added oem ckp acquisition, better for acceleration artifacts. Also added proper ckp offset calculation. id 700 sended an offset and a eeprom commit to pump. Other cfgs should be tested for this

Core/Advance_Control/FBKW.c

@@ -13,6 +13,7 @@
 #include "pre_injection.h"
 #include "temperature.h"
 
+
 float FBKW_DEMAND = 0.0;
 float FBKW_DC = 5;
 float FBKW_FEEDBACK = 0.0;
@@ -173,6 +174,11 @@ void FBKW_CKP_ISR(void) {
     pwm_ckp_isr(&fbkw_rt);
 }
 
+float FBKW_GET_CKP_OFFSET(void) {
+	return (float)get_ckp_zero() * 3.0f / 256.0f;
+	//return (get_ckp_zero() >> 8) * 3.0f;
+
+}
 const pwm_runtime_t *FBKW_pipeline_runtime(void) {
     return &fbkw_rt;
 }

Core/Advance_Control/FBKW.h

@@ -9,6 +9,7 @@
 #define INC_FBKW_H_
 #include "main.h"
 #include "pwm.h"
+#include "ckp_acquisition.h"
 
 extern TIM_HandleTypeDef htim4;
 
@@ -45,5 +46,5 @@ extern void FBKW_CKP_ISR();
 void FBKW_init(void);
 void FBKW_service(void);
 const pwm_runtime_t *FBKW_pipeline_runtime(void);
-
+float FBKW_GET_CKP_OFFSET(void);
 #endif /* INC_FBKW_H_ */

Core/Advance_Control/cal_tables_rom.c

@@ -14,9 +14,14 @@
  * ~cal+0x9E (the new ADR-SV-* / KW_SIM_UMSCHALTUNG diagnostic fields per
  * doc.txt 30.08.02). All T06215 cal field roles map to T06235 with the
  * +0x14 offset; the actual values were re-extracted from this ROM.
+ * NOTE: there is also a +0x02 shift in the lower region — at minimum
+ * cal+0x4c → cal+0x4e and cal+0xa0 → cal+0xa2 (both confirmed in FUN_6a4b
+ * @ 0x6a4b). Lower-region scalars must be re-checked, not assumed unchanged.
  *
  * Notable value deltas vs T06215:
- *   - setpoint_offset = cal+0x4c − cal+0x4e = 4399 − 3499 = +900 (T06215: -648).
+ *   - setpoint_offset = cal+0x4e − cal+0x50 = 3499 − 4228 = -729 (T06215 cal+0x4c−cal+0x4e = -648).
+ *     Cal-block +0x02 shift in this lower region; T06215's cal+0xa0 modulo
+ *     also moves to cal+0xa2 in T06235 (verified in FUN_6a4b @ 0x6a4b).
  *   - init_p_gain_normal       = +368  (T06215: +336)
  *   - init_p_slope_large_pos   = +2047 (T06215: +1792)
  *   - init_integ_step_normal   = +320  (T06215: +256)
@@ -112,10 +117,16 @@ const pwm_calibration_t pwm_cal_rom = {
     /* CAN-decoded setpoint cal constants (lower region — invariant offsets) */
     .b_fb_kw_upper_bound    = 7680,            /* cal+0x004 */
     .b_fb_kw_lower_bound    = (int16_t)0xFD00, /* cal+0x006 */
-    .setpoint_offset        = 900,             /* cal+0x4c − cal+0x4e = 4399 − 3499 = 900 (T06215: -648) */
+    .setpoint_offset        = -729,            /* cal+0x4e − cal+0x50 = 3499 − 4228 = -729 (T06215 cal+0x4c−cal+0x4e = -648) */
     .target_5e_min_clamp    = (int16_t)0xFE00, /* cal+0x13E = -512 (T06215 cal+0x12A +0x14) */
     .can_aux_12e_max        = 1451,            /* cal+0x002 */
 
+    /* CKP-zero acquisition (FUN_55e0 + FUN_6a4b chain) — values read from
+     * rom_eeprom_dump_0000-9FFF_504042.bin at RWA4 + offset. */
+    .ckp_zero_anchor        = 4228,            /* cal+0x050 @ 0x9C08 = 0x1084 */
+    .can_dckp_offset_bias   = 0,               /* cal+0x052 @ 0x9C0A = 0x0000 */
+    .ckp_modulus            = 7680,            /* cal+0x0A2 @ 0x9C5A = 0x1E00 (90° at 256/3°/unit) */
+
     /* Recovery / sustained-error machinery */
     .pi_state_c2_reload     = 100,             /* cal+0x128 (was T06215 cal+0x114) */
     .inj_qty_thresh         = 96,              /* cal+0x12A (was T06215 cal+0x116) */

Core/Advance_Control/ckp_acquisition.c

@@ -0,0 +1,93 @@
+/*
+ * ckp_acquisition.c
+ *
+ *  Created on: May 5, 2026
+ *      Author: herli
+ *
+ * Mirrors ROM FUN_55e0 @ 0x55e0 → FUN_6a4b @ 0x6a4b for the CKP-zero
+ * acquisition path. See ckp_acquisition.h for the data-flow summary.
+ */
+
+#include "ckp_acquisition.h"
+#include "pwm.h"             /* pwm_cal_rom + shra16 */
+#include "ee_manager.h"
+
+/* Inputs */
+int16_t B_CKP_OFFSET     = 0;
+uint8_t commitCKP_offset = 0;
+
+/* RAM trims (DAT_0430 word, DAT_0404 signed byte) — see header. */
+int16_t CKP_RAM_TRIM_0430 = 0;
+int8_t  CKP_RAM_TRIM_0404 = 0;
+
+/* Outputs */
+int16_t dCKP_OFFSET     = 0;
+int16_t CKP_ZERO_OFFSET = 0;
+
+/* FUN_6a4b @ 0x6a4b core — DAT_0152 derivation only.
+ *
+ * ROM body (fulldissasembly.txt:20025–20061):
+ *     RW1E = cal[+0x50] + DAT_0430
+ *     RW1C = RW1E - DAT_0434 - cal[+0x52] + (int8_t)DAT_0404
+ *     while RW1C <  0          : RW1C += cal[+0xa2]   ; JGE LAB_6a7e (signed)
+ *     while RW1C >  cal[+0xa2] : RW1C -= cal[+0xa2]   ; JLE LAB_6a8c (signed)
+ *     DAT_0152 = RW1C
+ *
+ * Side-effects (FUN_6c70 R8F/R90 derivation, DAT_02cb/R2C/R2D clears,
+ * DAT_017a=5, DAT_0278 reload) belong to the CKP-decode synchronization
+ * stage and are intentionally not ported here — see the plan's
+ * "Out of scope" section.
+ */
+static void ckp_recompute_zero_offset(void)
+{
+    int16_t anchor = (int16_t)((int16_t)pwm_cal_rom.ckp_zero_anchor
+                               + CKP_RAM_TRIM_0430);
+
+    /* LDBSE at fulldissasembly.txt:20038 sign-extends the byte to a
+     * word before the ADD. */
+    int16_t v = (int16_t)(anchor
+                          - dCKP_OFFSET
+                          - pwm_cal_rom.can_dckp_offset_bias
+                          + (int16_t)s_dfi_code);
+
+    int16_t mod = pwm_cal_rom.ckp_modulus;
+
+    /* Verbatim ROM modulo. JGE/JLE in the ROM are signed compares, so
+     * the loops bracket v into [0, mod] inclusive. Replacing with `%`
+     * would diverge for negative v under C90/C99 implementation-defined
+     * sign-of-remainder rules. */
+    while (v < 0)   v = (int16_t)(v + mod);
+    while (v > mod) v = (int16_t)(v - mod);
+
+    CKP_ZERO_OFFSET = v;
+}
+
+/* FUN_55e0 @ 0x55e0 entry — detect change in (B_CKP_OFFSET >> 1) and
+ * update dCKP_OFFSET; on change, FUN_6a4b is invoked. We always re-run
+ * FUN_6a4b on the first call so consumers see a coherent
+ * CKP_ZERO_OFFSET even before B_CKP_OFFSET first moves.
+ */
+int16_t get_ckp_zero(void)
+{
+    static uint8_t initialized = 0;
+
+    int16_t halved     = shra16(B_CKP_OFFSET, 1);
+    int16_t biased_now = (int16_t)(dCKP_OFFSET
+                                   + pwm_cal_rom.can_dckp_offset_bias);
+
+    if (halved != biased_now) {
+        dCKP_OFFSET = (int16_t)(halved
+                                - pwm_cal_rom.can_dckp_offset_bias);
+        /* commitCKP_offset stays unused per user direction; future hook
+         * for the FUN_56d8 flash-write sequence and the DAT_01e7 bit-7
+         * persist-pending flag. */
+        (void)commitCKP_offset;
+        ckp_recompute_zero_offset();
+        initialized = 1;
+    } else if (!initialized) {
+        ckp_recompute_zero_offset();
+        initialized = 1;
+    }
+
+    return CKP_ZERO_OFFSET;
+}

Core/Advance_Control/ckp_acquisition.h

@@ -0,0 +1,41 @@
+/*
+ * ckp_acquisition.h
+ *
+ *  Created on: May 5, 2026
+ *      Author: herli
+ *
+ * Translates the CAN-supplied raw CKP offset (B_CKP_OFFSET, RW134 /
+ * DAT_0134) into the ROM-equivalent runtime delta dCKP_OFFSET (DAT_0434)
+ * and then into the canonical CKP zero-crossing offset CKP_ZERO_OFFSET
+ * (DAT_0152). Mirrors ROM FUN_55e0 @ 0x55e0 → FUN_6a4b @ 0x6a4b.
+ */
+
+#ifndef ADVANCE_CONTROL_CKP_ACQUISITION_H_
+#define ADVANCE_CONTROL_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) */
+
+/* Internal RAM trims (DAT_0430 word, DAT_0404 signed byte). No runtime
+ * writer was found in this ROM/car (project memory:
+ * project_t06235_ckp_processing.md), so they 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 FUN_55e0 */
+extern int16_t  CKP_ZERO_OFFSET;     /* DAT_0152 — output of FUN_6a4b */
+
+/* Recompute dCKP_OFFSET from B_CKP_OFFSET (FUN_55e0), then recompute
+ * CKP_ZERO_OFFSET (FUN_6a4b core derivation), then return
+ * CKP_ZERO_OFFSET. The commit/flash-persist side-effects (FUN_56d8
+ * sequence + DAT_01e7 bit-7) are stubbed via commitCKP_offset for a
+ * future wiring step.
+ */
+int16_t get_ckp_zero(void);
+
+#endif /* ADVANCE_CONTROL_CKP_ACQUISITION_H_ */

Core/Advance_Control/pwm.h

@@ -193,6 +193,11 @@ struct pwm_calibration {
     int16_t target_5e_min_clamp;      /* cal+0x12A */
     int16_t can_aux_12e_max;          /* cal+0x002 */
 
+    /* CKP-zero acquisition (FUN_55e0 + FUN_6a4b chain) cal constants */
+    int16_t ckp_zero_anchor;          /* cal+0x050 — FUN_6a4b additive anchor */
+    int16_t can_dckp_offset_bias;     /* cal+0x052 — FUN_55e0/FUN_6a4b bias */
+    int16_t ckp_modulus;              /* cal+0x0A2 — FUN_6a4b modulo wrap */
+
     /* 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 */

Core/CAN_Libs/can_db.c

@@ -58,8 +58,10 @@ extern float    RPM;
 extern float    Temp;
 extern float    ME, MEPI, B_FB_KW, dFi, B_PHIAD;
 extern int16_t B_FB_NW;
+extern int16_t B_CKP_OFFSET;
+
 extern uint8_t  cilCount, safetySHUTOFF;
-extern uint8_t  inj_mode, request_syncout_activation;
+extern uint8_t  inj_mode, request_syncout_activation, commitCKP_offset;
 extern uint8_t  memWrite;
 extern uint32_t quart_hour_counter;
 
@@ -95,6 +97,7 @@ static const CanScaleDef SCALE_ME_RAM     = { "mg/H",    1.0f/32.0f,  0.0f };
 static const CanScaleDef SCALE_DC     = { "%",    100.0f/4095.0f, 0.0f };
 static const CanScaleDef SCALE_TEIN   = { "uS",      1.0f/2.0f,    0.0f };
 static const CanScaleDef SCALE_RPM   = { "1/min",      1.0f/4.0f,    0.0f };
+
 static const CanScaleDef SCALE_VOLTAGE= { "V",      0.0185f,    -0.05f };
 
 
@@ -322,6 +325,14 @@ static CanSymbolDef SYM_ID_SEND4[] = {
 #elif defined(cfgejemplo)
 
 #endif
+
+static CanSymbolDef SYM_ID_SEND3[] = {
+#if defined(T06235)
+
+	{ "CKP_OFFSET", 0, 16, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &B_CKP_OFFSET, &SCALE_FBKW, CAN_STORE_S16},
+	{ "commit",   16, 1, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &commitCKP_offset,  NULL, 	CAN_STORE_U8},
+#endif
+};
 /* ===== RX: ID 0x720 SEND ===== */
 static CanSymbolDef SYM_ID_SEND_CUSTOM[] = {
     { "PHI_OFFSET",  0, 16, CAN_ENDIAN_INTEL, CAN_SYM_SX, 0,0, &dFi,     &SCALE_DEG_KW, CAN_STORE_FLOAT},
@@ -360,8 +371,8 @@ const CanMessageDef MSG_ID_SEND3 = {
     .dir          = CAN_DIR_RX,
     .dlc          = 8,
     .name         = "ID_SEND3",
-    .symbols      = NULL,
+    .symbols      = SYM_ID_SEND3,
-    .symbol_count = 0,
+    .symbol_count = (uint8_t)(sizeof(SYM_ID_SEND3)/sizeof(SYM_ID_SEND3[0])),
     .tx_template  = NULL,
     .send_on_boot = 0,
     .rx_handler   = NULL

Core/Inc/Ids/id_504042.h

@@ -38,12 +38,12 @@
 
 /* ALL FBKW */
 
-#define FBKW_FEEDBACK_ZERO 49.559
+#define FBKW_FEEDBACK_ZERO 49.571
 
 #define FBKW_FEEDBACK_MIN -5.367
 #define FBKW_FEEDBACK_MAX 21.27
 
-#define FBKW_FEEDBACK_IC_DT 14
+#define FBKW_FEEDBACK_IC_DT 19
 
 /* CAN DEFINITIONS */
 #define CAN_BAUDRATE 500

Core/Inc/id.h

@@ -40,12 +40,12 @@
 
 /* ALL FBKW */
 
-#define FBKW_FEEDBACK_ZERO 49.559
+#define FBKW_FEEDBACK_ZERO 49.571 //49.559
 
 #define FBKW_FEEDBACK_MIN -5.367
 #define FBKW_FEEDBACK_MAX 21.27
 
-#define FBKW_FEEDBACK_IC_DT 14
+#define FBKW_FEEDBACK_IC_DT 19
 
 /* CAN DEFINITIONS */
 #define CAN_BAUDRATE 500

Core/Src/fuel_map.c

@@ -97,6 +97,11 @@ void init_FuelMap(float *PHIAD) {
 void Timer1_FM_ISR(){
 	phi_tick_1khz(&s_phi_state, &s_phi_cal);
 }
+
+void TW_FM_ISR(uint8_t currentTooth, uint32_t ic){
+	//phi_tick_1khz(&s_phi_state, &s_phi_cal);
+}
+
 extern float forceTemp;
 float FM_GET_PHIAD(float RPM, float ME, float Temp) {
     s_rpm  = RPM;

Core/Src/toothed_wheel.c

@@ -278,7 +278,7 @@ float fb_2;
 uint8_t fb_lock;
 float new_fb = 0.0;
 float lpf_fb = 1.0;//0.4
-uint8_t feedbackMT = 0;
+uint8_t feedbackNew = 1;
 uint8_t valid = 0;
 
 float ckp_rpm = 0.0;
@@ -302,11 +302,12 @@ void TW_CALC_FBKW_FEEDBACK(){
 			return;
 		}
 	}
-	uint8_t index0 = FBKW_FEEDBACK_ZERO / TW_TOOTH_ALPHA;
+	float eff_ckp_zero = FBKW_GET_CKP_OFFSET();
+	uint8_t index0 = eff_ckp_zero / TW_TOOTH_ALPHA - 1;
 
 	teethCKP = index;
 
-	uint8_t nteeths = TW_PERCYL_TEETH - index0 + 1;
+	uint8_t nteeths = TW_PERCYL_TEETH - index0;
 	uint32_t diffCKP_e = IC_CKP_Real >= edgeBuf[index0-1].ic ? IC_CKP_Real - edgeBuf[index0-1].ic :  IC_CKP_Real - (-edgeBuf[index0-1].ic - 0xffffffff);
 
 	/*float b_a = 1.0*FBKW_FEEDBACK_ZERO / TW_TOOTH_ALPHA - index0; //remaining angle
@@ -328,9 +329,7 @@ void TW_CALC_FBKW_FEEDBACK(){
 	//uint32_t diffCKP = toNext ? diffCKP_2 : diffCKP_1;
 	uint32_t diffCKP = IC_CKP_Real >= edgeBuf[index0].ic ? IC_CKP_Real - edgeBuf[index0].ic :  IC_CKP_Real - (-edgeBuf[index0].ic - 0xffffffff);
 
-	if(feedbackMT){
+
-		diffCKP = IC_CKP2 >= IC_MT ? IC_CKP2 - IC_MT :  IC_CKP2 - (IC_MT - 0xffffffff);
-	}
 	//uint32_t diffCKP = IC_CKP2 >= IC_MT ? IC_CKP2 - IC_MT :  IC_CKP2 - (IC_MT - 0xffffffff);
 	float diffbot = 0;
 	float difftop = 0;
@@ -340,13 +339,18 @@ void TW_CALC_FBKW_FEEDBACK(){
 		}
 	}else{
 		if(count_CKP > 1){
-			if(feedbackMT){
+			if(feedbackNew){
-				fb_2 = MT_RPM * 6.0 * diffCKP / refClock - dFi;
+				uint8_t now = 24;
+				uint32_t P_seg = edgeBuf[now].ic - edgeBuf[index0].ic;   // wrap-safe by uint32 modular arithmetic
+				uint32_t T_lag = edgeBuf[now].ic - IC_CKP_Real;          // same
+
+				float fraction_before_engine_pulse = 1 - (1.0f*T_lag / P_seg);
+				fb_2 = fraction_before_engine_pulse * (now - index0) * TW_TOOTH_ALPHA;
 			}else{
-				fb_2 = avgrpm * 6.0 * diffCKP_e / refClock + (index0-1) * TW_TOOTH_ALPHA - dFi;
+				fb_2 = avgrpm * 6.0 * diffCKP_e / refClock + (index0-1) * TW_TOOTH_ALPHA;
 			}
 
-			fb_2 -= FBKW_FEEDBACK_ZERO;
+			fb_2 += feedbackNew*45 - eff_ckp_zero;
 
 			if(fb_2 > FBKW_FEEDBACK_MIN && fb_2 < FBKW_FEEDBACK_MAX){ //si esta entre margenes
 				new_fb = fb_2;
@@ -359,14 +363,19 @@ void TW_CALC_FBKW_FEEDBACK(){
 
 		}else{
 			//feedbackfirst = RPM * 6.0 * diffCKP / refClock;
-			if(feedbackMT){
+			if(feedbackNew){
-				fb_1 = ckp_rpm * 6.0 * diffCKP_e / refClock + (index0-1) * TW_TOOTH_ALPHA - dFi;
+				uint8_t now = 24;
+				uint32_t P_seg = edgeBuf[now].ic - edgeBuf[index0].ic;   // wrap-safe by uint32 modular arithmetic
+				uint32_t T_lag = edgeBuf[now].ic - IC_CKP_Real;          // same
+
+				float fraction_before_engine_pulse = 1 - (1.0f*T_lag / P_seg);
+				fb_1 = fraction_before_engine_pulse * (now - index0) * TW_TOOTH_ALPHA;
 			}else{
 				//fb_1 = (toNext ? -1 : 1) * edgeBuf[index + toNext].rpm * 6.0 * diffCKP / refClock + (teethCKP + toNext) * TW_TOOTH_ALPHA - dFi;
-				fb_1 = avgrpm * 6.0 * diffCKP_e / refClock + (index0-1) * TW_TOOTH_ALPHA - dFi;
+				fb_1 = avgrpm * 6.0 * diffCKP_e / refClock + (index0-1) * TW_TOOTH_ALPHA;
 			}
 
-			fb_1 -= FBKW_FEEDBACK_ZERO;
+			fb_1 += feedbackNew*45 - eff_ckp_zero;
 
 			if(fb_1 > FBKW_FEEDBACK_MIN && fb_1 < FBKW_FEEDBACK_MAX){
 				new_fb = fb_1;
@@ -805,7 +814,7 @@ void TW_Service(){
 		TM_UPDATE_INJECTION_RPM_AND_ALPHA(real_eoi, actual_phi1, IC_EOI, IC_TEIN);
 		inj_rpm_pending = 0;
 	}
-	if(ckp_process_pending){
+	if(ckp_process_pending && (currentTooth == 24)){ // esto es para la 504042, estaria bien revisar el resto...
 		TW_CALC_FBKW_FEEDBACK();
 	}