t)0x063A, (int16_t)0x04AB, (int16_t)0x031D, (int16_t)0x0213,
(int16_t)0x0C73, (int16_t)0x0A60, (int16_t)0x08D2, (int16_t)0x07C8, (int16_t)0x06BE, (int16_t)0x05B5, (int16_t)0x04AB, (int16_t)0x03A2, (int16_t)0x0298, (int16_t)0x018E,
(int16_t)0x010A, (int16_t)0x0085, (int16_t)0x0035, (int16_t)0x000D, (int16_t)0x0000
};
/* Angle angle_dec_cmd axis -- 3 words @ 0x7EC4. */
/* Angle angle_dec_cmd axis -- 3 words @ 0x7D80. */
static const int16_t phi_angle_axis_dec_cmd[3] = {
(int16_t)0x0300, (int16_t)0x01C4, (int16_t)0x0000
};
/* 3-D angle combine (RPM x demand x angle_dec_cmd) -- 585 words @ 0x7ECA. */
static const int16_t phi_angle_3d_table[585] = {
(int16_t)0x0508, (int16_t)0x07FB, (int16_t)0x0A1A, (int16_t)0x097B, (int16_t)0x08AD, (int16_t)0x07A5, (int16_t)0x0654, (int16_t)0x04FF, (int16_t)0x046F, (int16_t)0x03A0,
(int16_t)0x034F, (int16_t)0x02A7, (int16_t)0x02A7, (int16_t)0x0508, (int16_t)0x07FB, (int16_t)0x0A1A, (int16_t)0x097B, (int16_t)0x08AD, (int16_t)0x07A5, (int16_t)0x0654,
(int16_t)0x04FF, (int16_t)0x046F, (int16_t)0x03A0, (int16_t)0x034F, (int16_t)0x02A7, (int16_t)0x02A7, (int16_t)0x0508, (int16_t)0x07FB, (int16_t)0x0A1A, (int16_t)0x097B,
(int16_t)0x08AD, (int16_t)0x07A5, (int16_t)0x0654, (int16_t)0x04FF, (int16_t)0x046F, (int16_t)0x03A0, (int16_t)0x02F4, (int16_t)0x0238, (int16_t)0x0238, (int16_t)0x0508,
(int16_t)0x07FB, (int16_t)0x0A1A, (int16_t)0x097B, (int16_t)0x08AD, (int16_t)0x07A5, (int16_t)0x0654, (int16_t)0x04FF, (int16_t)0x042A, (int16_t)0x0367, (int16_t)0x02BB,
(int16_t)0x020C, (int16_t)0x020C, (int16_t)0x0508, (int16_t)0x07FB, (int16_t)0x0A1A, (int16_t)0x0956, (int16_t)0x086A, (int16_t)0x0772, (int16_t)0x0620, (int16_t)0x04D4,
(int16_t)0x0407, (int16_t)0x034F, (int16_t)0x02A4, (int16_t)0x01FA, (int16_t)0x01FA, (int16_t)0x0506, (int16_t)0x07F9, (int16_t)0x0974, (int16_t)0x0892, (int16_t)0x07C3,
(int16_t)0x06F0, (int16_t)0x05BA, (int16_t)0x0490, (int16_t)0x03C7, (int16_t)0x031C, (int16_t)0x0271, (int16_t)0x01D4, (int16_t)0x01D4, (int16_t)0x0504, (int16_t)0x07F7,
(int16_t)0x0838, (int16_t)0x0787, (int16_t)0x06D2, (int16_t)0x0628, (int16_t)0x050A, (int16_t)0x0413, (int16_t)0x036D, (int16_t)0x02DA, (int16_t)0x0229, (int16_t)0x019C,
(int16_t)0x019C, (int16_t)0x0501, (int16_t)0x07F4, (int16_t)0x0766, (int16_t)0x06C4, (int16_t)0x0626, (int16_t)0x0576, (int16_t)0x0487, (int16_t)0x039A, (int16_t)0x030F,
(int16_t)0x0291, (int16_t)0x01DE, (int16_t)0x0167, (int16_t)0x0167, (int16_t)0x04FF, (int16_t)0x06F4, (int16_t)0x068B, (int16_t)0x0600, (int16_t)0x057C, (int16_t)0x04EE,
(int16_t)0x03F4, (int16_t)0x031F, (int16_t)0x02A0, (int16_t)0x0231, (int16_t)0x018C, (int16_t)0x0140, (int16_t)0x0140, (int16_t)0x04FD, (int16_t)0x0661, (int16_t)0x05F9,
(int16_t)0x0582, (int16_t)0x04F9, (int16_t)0x0480, (int16_t)0x03AA, (int16_t)0x02D0, (int16_t)0x0261, (int16_t)0x01E6, (int16_t)0x0164, (int16_t)0x0121, (int16_t)0x0121,
(int16_t)0x04FD, (int16_t)0x05FD, (int16_t)0x059B, (int16_t)0x0524, (int16_t)0x04A7, (int16_t)0x041E, (int16_t)0x0363, (int16_t)0x029E, (int16_t)0x020E, (int16_t)0x0190,
(int16_t)0x0136, (int16_t)0x0103, (int16_t)0x0103, (int16_t)0x04FD, (int16_t)0x0593, (int16_t)0x0530, (int16_t)0x04C0, (int16_t)0x045A, (int16_t)0x03EF, (int16_t)0x0325,
(int16_t)0x0260, (int16_t)0x01E7, (int16_t)0x0158, (int16_t)0x011B, (int16_t)0x00AB, (int16_t)0x00AB, (int16_t)0x04FD, (int16_t)0x0523, (int16_t)0x04CB, (int16_t)0x0461,
(int16_t)0x03F5, (int16_t)0x038F, (int16_t)0x02EB, (int16_t)0x022F, (int16_t)0x01B1, (int16_t)0x0138, (int16_t)0x00BB, (int16_t)0x009B, (int16_t)0x009B, (int16_t)0x04FD,
(int16_t)0x04E5, (int16_t)0x0492, (int16_t)0x041D, (int16_t)0x03B0, (int16_t)0x034F, (int16_t)0x029C, (int16_t)0x01F1, (int16_t)0x0178, (int16_t)0x011B, (int16_t)0x00AE,
(int16_t)0x008B, (int16_t)0x008B, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000,
(int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0648, (int16_t)0x08FE, (int16_t)0x0B09, (int16_t)0x0A71, (int16_t)0x0972,
(int16_t)0x0889, (int16_t)0x0729, (int16_t)0x05D6, (int16_t)0x0552, (int16_t)0x046C, (int16_t)0x0420, (int16_t)0x035C, (int16_t)0x035C, (int16_t)0x0648, (int16_t)0x08FE,
(int16_t)0x0B09, (int16_t)0x0A71, (int16_t)0x0972, (int16_t)0x0889, (int16_t)0x0729, (int16_t)0x05D6, (int16_t)0x0552, (int16_t)0x046C, (int16_t)0x0420, (int16_t)0x035C,
(int16_t)0x035C, (int16_t)0x0648, (int16_t)0x08FE, (int16_t)0x0B09, (int16_t)0x0A71, (int16_t)0x0972, (int16_t)0x0889, (int16_t)0x0729, (int16_t)0x05D6, (int16_t)0x0552,
(int16_t)0x046C, (int16_t)0x03C1, (int16_t)0x0314, (int16_t)0x0314, (int16_t)0x0648, (int16_t)0x08FE, (int16_t)0x0B09, (int16_t)0x0A71, (int16_t)0x0972, (int16_t)0x0889,
(int16_t)0x0729, (int16_t)0x05D6, (int16_t)0x050F, (int16_t)0x043B, (int16_t)0x039A, (int16_t)0x02EE, (int16_t)0x02EE, (int16_t)0x0648, (int16_t)0x08FE, (int16_t)0x0B09,
(int16_t)0x0A19, (int16_t)0x092F, (int16_t)0x084F, (int16_t)0x06F8, (int16_t)0x05AF, (int16_t)0x04ED, (int16_t)0x0425, (int16_t)0x0384, (int16_t)0x02D9, (int16_t)0x02D9,
(int16_t)0x0646, (int16_t)0x08FC, (int16_t)0x0A4D, (int16_t)0x0975, (int16_t)0x089C, (int16_t)0x07D0, (int16_t)0x0697, (int16_t)0x0564, (int16_t)0x04B1, (int16_t)0x03F8,
(int16_t)0x0351, (int16_t)0x02AF, (int16_t)0x02AF, (int16_t)0x0644, (int16_t)0x08FA, (int16_t)0x0939, (int16_t)0x086F, (int16_t)0x07B7, (int16_t)0x0711, (int16_t)0x0602,
(int16_t)0x04FA, (int16_t)0x0458, (int16_t)0x03B0, (int16_t)0x0305, (int16_t)0x0280, (int16_t)0x0280, (int16_t)0x0641, (int16_t)0x08F7, (int16_t)0x0867, (int16_t)0x07B6,
(int16_t)0x0707, (int16_t)0x066B, (int16_t)0x0570, (int16_t)0x0488, (int16_t)0x03FA, (int16_t)0x035E, (int16_t)0x02B1, (int16_t)0x0251, (int16_t)0x0251, (int16_t)0x063F,
(int16_t)0x07FB, (int16_t)0x077B, (int16_t)0x06E4, (int16_t)0x063D, (int16_t)0x05CB, (int16_t)0x04E8, (int16_t)0x040E, (int16_t)0x03A1, (int16_t)0x031B, (int16_t)0x0273,
(int16_t)0x021C, (int16_t)0x021C, (int16_t)0x063D, (int16_t)0x0761, (int16_t)0x06E7, (int16_t)0x064D, (int16_t)0x05BF, (int16_t)0x0552, (int16_t)0x048A, (int16_t)0x03BE,
(int16_t)0x0354, (int16_t)0x02D6, (int16_t)0x0238, (int16_t)0x01F5, (int16_t)0x01F5, (int16_t)0x063D, (int16_t)0x06C1, (int16_t)0x0666, (int16_t)0x05DA, (int16_t)0x0574,
(int16_t)0x04FF, (int16_t)0x0421, (int16_t)0x0361, (int16_t)0x02EA, (int16_t)0x0274, (int16_t)0x0201, (int16_t)0x01D2, (int16_t)0x01D2, (int16_t)0x063D, (int16_t)0x0663,
(int16_t)0x05F9, (int16_t)0x0586, (int16_t)0x0527, (int16_t)0x04B7, (int16_t)0x03E0, (int16_t)0x0316, (int16_t)0x02A2, (int16_t)0x0239, (int16_t)0x01A0, (int16_t)0x016B,
(int16_t)0x016B, (int16_t)0x063D, (int16_t)0x063D, (int16_t)0x05CF, (int16_t)0x0553, (int16_t)0x04FB, (int16_t)0x048E, (int16_t)0x03C6, (int16_t)0x02E9, (int16_t)0x0275,
(int16_t)0x01FB, (int16_t)0x0166, (int16_t)0x012F, (int16_t)0x012F, (int16_t)0x063D, (int16_t)0x0619, (int16_t)0x05B8, (int16_t)0x052C, (int16_t)0x04D3, (int16_t)0x0466,
(int16_t)0x03A0, (int16_t)0x02BC, (int16_t)0x0249, (int16_t)0x01C4, (int16_t)0x013B, (int16_t)0x0104, (int16_t)0x0104, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000,
/* 3-D angle combine (RPM x demand x angle_dec_cmd) -- 675 words @ 0x7D86. */
static const int16_t phi_angle_3d_table[675] = {
(int16_t)0x0A88, (int16_t)0x0A45, (int16_t)0x09CC, (int16_t)0x0905, (int16_t)0x0943, (int16_t)0x0881, (int16_t)0x079F, (int16_t)0x074F, (int16_t)0x06C2, (int16_t)0x0665,
(int16_t)0x0532, (int16_t)0x04C3, (int16_t)0x03E6, (int16_t)0x036F, (int16_t)0x036F, (int16_t)0x0A88, (int16_t)0x0A45, (int16_t)0x09CC, (int16_t)0x0905, (int16_t)0x0943,
(int16_t)0x0881, (int16_t)0x079F, (int16_t)0x074F, (int16_t)0x06C2, (int16_t)0x0665, (int16_t)0x0532, (int16_t)0x043A, (int16_t)0x0365, (int16_t)0x02E1, (int16_t)0x02E1,
(int16_t)0x0A88, (int16_t)0x0A45, (int16_t)0x09CC, (int16_t)0x0905, (int16_t)0x0943, (int16_t)0x0881, (int16_t)0x079F, (int16_t)0x074F, (int16_t)0x06C2, (int16_t)0x05BE,
(int16_t)0x04B2, (int16_t)0x03D5, (int16_t)0x0309, (int16_t)0x028C, (int16_t)0x028C, (int16_t)0x0A88, (int16_t)0x0A45, (int16_t)0x09CC, (int16_t)0x0905, (int16_t)0x0943,
(int16_t)0x0881, (int16_t)0x079F, (int16_t)0x074F, (int16_t)0x064D, (int16_t)0x0558, (int16_t)0x045E, (int16_t)0x0392, (int16_t)0x02C9, (int16_t)0x0247, (int16_t)0x0247,
(int16_t)0x0A88, (int16_t)0x0A45, (int16_t)0x09CC, (int16_t)0x0905, (int16_t)0x0943, (int16_t)0x0881, (int16_t)0x079F, (int16_t)0x06AD, (int16_t)0x05CA, (int16_t)0x04EB,
(int16_t)0x040A, (int16_t)0x0351, (int16_t)0x029A, (int16_t)0x0214, (int16_t)0x0214, (int16_t)0x0A88, (int16_t)0x0A45, (int16_t)0x09CC, (int16_t)0x0905, (int16_t)0x083F,
(int16_t)0x0786, (int16_t)0x06D0, (int16_t)0x0600, (int16_t)0x053E, (int16_t)0x0485, (int16_t)0x03C1, (int16_t)0x0312, (int16_t)0x0250, (int16_t)0x01CF, (int16_t)0x01CF,
(int16_t)0x0990, (int16_t)0x0957, (int16_t)0x08DD, (int16_t)0x081E, (int16_t)0x075F, (int16_t)0x06C3, (int16_t)0x0624, (int16_t)0x056A, (int16_t)0x04AC, (int16_t)0x0413,
(int16_t)0x036E, (int16_t)0x02D8, (int16_t)0x020F, (int16_t)0x01AE, (int16_t)0x01AE, (int16_t)0x08DD, (int16_t)0x0866, (int16_t)0x07FD, (int16_t)0x075C, (int16_t)0x06C7,
(int16_t)0x0637, (int16_t)0x058C, (int16_t)0x04EB, (int16_t)0x043B, (int16_t)0x03A3, (int16_t)0x0314, (int16_t)0x029B, (int16_t)0x01D0, (int16_t)0x018C, (int16_t)0x018C,
(int16_t)0x0832, (int16_t)0x07A9, (int16_t)0x073F, (int16_t)0x06A6, (int16_t)0x0614, (int16_t)0x0579, (int16_t)0x0508, (int16_t)0x0477, (int16_t)0x03C9, (int16_t)0x0348,
(int16_t)0x02BF, (int16_t)0x024F, (int16_t)0x01A6, (int16_t)0x0165, (int16_t)0x0165, (int16_t)0x0798, (int16_t)0x0738, (int16_t)0x06CB, (int16_t)0x0643, (int16_t)0x05BB,
(int16_t)0x053B, (int16_t)0x04A5, (int16_t)0x042E, (int16_t)0x0389, (int16_t)0x0313, (int16_t)0x027C, (int16_t)0x0205, (int16_t)0x0175, (int16_t)0x014C, (int16_t)0x014C,
(int16_t)0x0721, (int16_t)0x06BA, (int16_t)0x0654, (int16_t)0x05DC, (int16_t)0x055F, (int16_t)0x04E0, (int16_t)0x0460, (int16_t)0x03C7, (int16_t)0x0346, (int16_t)0x02C8,
(int16_t)0x0242, (int16_t)0x01C9, (int16_t)0x013C, (int16_t)0x0125, (int16_t)0x0125, (int16_t)0x067F, (int16_t)0x061F, (int16_t)0x05C3, (int16_t)0x054B, (int16_t)0x04E7,
(int16_t)0x047A, (int16_t)0x0408, (int16_t)0x038D, (int16_t)0x0312, (int16_t)0x029D, (int16_t)0x0213, (int16_t)0x0192, (int16_t)0x0117, (int16_t)0x00FF, (int16_t)0x00FF,
(int16_t)0x064B, (int16_t)0x05E5, (int16_t)0x0590, (int16_t)0x0510, (int16_t)0x04AF, (int16_t)0x0436, (int16_t)0x03C4, (int16_t)0x0348, (int16_t)0x02DF, (int16_t)0x027F,
(int16_t)0x01F5, (int16_t)0x017B, (int16_t)0x0108, (int16_t)0x00E1, (int16_t)0x00E1, (int16_t)0x0618, (int16_t)0x05BA, (int16_t)0x0565, (int16_t)0x04EE, (int16_t)0x0472,
(int16_t)0x040B, (int16_t)0x0388, (int16_t)0x031E, (int16_t)0x02B4, (int16_t)0x025B, (int16_t)0x01E0, (int16_t)0x0166, (int16_t)0x00F7, (int16_t)0x00D0, (int16_t)0x00D0,
(int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000,
(int16_t)0x079D, (int16_t)0x0AB3, (int16_t)0x0CC8, (int16_t)0x0C36, (int16_t)0x0B3C, (int16_t)0x0A48, (int16_t)0x09F1, (int16_t)0x0896, (int16_t)0x0796, (int16_t)0x068B,
(int16_t)0x066B, (int16_t)0x067C, (int16_t)0x067C, (int16_t)0x079D, (int16_t)0x0AB3, (int16_t)0x0CC8, (int16_t)0x0C36, (int16_t)0x0B3C, (int16_t)0x0A48, (int16_t)0x09F1,
(int16_t)0x0896, (int16_t)0x0796, (int16_t)0x068B, (int16_t)0x05E8, (int16_t)0x0526, (int16_t)0x0526, (int16_t)0x079D, (int16_t)0x0AB3, (int16_t)0x0CC8, (int16_t)0x0C36,
(int16_t)0x0B3C, (int16_t)0x0A48, (int16_t)0x093E, (int16_t)0x07F0, (int16_t)0x0713, (int16_t)0x062F, (int16_t)0x0586, (int16_t)0x04D3, (int16_t)0x04D3, (int16_t)0x079D,
(int16_t)0x0AB3, (int16_t)0x0CC8, (int16_t)0x0C36, (int16_t)0x0B3C, (int16_t)0x0A48, (int16_t)0x08E5, (int16_t)0x079A, (int16_t)0x06D0, (int16_t)0x0601, (int16_t)0x055B,
(int16_t)0x04B2, (int16_t)0x04B2, (int16_t)0x079D, (int16_t)0x0AB3, (int16_t)0x0CC8, (int16_t)0x0BE0, (int16_t)0x0AF3, (int16_t)0x0A0E, (int16_t)0x08B8, (int16_t)0x0770,
(int16_t)0x06B0, (int16_t)0x05E9, (int16_t)0x0549, (int16_t)0x0499, (int16_t)0x0499, (int16_t)0x079B, (int16_t)0x0AB1, (int16_t)0x0C12, (int16_t)0x0B37, (int16_t)0x0A62,
(int16_t)0x0991, (int16_t)0x0858, (int16_t)0x0728, (int16_t)0x0676, (int16_t)0x05BB, (int16_t)0x0514, (int16_t)0x0476, (int16_t)0x0476, (int16_t)0x0799, (int16_t)0x0AAF,
(int16_t)0x0AFB, (int16_t)0x0A4B, (int16_t)0x0997, (int16_t)0x08E3, (int16_t)0x07C8, (int16_t)0x06BA, (int16_t)0x061E, (int16_t)0x0575, (int16_t)0x04C4, (int16_t)0x0441,
(int16_t)0x0441, (int16_t)0x0796, (int16_t)0x0AAC, (int16_t)0x0A25, (int16_t)0x0977, (int16_t)0x08CF, (int16_t)0x0826, (int16_t)0x072F, (int16_t)0x0647, (int16_t)0x05BE,
(int16_t)0x0522, (int16_t)0x0474, (int16_t)0x0412, (int16_t)0x0412, (int16_t)0x0794, (int16_t)0x09C2, (int16_t)0x0944, (int16_t)0x089A, (int16_t)0x0818, (int16_t)0x078D,
(int16_t)0x06AF, (int16_t)0x05EE, (int16_t)0x0566, (int16_t)0x04E2, (int16_t)0x0434, (int16_t)0x03DA, (int16_t)0x03DA, (int16_t)0x0792, (int16_t)0x08D7, (int16_t)0x0876,
(int16_t)0x07EC, (int16_t)0x076D, (int16_t)0x06FF, (int16_t)0x064A, (int16_t)0x0586, (int16_t)0x0523, (int16_t)0x04A0, (int16_t)0x03FD, (int16_t)0x03B6, (int16_t)0x03B6,
(int16_t)0x0792, (int16_t)0x083A, (int16_t)0x07DB, (int16_t)0x076F, (int16_t)0x070F, (int16_t)0x069B, (int16_t)0x05EA, (int16_t)0x0523, (int16_t)0x04AB, (int16_t)0x043D,
(int16_t)0x03C6, (int16_t)0x0394, (int16_t)0x0394, (int16_t)0x0792, (int16_t)0x07D1, (int16_t)0x077A, (int16_t)0x0712, (int16_t)0x06B5, (int16_t)0x0654, (int16_t)0x0594,
(int16_t)0x04D9, (int16_t)0x0468, (int16_t)0x03FD, (int16_t)0x035F, (int16_t)0x0304, (int16_t)0x0304, (int16_t)0x0792, (int16_t)0x07AB, (int16_t)0x074E, (int16_t)0x06CF,
(int16_t)0x067A, (int16_t)0x061B, (int16_t)0x0568, (int16_t)0x04B1, (int16_t)0x0444, (int16_t)0x03BB, (int16_t)0x0332, (int16_t)0x02D1, (int16_t)0x02D1, (int16_t)0x0792,
(int16_t)0x0773, (int16_t)0x0710, (int16_t)0x069A, (int16_t)0x0640, (int16_t)0x05CE, (int16_t)0x051F, (int16_t)0x0479, (int16_t)0x0418, (int16_t)0x0390, (int16_t)0x0321,
(int16_t)0x02C0, (int16_t)0x02C0, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000,
(int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000
(int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0003, (int16_t)0x0003, (int16_t)0x0B84, (int16_t)0x0B26, (int16_t)0x0BDB, (int16_t)0x0AE0, (int16_t)0x0AAE,
(int16_t)0x09F4, (int16_t)0x094A, (int16_t)0x0890, (int16_t)0x0805, (int16_t)0x07A5, (int16_t)0x0655, (int16_t)0x0545, (int16_t)0x048F, (int16_t)0x0436, (int16_t)0x0436,
(int16_t)0x0B84, (int16_t)0x0B26, (int16_t)0x0BDB, (int16_t)0x0AE0, (int16_t)0x0AAE, (int16_t)0x09F4, (int16_t)0x094A, (int16_t)0x0890, (int16_t)0x0805, (int16_t)0x06E2,
(int16_t)0x05C9, (int16_t)0x04CF, (int16_t)0x0417, (int16_t)0x03C7, (int16_t)0x03C7, (int16_t)0x0B84, (int16_t)0x0B26, (int16_t)0x0BDB, (int16_t)0x0AE0, (int16_t)0x0AAE,
(int16_t)0x09F4, (int16_t)0x094A, (int16_t)0x0890, (int16_t)0x077E, (int16_t)0x066B, (int16_t)0x0566, (int16_t)0x0480, (int16_t)0x03C4, (int16_t)0x0369, (int16_t)0x0369,
(int16_t)0x0B84, (int16_t)0x0B26, (int16_t)0x0BDB, (int16_t)0x0AE0, (int16_t)0x0AAE, (int16_t)0x09F4, (int16_t)0x08E8, (int16_t)0x080B, (int16_t)0x070C, (int16_t)0x060B,
(int16_t)0x051B, (int16_t)0x0440, (int16_t)0x0387, (int16_t)0x0325, (int16_t)0x0325, (int16_t)0x0B84, (int16_t)0x0B26, (int16_t)0x0BDB, (int16_t)0x0AE0, (int16_t)0x09F4,
(int16_t)0x0936, (int16_t)0x0843, (int16_t)0x076C, (int16_t)0x068E, (int16_t)0x05A0, (int16_t)0x04C9, (int16_t)0x0403, (int16_t)0x0350, (int16_t)0x02D8, (int16_t)0x02D8,
(int16_t)0x0B84, (int16_t)0x0B26, (int16_t)0x0AB2, (int16_t)0x09D7, (int16_t)0x0912, (int16_t)0x0851, (int16_t)0x0787, (int16_t)0x06BE, (int16_t)0x060A, (int16_t)0x053C,
(int16_t)0x0476, (int16_t)0x03BD, (int16_t)0x0316, (int16_t)0x0297, (int16_t)0x0297, (int16_t)0x0ADD, (int16_t)0x0A4E, (int16_t)0x09C4, (int16_t)0x0909, (int16_t)0x0853,
(int16_t)0x07A0, (int16_t)0x06DD, (int16_t)0x062B, (int16_t)0x0581, (int16_t)0x04DC, (int16_t)0x042A, (int16_t)0x038B, (int16_t)0x02E5, (int16_t)0x0269, (int16_t)0x0269,
(int16_t)0x09B2, (int16_t)0x0937, (int16_t)0x08BF, (int16_t)0x082F, (int16_t)0x0795, (int16_t)0x0702, (int16_t)0x0669, (int16_t)0x05B4, (int16_t)0x0509, (int16_t)0x0477,
(int16_t)0x03DA, (int16_t)0x0355, (int16_t)0x02A9, (int16_t)0x0246, (int16_t)0x0246, (int16_t)0x0929, (int16_t)0x08B8, (int16_t)0x0836, (int16_t)0x078A, (int16_t)0x06FC,
(int16_t)0x0670, (int16_t)0x05C4, (int16_t)0x053B, (int16_t)0x04A7, (int16_t)0x0418, (int16_t)0x038D, (int16_t)0x031D, (int16_t)0x026F, (int16_t)0x021D, (int16_t)0x021D,
(int16_t)0x0832, (int16_t)0x07BB, (int16_t)0x0754, (int16_t)0x06CB, (int16_t)0x0643, (int16_t)0x05DD, (int16_t)0x0549, (int16_t)0x04C3, (int16_t)0x0430, (int16_t)0x03AD,
(int16_t)0x0334, (int16_t)0x02C0, (int16_t)0x0234, (int16_t)0x01F5, (int16_t)0x01F5, (int16_t)0x07FF, (int16_t)0x077F, (int16_t)0x0725, (int16_t)0x0698, (int16_t)0x0611,
(int16_t)0x0594, (int16_t)0x0519, (int16_t)0x0491, (int16_t)0x040C, (int16_t)0x0392, (int16_t)0x030D, (int16_t)0x028D, (int16_t)0x0218, (int16_t)0x01EB, (int16_t)0x01EB,
(int16_t)0x07C3, (int16_t)0x0733, (int16_t)0x06CB, (int16_t)0x066B, (int16_t)0x05F0, (int16_t)0x056A, (int16_t)0x04F7, (int16_t)0x046B, (int16_t)0x03C6, (int16_t)0x0346,
(int16_t)0x02C6, (int16_t)0x024E, (int16_t)0x01FB, (int16_t)0x01DD, (int16_t)0x01DD, (int16_t)0x0790, (int16_t)0x070E, (int16_t)0x0698, (int16_t)0x061E, (int16_t)0x05B4,
(int16_t)0x052D, (int16_t)0x04B4, (int16_t)0x0440, (int16_t)0x03AE, (int16_t)0x0322, (int16_t)0x02AC, (int16_t)0x0230, (int16_t)0x01DD, (int16_t)0x01CD, (int16_t)0x01CD,
(int16_t)0x0754, (int16_t)0x06CB, (int16_t)0x066E, (int16_t)0x05E5, (int16_t)0x057B, (int16_t)0x04FB, (int16_t)0x0488, (int16_t)0x040D, (int16_t)0x0381, (int16_t)0x030B,
(int16_t)0x027E, (int16_t)0x020C, (int16_t)0x01BB, (int16_t)0x01B6, (int16_t)0x01B6, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000,
(int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0003, (int16_t)0x0003,
(int16_t)0x0CA6, (int16_t)0x0CA6, (int16_t)0x0D83, (int16_t)0x0C7C, (int16_t)0x0B98, (int16_t)0x0B71, (int16_t)0x0A7A, (int16_t)0x0A0E, (int16_t)0x0913, (int16_t)0x080E,
(int16_t)0x0724, (int16_t)0x0636, (int16_t)0x0667, (int16_t)0x059D, (int16_t)0x059D, (int16_t)0x0CA6, (int16_t)0x0CA6, (int16_t)0x0D83, (int16_t)0x0C7C, (int16_t)0x0B98,
(int16_t)0x0B71, (int16_t)0x0A7A, (int16_t)0x0A0E, (int16_t)0x0913, (int16_t)0x080E, (int16_t)0x0724, (int16_t)0x0636, (int16_t)0x05E6, (int16_t)0x0527, (int16_t)0x0527,
(int16_t)0x0CA6, (int16_t)0x0CA6, (int16_t)0x0D83, (int16_t)0x0C7C, (int16_t)0x0B98, (int16_t)0x0B71, (int16_t)0x0A7A, (int16_t)0x0A0E, (int16_t)0x0913, (int16_t)0x080E,
(int16_t)0x0724, (int16_t)0x0636, (int16_t)0x0598, (int16_t)0x04DC, (int16_t)0x04DC, (int16_t)0x0CA6, (int16_t)0x0CA6, (int16_t)0x0D83, (int16_t)0x0C7C, (int16_t)0x0B98,
(int16_t)0x0B71, (int16_t)0x0A7A, (int16_t)0x0987, (int16_t)0x089F, (int16_t)0x07AC, (int16_t)0x06D6, (int16_t)0x05FD, (int16_t)0x0556, (int16_t)0x04AE, (int16_t)0x04AE,
(int16_t)0x0CA6, (int16_t)0x0CA6, (int16_t)0x0D83, (int16_t)0x0C7C, (int16_t)0x0B98, (int16_t)0x0ABC, (int16_t)0x09E0, (int16_t)0x0905, (int16_t)0x082C, (int16_t)0x0751,
(int16_t)0x068D, (int16_t)0x05C3, (int16_t)0x051B, (int16_t)0x048A, (int16_t)0x048A, (int16_t)0x0CA6, (int16_t)0x0CA6, (int16_t)0x0C36, (int16_t)0x0B72, (int16_t)0x0AAE,
(int16_t)0x09F6, (int16_t)0x093A, (int16_t)0x0879, (int16_t)0x07B5, (int16_t)0x06F1, (int16_t)0x063F, (int16_t)0x0589, (int16_t)0x04DE, (int16_t)0x045B, (int16_t)0x045B,
(int16_t)0x0C62, (int16_t)0x0BDD, (int16_t)0x0B57, (int16_t)0x0A9C, (int16_t)0x09EE, (int16_t)0x0943, (int16_t)0x0893, (int16_t)0x07EB, (int16_t)0x0741, (int16_t)0x0691,
(int16_t)0x05F6, (int16_t)0x0554, (int16_t)0x04A9, (int16_t)0x042C, (int16_t)0x042C, (int16_t)0x0B8C, (int16_t)0x0B19, (int16_t)0x0AA6, (int16_t)0x0A01, (int16_t)0x0953,
(int16_t)0x08AA, (int16_t)0x0806, (int16_t)0x0769, (int16_t)0x06D0, (int16_t)0x0635, (int16_t)0x05AB, (int16_t)0x0522, (int16_t)0x046D, (int16_t)0x03FF, (int16_t)0x03FF,
(int16_t)0x0B04, (int16_t)0x0A74, (int16_t)0x09E5, (int16_t)0x0959, (int16_t)0x08BC, (int16_t)0x081F, (int16_t)0x0780, (int16_t)0x06EE, (int16_t)0x065E, (int16_t)0x05C9,
(int16_t)0x056C, (int16_t)0x04E6, (int16_t)0x042D, (int16_t)0x03D2, (int16_t)0x03D2, (int16_t)0x09CD, (int16_t)0x0966, (int16_t)0x08FF, (int16_t)0x084B, (int16_t)0x07E2,
(int16_t)0x0775, (int16_t)0x06F2, (int16_t)0x066E, (int16_t)0x05F3, (int16_t)0x0579, (int16_t)0x050D, (int16_t)0x0481, (int16_t)0x03E8, (int16_t)0x03A4, (int16_t)0x03A4,
(int16_t)0x096E, (int16_t)0x08F9, (int16_t)0x0883, (int16_t)0x07F8, (int16_t)0x0785, (int16_t)0x0726, (int16_t)0x06BF, (int16_t)0x0642, (int16_t)0x05C8, (int16_t)0x0548,
(int16_t)0x04C9, (int16_t)0x0449, (int16_t)0x03C8, (int16_t)0x0394, (int16_t)0x0394, (int16_t)0x0921, (int16_t)0x08B2, (int16_t)0x0843, (int16_t)0x07A2, (int16_t)0x074E,
(int16_t)0x06C9, (int16_t)0x065E, (int16_t)0x05EC, (int16_t)0x056A, (int16_t)0x04F4, (int16_t)0x047A, (int16_t)0x0407, (int16_t)0x03A9, (int16_t)0x035B, (int16_t)0x035B,
(int16_t)0x0880, (int16_t)0x083A, (int16_t)0x07F4, (int16_t)0x077B, (int16_t)0x06F3, (int16_t)0x0699, (int16_t)0x060B, (int16_t)0x05B0, (int16_t)0x052C, (int16_t)0x04BF,
(int16_t)0x044C, (int16_t)0x03DB, (int16_t)0x0392, (int16_t)0x0338, (int16_t)0x0338, (int16_t)0x07FF, (int16_t)0x07CA, (int16_t)0x0794, (int16_t)0x074F, (int16_t)0x06D8,
(int16_t)0x067C, (int16_t)0x05E7, (int16_t)0x0587, (int16_t)0x0509, (int16_t)0x04A2, (int16_t)0x0437, (int16_t)0x03C6, (int16_t)0x0354, (int16_t)0x0327, (int16_t)0x0327,
(int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000,
(int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0003, (int16_t)0x0003
};
/* 2-D angle-kick combine (RPM x demand) -- consumed by orphan compute_angle_kick_2d @ 0x6AC9 (T06211 analog FUN_5D58 @ 0x5D8D) -- 195 words @ 0x835C. */
static const int16_t phi_angle_2d_kick_table[195] = {
(int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0B8E, (int16_t)0x0C42, (int16_t)0x0957, (int16_t)0x066D, (int16_t)0x074F, (int16_t)0x0831,
(int16_t)0x05F6, (int16_t)0x05F6, (int16_t)0x05F6, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0B8E, (int16_t)0x0C42, (int16_t)0x0957,
(int16_t)0x066D, (int16_t)0x074F, (int16_t)0x0831, (int16_t)0x05F6, (int16_t)0x05F6, (int16_t)0x05F6, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0C16,
(int16_t)0x0B8E, (int16_t)0x0C42, (int16_t)0x0957, (int16_t)0x066D, (int16_t)0x074F, (int16_t)0x0831, (int16_t)0x05F6, (int16_t)0x05F6, (int16_t)0x05F6, (int16_t)0x0C16,
(int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0C16, (int16_t)0x0B8E, (int16_t)0x0C42, (int16_t)0x0957, (int16_t)0x066D, (int16_t)0x074F, (int16_t)0x0831, (int16_t)0x05F6,
(int16_t)0x05F6, (int16_t)0x05F6, (int16_t)0x0A33, (int16_t)0x0A33, (int16_t)0x0A33, (int16_t)0x0A33, (int16_t)0x09A2, (int16_t)0x0A10, (int16_t)0x07C0, (int16_t)0x0570,
(int16_t)0x0682, (int16_t)0x0795, (int16_t)0x054C, (int16_t)0x054C, (int16_t)0x054C, (int16_t)0x075F, (int16_t)0x075F, (int16_t)0x075F, (int16_t)0x075F, (int16_t)0x06C0,
(int16_t)0x06C6, (int16_t)0x055D, (int16_t)0x03F4, (int16_t)0x054F, (int16_t)0x06AB, (int16_t)0x044D, (int16_t)0x044D, (int16_t)0x044D, (int16_t)0x0481, (int16_t)0x0481,
(int16_t)0x0481, (int16_t)0x0481, (int16_t)0x0542, (int16_t)0x04A0, (int16_t)0x03A9, (int16_t)0x02B3, (int16_t)0x0372, (int16_t)0x0431, (int16_t)0x04AE, (int16_t)0x04AE,
(int16_t)0x04AE, (int16_t)0x01A3, (int16_t)0x01A3, (int16_t)0x01A3, (int16_t)0x01A3, (int16_t)0x03C4, (int16_t)0x027A, (int16_t)0x01F6, (int16_t)0x0172, (int16_t)0x0194,
(int16_t)0x01B7, (int16_t)0x0510, (int16_t)0x0510, (int16_t)0x0510, (int16_t)0x016B, (int16_t)0x016B, (int16_t)0x016B, (int16_t)0x016B, (int16_t)0x02CB, (int16_t)0x013D,
(int16_t)0x0141, (int16_t)0x0146, (int16_t)0x01A2, (int16_t)0x01FF, (int16_t)0x0421, (int16_t)0x0421, (int16_t)0x0421, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133,
(int16_t)0x0133, (int16_t)0x01D3, (int16_t)0x0000, (int16_t)0x008D, (int16_t)0x011A, (int16_t)0x01B0, (int16_t)0x0247, (int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0333,
(int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x01D3, (int16_t)0x0000, (int16_t)0x008D, (int16_t)0x011A, (int16_t)0x01B0, (int16_t)0x0247,
(int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x01D3, (int16_t)0x0000, (int16_t)0x008D,
(int16_t)0x011A, (int16_t)0x01B0, (int16_t)0x0247, (int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133,
(int16_t)0x01D3, (int16_t)0x0000, (int16_t)0x008D, (int16_t)0x011A, (int16_t)0x01B0, (int16_t)0x0247, (int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0133,
(int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x01D3, (int16_t)0x0000, (int16_t)0x008D, (int16_t)0x011A, (int16_t)0x01B0, (int16_t)0x0247, (int16_t)0x0333,
(int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x0133, (int16_t)0x01D3, (int16_t)0x0000, (int16_t)0x008D, (int16_t)0x011A,
(int16_t)0x01B0, (int16_t)0x0247, (int16_t)0x0333, (int16_t)0x0333, (int16_t)0x0333
/* 2-D angle-kick combine (RPM x demand) -- consumed by orphan FUN_5D58 @ 0x5D8D -- 225 words @ 0x82CC. */
static const int16_t phi_angle_2d_kick_table[225] = {
(int16_t)0x0B0D, (int16_t)0x0B0D, (int16_t)0x0CAD, (int16_t)0x0D73, (int16_t)0x0BFB, (int16_t)0x0B63, (int16_t)0x0A4B, (int16_t)0x08F7, (int16_t)0x085F, (int16_t)0x0720,
(int16_t)0x0838, (int16_t)0x0CEE, (int16_t)0x0616, (int16_t)0x05B2, (int16_t)0x05B2, (int16_t)0x0B0D, (int16_t)0x0B0D, (int16_t)0x0CAD, (int16_t)0x0D73, (int16_t)0x0BFB,
(int16_t)0x0B63, (int16_t)0x0A4B, (int16_t)0x08F7, (int16_t)0x085F, (int16_t)0x0720, (int16_t)0x0838, (int16_t)0x0CEE, (int16_t)0x0616, (int16_t)0x05B2, (int16_t)0x05B2,
(int16_t)0x0B0D, (int16_t)0x0B0D, (int16_t)0x0CAD, (int16_t)0x0D73, (int16_t)0x0BFB, (int16_t)0x0B63, (int16_t)0x0A4B, (int16_t)0x08F7, (int16_t)0x085F, (int16_t)0x0720,
(int16_t)0x0838, (int16_t)0x0CEE, (int16_t)0x0616, (int16_t)0x05B2, (int16_t)0x05B2, (int16_t)0x0B0D, (int16_t)0x0B0D, (int16_t)0x0CAD, (int16_t)0x0D73, (int16_t)0x0BFB,
(int16_t)0x0B63, (int16_t)0x0A4B, (int16_t)0x08F7, (int16_t)0x085F, (int16_t)0x0720, (int16_t)0x0838, (int16_t)0x0CEE, (int16_t)0x0616, (int16_t)0x05B2, (int16_t)0x05B2,
(int16_t)0x0B0D, (int16_t)0x0B0D, (int16_t)0x0CAD, (int16_t)0x0D73, (int16_t)0x0BFB, (int16_t)0x0B63, (int16_t)0x0A4B, (int16_t)0x08F7, (int16_t)0x085F, (int16_t)0x0720,
(int16_t)0x0838, (int16_t)0x0CEE, (int16_t)0x0616, (int16_t)0x05B2, (int16_t)0x05B2, (int16_t)0x0B0D, (int16_t)0x0B0D, (int16_t)0x0CAD, (int16_t)0x0B30, (int16_t)0x0AA5,
(int16_t)0x08BC, (int16_t)0x07E7, (int16_t)0x07E9, (int16_t)0x06A6, (int16_t)0x0613, (int16_t)0x0831, (int16_t)0x0CF2, (int16_t)0x04EB, (int16_t)0x05FE, (int16_t)0x05FE,
(int16_t)0x0686, (int16_t)0x0686, (int16_t)0x0632, (int16_t)0x0886, (int16_t)0x06A4, (int16_t)0x0661, (int16_t)0x05C9, (int16_t)0x04A3, (int16_t)0x0526, (int16_t)0x0525,
(int16_t)0x06B5, (int16_t)0x09CF, (int16_t)0x039E, (int16_t)0x04BA, (int16_t)0x04BA, (int16_t)0x0660, (int16_t)0x0660, (int16_t)0x05D3, (int16_t)0x067D, (int16_t)0x0572,
(int16_t)0x04B2, (int16_t)0x0495, (int16_t)0x032B, (int16_t)0x044F, (int16_t)0x0403, (int16_t)0x0579, (int16_t)0x06D7, (int16_t)0x0443, (int16_t)0x0431, (int16_t)0x0431,
(int16_t)0x05C5, (int16_t)0x05C5, (int16_t)0x0388, (int16_t)0x045D, (int16_t)0x048D, (int16_t)0x0427, (int16_t)0x0306, (int16_t)0x029E, (int16_t)0x0230, (int16_t)0x02D8,
(int16_t)0x055D, (int16_t)0x0397, (int16_t)0x031F, (int16_t)0x03BC, (int16_t)0x03BC, (int16_t)0x0235, (int16_t)0x0235, (int16_t)0x0423, (int16_t)0x0463, (int16_t)0x01B4,
(int16_t)0x0236, (int16_t)0x0371, (int16_t)0x01A1, (int16_t)0x0215, (int16_t)0x0274, (int16_t)0x025F, (int16_t)0x0255, (int16_t)0x0286, (int16_t)0x028E, (int16_t)0x028E,
(int16_t)0x0235, (int16_t)0x0235, (int16_t)0x0154, (int16_t)0x005D, (int16_t)0x02B8, (int16_t)0x004B, (int16_t)0x01A0, (int16_t)0x0134, (int16_t)0x0133, (int16_t)0x015B,
(int16_t)0x0152, (int16_t)0x022F, (int16_t)0x0202, (int16_t)0x0224, (int16_t)0x0224, (int16_t)0x0235, (int16_t)0x0235, (int16_t)0x0154, (int16_t)0x005D, (int16_t)0x02B8,
(int16_t)0x004B, (int16_t)0x01A0, (int16_t)0x0134, (int16_t)0x0133, (int16_t)0x015B, (int16_t)0x0152, (int16_t)0x022F, (int16_t)0x0202, (int16_t)0x0224, (int16_t)0x0224,
(int16_t)0x0235, (int16_t)0x0235, (int16_t)0x0154, (int16_t)0x005D, (int16_t)0x02B8, (int16_t)0x004B, (int16_t)0x01A0, (int16_t)0x0134, (int16_t)0x0133, (int16_t)0x015B,
(int16_t)0x0152, (int16_t)0x022F, (int16_t)0x0202, (int16_t)0x0224, (int16_t)0x0224, (int16_t)0x0235, (int16_t)0x0235, (int16_t)0x0154, (int16_t)0x005D, (int16_t)0x02B8,
(int16_t)0x004B, (int16_t)0x01A0, (int16_t)0x0134, (int16_t)0x0133, (int16_t)0x015B, (int16_t)0x0152, (int16_t)0x022F, (int16_t)0x0202, (int16_t)0x0224, (int16_t)0x0224,
(int16_t)0x0235, (int16_t)0x0235, (int16_t)0x0154, (int16_t)0x005D, (int16_t)0x02B8, (int16_t)0x004B, (int16_t)0x01A0, (int16_t)0x0134, (int16_t)0x0133, (int16_t)0x015B,
(int16_t)0x0152, (int16_t)0x022F, (int16_t)0x0202, (int16_t)0x0224, (int16_t)0x0224
};
/* ======================================================================
* Master calibration literal.
* ====================================================================== */
calibration_t phi_t06215_cal = {
calibration_t phi_t06211_cal = {
/* RWA4-relative scalars (base 0x9BD8) */
.tein_nominal = (int16_t)0x0C28, /* CAL+0x1E @ 0x9BF6 -- tein_nominal — nominal TE_IN base added to tein_valve_fault_guard / tein_overtemp_guard (T06211 FUN_7453 0x747b; T06215 FUN_74EA -- see README) */
.tein_nominal = (int16_t)0x0C28, /* CAL+0x1E @ 0x9BF6 -- tein_nominal — nominal TE_IN base added to tein_valve_fault_guard / tein_overtemp_guard (FUN_7453 0x747b) */
.cal_48 = (int16_t)0x04B0, /* CAL+0x48 @ 0x9C20 -- RW7A latch value when FUN_62a2 fires (0x62d8) */
.phi0 = (int16_t)0x0DAB, /* CAL+0x4C @ 0x9C24 -- phi0: base/initial angle. ROM addend baked into phi1 (= *(0x014e)) by FUN_6aaf (0x6ad2); T06211 FUN_7453 reads phi0 + dphi at 0x74a2 */
.cal_byte_56 = 0x0Du, /* CAL+0x56 @ 0x9C2E -- tooth phase comparand for the ROM's rpm_baseline producer (FUN_51e1 @ 0x51e1; T06211 analog @ 0x5153). The C port treats rpm_baseline as an external input — this byte is published so the host knows which tooth phase to gate its capture on. */
.phi0 = (int16_t)0x0DAB, /* CAL+0x4C @ 0x9C24 -- phi0: base/initial angle. ROM addend baked into phi1 (= *(0x014e)) by FUN_6aaf (0x6ad2); FUN_7453 reads phi0 + dphi at 0x74a2 */
.cal_byte_56 = 0x0Du, /* CAL+0x56 @ 0x9C2E -- tooth phase comparand for rpm_baseline producer (T06211 producer @ 0x5153 from dispatcher 0x7969) */
.cal_byte_9c = 0x03u, /* CAL+0x9C @ 0x9C74 -- FUN_62a2 counter increment (0x62c6) */
.cal_54 = (int16_t)0x0B2B, /* CAL+0x54 @ 0x9C2C -- UPPER clamp on target_inj_angle (T06211 FUN_7453 0x7493) */
.cal_54 = (int16_t)0x0B2B, /* CAL+0x54 @ 0x9C2C -- UPPER clamp on target_inj_angle (FUN_7453 0x7493) */
.cal_74 = (int16_t)0x20C5, /* CAL+0x74 @ 0x9C4C -- gate_0220 lower RPM threshold */
.cal_76 = (int16_t)0x01A3, /* CAL+0x76 @ 0x9C4E -- gate_0220 hysteresis width (upper = cal_74 + cal_76) */
.cal_78 = (int16_t)0x007F, /* CAL+0x78 @ 0x9C50 -- accel_comp_offset upper clamp (FUN_732d 0x7340) */
.cal_7a = (int16_t)0xFFCF, /* CAL+0x7A @ 0x9C52 -- accel_comp_offset lower clamp (FUN_732d 0x734e) */
.cal_7e = (int16_t)0x13AA, /* CAL+0x7E @ 0x9C56 -- temperature reference subtrahend in compute_temp_comp_factor (calc_temp_comp_factor @ 0x6B0D; T06211 analog FUN_5DAB 0x5DD1) */
.cal_temp_comp_switch_dynamic = (int16_t)0x1702, /* CAL+0x80 @ 0x9C58 -- boot value of temp_comp_dynamic = TK_AT_W switch (compute_temp_comp_factor 0x6AF0; T06211 analog 0x5DB4) */
.cal_82 = (int16_t)0x026F, /* CAL+0x82 @ 0x9C5A -- IIR input gain b for compute_temp_phi_comp (FUN_6b4e MULU at 0x6B66; Q16 unsigned) */
.cal_84 = (int16_t)0xFD91, /* CAL+0x84 @ 0x9C5C -- IIR pole coefficient a for compute_temp_phi_comp (FUN_6b4e MULU at 0x6B4E and 0x6B57; Q16 unsigned) */
.cal_temp_comp_switch_complete = (int16_t)0x0001, /* CAL+0x86 @ 0x9C5E -- boot value of temp_comp_complete = F_TK_TE_W switch (compute_temp_comp_factor 0x6B17; T06211 analog 0x5DDB) */
.cal_7e = (int16_t)0x13C0, /* CAL+0x7E @ 0x9C56 -- temperature reference subtrahend in compute_temp_comp_factor (FUN_5DAB 0x5DD1) */
.cal_temp_comp_switch_dynamic = (int16_t)0x1702, /* CAL+0x80 @ 0x9C58 -- boot value of *(0x02F6) = TK_AT_W switch (compute_temp_comp_factor 0x5DB4) */
.cal_82 = (int16_t)0x026F, /* CAL+0x82 @ 0x9C5A -- IIR input gain b for phi_tick_1khz (FUN_6b4e MULU at 0x6B66; Q16 unsigned) */
.cal_84 = (int16_t)0xFD91, /* CAL+0x84 @ 0x9C5C -- IIR pole coefficient a for phi_tick_1khz (FUN_6b4e MULU at 0x6B4E and 0x6B57; Q16 unsigned) */
.cal_temp_comp_switch_complete = (int16_t)0x0001, /* CAL+0x86 @ 0x9C5E -- boot value of *(0x02F2) = F_TK_TE_W switch (compute_temp_comp_factor 0x5DDB) */
.cal_92 = (int16_t)0x1750, /* CAL+0x92 @ 0x9C6A -- temperature offset subtracted in FUN_5ca1 (0x5cf7) */
.cal_94 = (int16_t)0x0008, /* CAL+0x94 @ 0x9C6C -- FUN_5ca1 multiplier (0x5d05) */
.cal_96 = (int16_t)0x04B0, /* CAL+0x96 @ 0x9C6E -- FUN_5ca1 RW1C upper clamp (0x5d0b, unsigned) */
.cal_98 = (int16_t)0x1D7E, /* CAL+0x98 @ 0x9C70 -- tein_overtemp_guard lower RPM (FUN_5ca1 0x5d1a, unsigned) */
.cal_9a = (int16_t)0x3127, /* CAL+0x9A @ 0x9C72 -- tein_overtemp_guard upper RPM (FUN_5ca1 0x5d21, unsigned) */
/* RWC6-relative scalars (base 0x7E56) */
.cal_rwc6_34 = (int16_t)0x0831, /* RWC6+0x34 @ 0x7E8A -- demand-weight multiplier in compute_angle_kick_2d (orphan @ 0x6ABD; T06211 analog FUN_5D58 @ 0x5D81) */
/* RWC6-relative scalars (base 0x7D0E) */
.cal_rwc6_34 = (int16_t)0x0831, /* RWC6+0x34 @ 0x7D42 -- demand-weight multiplier in compute_angle_kick_2d (orphan FUN_5D58 @ 0x5D81) */
/* Accel descriptors (input_var bound at runtime by phi_t06215_bind_inputs). */
/* Accel descriptors (input_var bound at runtime by phi_t06211_bind_inputs). */
.desc_accel_rpm = {
.runtime_slot = 0,
.input_var = NULL,
@@ -204,14 +216,14 @@ calibration_t phi_t06215_cal = {
.accel_refine_table = phi_accel_refine_table,
/* Absolute-address ROM constants. */
.dat_604c = (int16_t)0x0444, /* *(0x604C) -- FUN_62a2 RWC2 timing threshold (T06211 = 0x0444; verify in T06215) */
.cal_byte_402 = (int16_t)0xFFF2, /* *(0x0402) -- FUN_6ba3 sign-extends byte 0x0402 (compute_temp_comp_factor 0x6B12; T06211 analog 0x5DD6) */
.dat_604c = (int16_t)0x0444, /* *(0x604C) -- FUN_62a2 RWC2 timing threshold (= 0x0444) */
.cal_byte_402 = (int16_t)0xFFF8, /* *(0x0402) -- FUN_5e67 sign-extends byte 0x0402 (compute_temp_comp_factor 0x5DD6) */
/* Angle accumulator descriptors (FUN_722e, RWC6-relative; input_var bound at runtime). */
.desc_rpm = {
.runtime_slot = 0,
.input_var = NULL,
.stride_items = 13,
.stride_items = 15,
.axis = phi_angle_axis_rpm,
},
.desc_demand = {
@@ -236,7 +248,7 @@ calibration_t phi_t06215_cal = {
* Runtime input binder.
* ====================================================================== */
void phi_t06215_bind_inputs(runtime_state_t *rt, calibration_t *cal)
void phi_t06211_bind_inputs(runtime_state_t *rt, calibration_t *cal)
{
cal->desc_accel_rpm.input_var = (int16_t *)&rt->rpm;
cal->desc_accel_demand.input_var = &rt->inj_qty_demand;

2
Core/Src/fuel_map.c
View File

@@ -94,7 +94,7 @@ void init_FuelMap(float *PHIAD) {
s_phi_getters.get_scratch_0103 = get_scratch_0103;
s_phi_getters.get_scratch_0108 = get_scratch_0108;
s_phi_cal = phi_t06215_cal;
s_phi_cal = phi_t06211_cal;
phi_init(&s_phi_state, &s_phi_cal, &s_phi_getters);
/* Pre-latch to skip the cranking-phase ramp (mirrors