tandem ids fixed

me habia dekado el forceTemp
la compensacion de aceleracion va perfecto. Muy parecido al original. cambiado el send1 handler y añadido un call desde tooth 13 para calcular la comp accel en una zona determinada
2026-05-06 17:23:50 +02:00 · 2026-05-06 16:36:19 +02:00 · 2026-05-06 16:35:06 +02:00 · 2026-05-05 22:30:59 +02:00 · 2026-05-05 16:35:42 +02:00
22 changed files with 793 additions and 431 deletions
--- a/Core/Advance_Control/Unused_advance/cal_tables_rom_424026.c
+++ b/Core/Advance_Control/Unused_advance/cal_tables_rom_424026.c
@@ -103,6 +103,13 @@ const pwm_calibration_t pwm_cal_rom = {
    .target_5e_min_clamp    = (int16_t)0xFE00, /* cal+0x12A */
    .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°) */
+
    /* Recovery / sustained-error machinery */
    .pi_state_c2_reload     = 100,             /* cal+0x114 (ROM 0x9CEC = 0x0064) */
    .inj_qty_thresh         = 96,              /* cal+0x116 (ROM 0x9CEE = 0x0060) */
--- a/Core/Advance_Control/Unused_advance/cal_tables_rom_504042.c
+++ b/Core/Advance_Control/Unused_advance/cal_tables_rom_504042.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) */
--- a/Core/Advance_Control/Unused_advance/pwm_424026.h
+++ b/Core/Advance_Control/Unused_advance/pwm_424026.h
@@ -192,6 +192,13 @@ struct pwm_calibration {
    int16_t target_5e_min_clamp;      /* cal+0x12A */
    int16_t can_aux_12e_max;          /* cal+0x002 */

+    /* 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 */
+    int16_t can_dckp_offset_bias;     /* cal+0x050 — Stage-1/Stage-2 bias */
+    int16_t ckp_modulus;              /* cal+0x0A0 — FUN_70d8 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 */
--- a/Core/Advance_Control/Unused_advance/pwm_504042.h
+++ b/Core/Advance_Control/Unused_advance/pwm_504042.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 */
--- a/Core/Advance_Control/cal_tables_rom.c
+++ b/Core/Advance_Control/cal_tables_rom.c
@@ -1,46 +1,32 @@
 /**
- * @file cal_tables_rom.c (variant/T06235/compact_src)
- * @brief ROM-decoded T06235 calibration.
+ * @file cal_tables_rom.c (families/T06215/compact_src)
+ * @brief ROM-decoded T06215 calibration.
 *
- * Source ROM:        rom_eeprom_dump_0000-9FFF_504042.bin
- * Bosch P/N header:  '16700 69T63\0' (24-byte ASCII header at flash 0x9BA0)
- * Calibration base:  RWA4 = 0x9BB8
+ * Source ROM:        424026.bin (Bosch P/N 167002X9001494060200)
+ * Calibration base:  RWA4 = 0x9BD8
 * Flash anchor:      0x9618
- * Generated:         2026-05-01 (extracted via tools/extract_calibration.py
- *                                 + direct flash readback per Step 7)
+ * Generated:         2026-04-29 (hand-extracted via Ghidra MCP + ROM readback)
 *
- * Field-name → ROM-address binding lives in pwm_addr_map.h. T06235 is a
- * recompile of T06215 with a uniform +0x14 cal-block insertion above
- * ~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.
+ * 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.
 *
- * Notable value deltas vs T06215:
- *   - 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)
- *   - init_integ_step_large_pos= +831  (T06215: +512)
- *   - init_integ_step_large_neg= +255  (T06215: +256)
- *   - rpm_threshold_recovery   = 2726  (T06215: 2936)
- *   - pwm_rpm_windows[1]       = 6795  (T06215: 6837)
- *   - setpoint_y[]             = [1707,1707,1707,1195,768,427]
- *                                 (T06215: [1707,1707,1195,768,427,427])
- *   - pwm Y-table values mostly re-tuned (90 entries); see arrays below.
- *
- * All other scalars match T06215 exactly.
+ * 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).
 */
 #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, 1707, 1195,  768, 427 };
+static const int16_t setpoint_y[6] = { 1707, 1707, 1195,  768,  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 };
@@ -48,8 +34,6 @@ static const int16_t pwm_A_y[9] = {  1707,  1365,  1195,  768,  427,   85,    0,
 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 };

-/* T06215 inferred shape map kept verbatim — needs Step 7 follow-up to
- * re-extract from T06235 for accuracy if shape stage is exercised. */
 static const int16_t shape_x[4] = { 819, 737, 492, 0 };
 static const int16_t shape_y[4] = {  41,  49,  82, 102 };

@@ -57,18 +41,16 @@ static const int16_t shape_y[4] = {  41,  49,  82, 102 };

 static const int16_t shape_y_table_rom[4] = { 41, 49, 82, 102 };

-/* PWM bilinear Y-table at flash 0x9E20 (T06235; T06215 was 0x9E30) —
- * 10 rows × 9 cols (90 entries). Re-extracted 2026-05-01 from this
- * ROM; values differ from T06215 (recalibrated). */
+/* 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 */  1638,  1433,  1229,  1024,   819,   205,   205,   205,     0,
-    /* row 2 */  1843,  1658,  1474,  1229,  1024,   205,   205,   205,     0,
-    /* row 3 */  2375,  2211,  2068,  1802,  1577,  1167,   205,   205,     0,
-    /* row 4 */  2744,  2621,  2580,  2457,  2273,  1904,  1372,   205,     0,
-    /* row 5 */  3358,  3276,  3235,  3194,  3092,  2867,  2539,  1351,   205,
-    /* row 6 */  3686,  3604,  3522,  3440,  3358,  3215,  2867,  1761,   614,
-    /* row 7 */  3890,  3890,  3890,  3890,  3890,  3890,  3890,  2518,  1527,
+    /* 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 8 */  3890,  3890,  3890,  3890,  3890,  3890,  3890,  3890,  3481,
    /* row 9 */  3890,  3890,  3890,  3890,  3890,  3890,  3890,  3890,  4095,
 };
@@ -108,77 +90,86 @@ const int16_t *pwm_submap_y_of(uint16_t idx)
 /* ── Scalars ────────────────────────────────────────────────────────── */

 const pwm_calibration_t pwm_cal_rom = {
-    /* PI controller error-band thresholds (T06235 cal+0x122/0x124 = T06215 +0x14) */
-    .large_pos_error_thresh = 128,             /* cal+0x122 (was T06215 cal+0x10E) */
-    .large_neg_error_thresh = (int16_t)0xFF00, /* cal+0x124 = -256 */
-    .pi_low_clamp           = (int16_t)0xFE00, /* cal+0x13C = -512 */
+    /* 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 */

-    /* CAN-decoded setpoint cal constants (lower region — invariant offsets) */
+    /* 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        = -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) */
+    .setpoint_offset        = -648,            /* cal+0x4c − cal+0x4e */
+    .target_5e_min_clamp    = (int16_t)0xFE00, /* cal+0x12A */
    .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) */
+    /* 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 process-tooth derivation (FUN_6c70 — feeds get_ckp_process_tooth()).
-     * Read direct from rom_eeprom_dump_0000-9FFF_504042.bin at RWA4=0x9BB8
-     * + offset; default-family analogs are at cal+0x120/0x0A3/0x0A4. */
-    .ckp_advance_per_tick   = 1707,            /* cal+0x140 @ 0x9CF8 = 0x06AB (= 20° per tick;
-                                                *   t06211 cal+0x124, T06215 cal+0x12C, default cal+0x120 = 1536 = 18°) */
-    .ckp_seg_wrap_threshold = 29,              /* cal+0x09F @ 0x9C57 (default cal+0x0A3) */
-    .ckp_teeth_per_seg      = 26,              /* cal+0x0A0 @ 0x9C58 (default cal+0x0A4; same value across all variants) */
+    /* 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) */

    /* 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) */
-    .pi_sat_count_threshold = 800,             /* cal+0x126 (was T06215 cal+0x112) */
-    .rpm_threshold_recovery = 2726,            /* cal+0x13A (was T06215 cal+0x126; T06215 = 2936 — value Δ) */
-    .pi_cl_rpm_floor        = 420,             /* flash[0x605C] = 0x01A4 — invariant */
+    .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 */

-    /* PI runtime-reset values (T06235-extracted from cal block at RWA4=0x9BB8 + offset). */
-    .init_p_shape_bound_pos    = +107,         /* cal+0x11E (T06215 cal+0x10A) */
-    .init_p_shape_bound_neg    = -107,         /* cal+0x120 (T06215 cal+0x10C) */
-    .init_p_gain_normal        = +368,         /* cal+0x12C (T06215 cal+0x118; was +336 — value Δ) */
-    .init_p_slope_large_pos    = +2047,        /* cal+0x12E (T06215 cal+0x11A; was +1792 — value Δ) */
-    .init_p_slope_large_neg    = +512,         /* cal+0x130 (T06215 cal+0x11C) */
-    .init_integ_step_normal    = +320,         /* cal+0x132 (T06215 cal+0x11E; was +256 — value Δ) */
-    .init_integ_step_large_pos = +831,         /* cal+0x134 (T06215 cal+0x120; was +512 — value Δ) */
-    .init_integ_step_large_neg = +255,         /* cal+0x136 (T06215 cal+0x122; was +256 — value Δ) */
-    .init_open_loop_p_gain     = +6,           /* cal+0x138 byte (T06215 cal+0x124; same value, clamped to 15) */
+    /* 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 */

-    /* CL correction normalizers — boot-cached at DAT_0340/DAT_0342. */
-    .init_pos_error_normalizer = 350,          /* cal+0x11C (T06215 cal+0x108) */
-    .init_neg_error_normalizer = 350,          /* cal+0x11A (T06215 cal+0x106) */
+    /* 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 — entire block shifted +0x14 in T06235 */
-    .pwm_detail_x0          = (int16_t)0x9C40, /* cal+0x102 = 40000 unsigned (period_max) */
-    .pwm_detail_x1          = (int16_t)0x8235, /* cal+0x104 = 33333 unsigned (period_min) */
-    .pwm_cached_ptr_0F2     = 5662,            /* cal+0x106 (T06215 cal+0x0F2) */
-    .pwm_cached_ptr_102     = 168,             /* cal+0x116 = halfwidth (T06215 cal+0x102) */
-    .pwm_const_104          = 354,             /* cal+0x118 = slew_step (T06215 cal+0x104) */
+    /* 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,

-    /* RPM-window block — index 1 differs (6795 vs T06215 6837) */
-    .pwm_rpm_windows        = { 5662, 6795, 8808, 10486, 11954, 13422, 18036, 19713 },
-    .pwm_window_halfwidth   = 168,             /* cal+0x116 */
-    .pwm_slew_step          = 354,             /* cal+0x118 */
+    .pwm_rpm_windows        = { 5662, 6837, 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,

-    .closed_loop_gain_const = 10,              /* flash[0x6056] = 0x000A — invariant */
+    .closed_loop_gain_const = 10,

-    .pwm_period_min         = 33333,           /* cal+0x104 = 60.0 Hz */
-    .pwm_period_max         = 40000,           /* cal+0x102 = 50.0 Hz */
+    .pwm_period_min         = 33333,
+    .pwm_period_max         = 40000,

-    .pwm_min                = 0x00CD,          /* flash[0x6058] = 205 */
-    .pwm_max                = 0x0F32,          /* flash[0x605A] = 3890 */
+    .pwm_min                = 0x00CD,
+    .pwm_max                = 0x0F32,
 };

 const pwm_flash_t pwm_flash_rom = { 0 };
--- a/Core/Advance_Control/cal_tables_rom.h
+++ b/Core/Advance_Control/cal_tables_rom.h
@@ -1,12 +1,12 @@
 /**
- * @file cal_tables_rom.h (variant/T06235/compact_src)
- * @brief Extern decls for the ROM-decoded T06235 calibration.
+ * @file cal_tables_rom.h (families/T06215/compact_src)
+ * @brief Extern decls for the ROM-decoded T06215 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.
 */
-#ifndef CAL_TABLES_ROM_T06235_COMPACT_H
-#define CAL_TABLES_ROM_T06235_COMPACT_H
+#ifndef CAL_TABLES_ROM_T06211_COMPACT_H
+#define CAL_TABLES_ROM_T06211_COMPACT_H

 #include "pwm.h"

-#endif /* CAL_TABLES_ROM_T06235_COMPACT_H */
+#endif /* CAL_TABLES_ROM_T06211_COMPACT_H */
--- a/Core/Advance_Control/ckp_acquisition.c
+++ b/Core/Advance_Control/ckp_acquisition.c
@@ -1,72 +1,63 @@
 /*
- * ckp_acquisition.c
+ * ckp_acquisition.c (variant/T06215/compact_src)
 *
- *  Created on: May 5, 2026
- *      Author: herli
+ * Mirrors ROM Stage-1 caller @ 0x6330 (LCALL FUN_70d8) → FUN_70d8 @ 0x70d8
+ * for the CKP-zero acquisition path. Body verbatim from T06235; only the
+ * cal-field bindings (ckp_zero_anchor / can_dckp_offset_bias / ckp_modulus)
+ * carry T06215-specific cal slots — see pwm_addr_map.h.
 *
- * Mirrors ROM FUN_55e0 @ 0x55e0 → FUN_6a4b @ 0x6a4b for the CKP-zero
- * acquisition path. See ckp_acquisition.h for the data-flow summary.
+ * Stage-1 caller sequence (T06215 ROM 0x62b0..0x6332):
+ *     RW1E = dCKP_OFFSET + cal+0x50         ; biased current
+ *     RW1C = SHRA(B_CKP_OFFSET, 1)          ; signed half
+ *     if RW1C != RW1E:
+ *         DAT_01e7 |= 0x80
+ *         dCKP_OFFSET = RW1C - cal+0x50
+ *         (flash commit gated by AD_resultlo == cal+0xCD)
+ *         DAT_01e7 &= 0x7F
+ *         LCALL FUN_70d8
+ *
+ * Stage-2 body (FUN_70d8 @ 0x70d8..0x7128):
+ *     RW1E = cal+0x4e + DAT_0430
+ *     v    = RW1E - DAT_0434 - cal+0x50 + (int8_t)DAT_0404
+ *     while v <  0          : v += cal+0xa0   ; signed JGE
+ *     while v >  cal+0xa0   : v -= cal+0xa0   ; signed JLE
+ *     DAT_0152 = v
+ *     DAT_0150 = cal+0x4c - RW1E
 */

 #include "ckp_acquisition.h"
-#include "pwm.h"             /* pwm_cal_rom + shra16 */
+#include "pwm.h"
 #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. */
+/* RAM trims */
 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)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;
@@ -78,10 +69,6 @@ int16_t get_ckp_zero(void)
    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) {
@@ -92,27 +79,28 @@ int16_t get_ckp_zero(void)
    return CKP_ZERO_OFFSET;
 }

-/* FUN_6c70 @ 0x6c70 — process-tooth derivation (R90 byte store path).
+/* FUN_7293 @ 0x7293 — process-tooth derivation (R90 byte store path).
 *
- * Translates fulldissasembly.txt:20453–20471 (the second half of FUN_6c70
- * after the R8F clamp; only the R90 byte path is reproduced here since
- * R8F is computed by the caller from word[0x152] high byte directly):
+ * Translates t06215 dissasembly.txt:21346–21364 (the second half of
+ * FUN_7293 after the R8F clamp; only the R90 byte path is reproduced
+ * here since R8F is computed by the caller from word[0x152] high byte
+ * directly):
 *
- *     6c8b  LD   RW1C, [0x152]              ; CKP_ZERO_OFFSET
- *     6c90  ADD  RW1C, cal+0x140            ; ckp_advance_per_tick
- *     6c95  INCB R1D                        ; high byte += 1
- *     6c97  CMPB R1D, cal+0x09F             ; ckp_seg_wrap_threshold (=29)
- *     6c9c  JLE  LAB_6ca5
- *     6c9e  SUB  RW1C, cal+0x0A2            ; ckp_modulus (low byte=0 → R1D-=30)
- *     6ca3  SJMP LAB_6cae
- *  LAB_6ca5:
- *     6ca5  CMPB R1D, cal+0x0A0             ; ckp_teeth_per_seg (=26)
- *     6caa  JLE  LAB_6cae
- *     6cac  CLRB R1D
- *  LAB_6cae:
- *     6cae  STB  R1D, R90
+ *     72ae  LD   RW1C, [0x152]              ; CKP_ZERO_OFFSET
+ *     72b3  ADD  RW1C, cal+0x12C            ; ckp_advance_per_tick
+ *     72b8  INCB R1D                        ; high byte += 1
+ *     72ba  CMPB R1D, cal+0x09D             ; ckp_seg_wrap_threshold (=29)
+ *     72bf  JLE  LAB_72c8
+ *     72c1  SUB  RW1C, cal+0x0A0            ; ckp_modulus (low byte=0 → R1D-=30)
+ *     72c6  SJMP LAB_72d1
+ *  LAB_72c8:
+ *     72c8  CMPB R1D, cal+0x09E             ; ckp_teeth_per_seg (=26)
+ *     72cd  JLE  LAB_72d1
+ *     72cf  CLRB R1D
+ *  LAB_72d1:
+ *     72d1  STB  R1D, R90
 *
- * The word SUB at 6c9e operates on RW1C, but cal+0x0A2 = 0x1E00 has a
+ * The word SUB at 72c1 operates on RW1C, but cal+0x0A0 = 0x1E00 has a
 * zero low byte, so the high byte (R1D) decreases by exactly
 * (ckp_modulus >> 8) = 30 with no borrow into the low byte. We
 * therefore reproduce the byte-level effect directly without keeping
--- a/Core/Advance_Control/ckp_acquisition.h
+++ b/Core/Advance_Control/ckp_acquisition.h
@@ -1,17 +1,16 @@
 /*
- * ckp_acquisition.h
+ * ckp_acquisition.h (variant/T06215/compact_src)
 *
- *  Created on: May 5, 2026
- *      Author: herli
+ * CKP-zero acquisition chain for T06215. Mirrors ROM
+ *   FUN_624a-class Stage-1 caller @ 0x6330 (LCALL FUN_70d8) → FUN_70d8 @ 0x70d8.
 *
- * 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.
+ * 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.
 */
-
-#ifndef ADVANCE_CONTROL_CKP_ACQUISITION_H_
-#define ADVANCE_CONTROL_CKP_ACQUISITION_H_
+#ifndef PWM_T06215_CKP_ACQUISITION_H
+#define PWM_T06215_CKP_ACQUISITION_H

 #include <stdint.h>

@@ -20,23 +19,36 @@ 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. */
+ * 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 FUN_55e0 */
-extern int16_t  CKP_ZERO_OFFSET;     /* DAT_0152 — output of FUN_6a4b */
+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) */

-/* 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);
+
+/* 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:
+ *
+ *     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)
+ *         tooth -= (ckp_modulus >> 8)                       (= 30 — angular wrap)
+ *     else if (tooth > ckp_teeth_per_seg)                   (T06215: 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.
+ */
 uint8_t get_ckp_process_tooth(void);

-#endif /* ADVANCE_CONTROL_CKP_ACQUISITION_H_ */
+#endif /* PWM_T06215_CKP_ACQUISITION_H */
--- a/Core/Advance_Control/pwm.c
+++ b/Core/Advance_Control/pwm.c
@@ -1,16 +1,13 @@
 /**
- * @file pwm.c (variant/T06235/compact_src)
- * @brief Compact single-file implementation of the T06235 PWM control
- *        pipeline. Body copied verbatim from variant/T06215/compact_src/pwm.c
- *        per the pillar-port-verbatim rule — T06235's pipeline is a 1:1
- *        structural mirror of T06215 (only addresses + cal offsets shift;
- *        the C body is invariant by design of the semantic field names).
+ * @file pwm.c (families/T06215/compact_src)
+ * @brief Compact single-file implementation of the T06215 PWM control
+ *        pipeline.
 *
- * Pipeline (pwm_service @ 0x7a1e in T06235; analog of T06215 @ 0x7772):
- *   0. setpoint interp (FUN_732c)  — writes pi_high_clamp_ceiling (DAT_0344)
- *   1. supervisor (FUN_7f12)       — reset + counter + error + clamp
- *   2. publish_cl  (FUN_7fca)      — calls cl_correction, publishes est_angle
- *   3. pi_update   (FUN_5809)      — open/closed-loop PI body
+ * 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
 *
 * The PI block (s_pi_update + s_recovery) was re-translated 1:1 from the
--- a/Core/Advance_Control/pwm.h
+++ b/Core/Advance_Control/pwm.h
@@ -1,14 +1,13 @@
 /**
- * @file pwm.h (variant/T06235/compact_src)
- * @brief Compact single-header API for the T06235 PWM controller.
+ * @file pwm.h (families/T06215/compact_src)
+ * @brief Compact single-header API for the T06215 PWM controller.
 *
- * Variant note: this header was copied verbatim from variant/T06215/compact_src
- * per the pillar-port-verbatim rule (docs/pillar-functions.md). T06235 is a
- * recompile of T06215 with a +0x14 cal-block insertion and one RAM slot move
- * (reset_flag 0x002e → 0x002c) — see variant/T06235/docs/algorithm-diff-vs-T06215.md.
- * Runtime-struct field names are purely semantic; the address binding for
- * any field lives in `pwm_addr_map.h` (documentation-only; not included
- * by pwm.c).
+ * 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).
 *
 * Public API:
 *   pwm_init()    — one-time setup
@@ -193,25 +192,28 @@ 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 (also reused
-									   *   by the FUN_6c70 process-tooth derivation
-									   *   below; high byte = ckp_modulus>>8 = 30). */
-	/* CKP process-tooth derivation (FUN_6c70 @ 0x6c70 — 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+0x140 — angular advance added to
-									   *   word[0x152] before tooth derivation
-									   *   (T06235: 1707 = 20° at 85.33/°). */
-	int16_t ckp_seg_wrap_threshold;   /* cal+0x09F — tooth-counter test:
-									   *   if tooth > threshold → tooth -= 30
-									   *   (T06235: 29). */
-	int16_t ckp_teeth_per_seg;        /* cal+0x0A0 — per-segment clamp:
-									   *   if tooth > teeth_per_seg → tooth = 0
-									   *   (T06235: 26 teeth / 90° segment). */
+    /* 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 */
+    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
+                                       *   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). */

    /* Recovery / sustained-error machinery */
    int16_t pi_state_c2_reload;       /* cal+0x114 — reload value for pi_state_c2 on latch */
--- a/Core/CAN_Libs/can_db.c
+++ b/Core/CAN_Libs/can_db.c
@@ -54,12 +54,14 @@
 /* ===== Extern RAM variables declared elsewhere ===== */
 extern uint16_t BitStatus;
 extern float    PHI_AD;
-extern float    RPM;
+extern float    RPM, MT_offset_RPM, MT_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 int8_t s_dfi_code;
+extern int16_t rw3e, rw3c, rw164;
+
 extern uint8_t  cilCount, safetySHUTOFF;
 extern uint8_t  inj_mode, request_syncout_activation, commitCKP_offset;
 extern uint8_t  memWrite;
@@ -97,6 +99,7 @@ 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_RPM_OUT   = { "1/min",      1.0f/8.388f,    0.0f };

 static const CanScaleDef SCALE_VOLTAGE= { "V",      0.0185f,    -0.05f };

@@ -151,12 +154,19 @@ const CanAddressEntry CAN_ANSWERS[] = {

    { 0x7800, &T_ein,         	CAN_SYM_UX, &SCALE_TEIN  , CAN_STORE_FLOAT },
    { 0x4201, &PSG_Voltage, 	CAN_SYM_UX, &SCALE_VOLTAGE, CAN_STORE_FLOAT },
+    { 0x3E00, &rw3e, 				CAN_SYM_SX, NULL, CAN_STORE_S16 },
+    { 0x3C00, &rw3c, 				CAN_SYM_SX, NULL, CAN_STORE_S16 },
+
+    { 0x6401, &rw164, 				CAN_SYM_SX, NULL, CAN_STORE_S16 },
+
+    { 0x4000, &MT_RPM, 				CAN_SYM_UX, &SCALE_RPM_OUT, CAN_STORE_FLOAT },
+    { 0x3801, &MT_offset_RPM, 				CAN_SYM_UX, &SCALE_RPM_OUT, CAN_STORE_FLOAT },
+
    { 0x4400, &ME, 				CAN_SYM_UX, &SCALE_ME_RAM, CAN_STORE_FLOAT },
    { 0x4800, &PHI_AD, 			CAN_SYM_SX, &SCALE_DEG_KW, CAN_STORE_FLOAT },
    { 0x4C00, &actual_phi1,		CAN_SYM_SX, &SCALE_DEG_KW, CAN_STORE_FLOAT },
    { 0x5800, &real_eoi,		CAN_SYM_SX, &SCALE_DEG_KW, CAN_STORE_FLOAT },
    { 0x5A00, &target_eoi,		CAN_SYM_SX, &SCALE_DEG_KW, CAN_STORE_FLOAT },
-    { 0x4C01, &s_dfi_code,		CAN_SYM_SX, NULL, CAN_STORE_S8 },

    { 0x7A01, &fbkwStatus, CAN_SYM_UX, NULL, CAN_STORE_U16 },
    { 0x7C01, &status2, CAN_SYM_UX, NULL, CAN_STORE_U16 },
@@ -302,7 +312,7 @@ static CanSymbolDef SYM_ID_SEND1[] = {

 #elif defined(T06215)
    { "MESOLL",   0, 12, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &ME, 		&SCALE_ME, 			CAN_STORE_FLOAT},
-    { "B_PHIAD", 12, 16, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &B_PHIAD,   &SCALE_PHIAD, CAN_STORE_FLOAT},
+    { "B_PHIAD", 16, 16, CAN_ENDIAN_INTEL, CAN_SYM_SX, 0,0, &B_PHIAD,   &SCALE_PHIAD, CAN_STORE_FLOAT},
    { "FB_KW",   32, 16, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &B_FB_KW,  &SCALE_FBKW, 	CAN_STORE_FLOAT},
    { "FB_NW",   48, 16, CAN_ENDIAN_INTEL, CAN_SYM_UX, 0,0, &B_FB_NW,  &SCALE_FBKW, 	CAN_STORE_FLOAT},
 #elif defined(T15021) || defined(T31804)
@@ -328,7 +338,7 @@ static CanSymbolDef SYM_ID_SEND4[] = {
 #endif

 static CanSymbolDef SYM_ID_SEND3[] = {
-#if defined(T06235)
+#if defined(T06235) || defined(T06215)

 	{ "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},
--- a/Core/Inc/Ids/id_504042.h
+++ b/Core/Inc/Ids/id_504042.h
@@ -16,9 +16,11 @@
 //#define T15021   			//audi 			506 -> 030 033
 //#define T31804   			//audi 			506 -> 037 038
 //#define T06209	//eq: T06216
+//#define T06211
 #define T06215
 #define T06235 //no hace nada pero habria que verificar vcon la t06215

+
 #define _504042

 /* FORD  */
@@ -38,7 +40,7 @@

 /* ALL FBKW */

-#define FBKW_FEEDBACK_ZERO 49.571
+#define FBKW_FEEDBACK_ZERO 49.571 //49.559

 #define FBKW_FEEDBACK_MIN -5.367
 #define FBKW_FEEDBACK_MAX 21.27
--- a/Core/Inc/id.h
+++ b/Core/Inc/id.h
@@ -12,16 +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 T06215
-#define T06235 //no hace nada pero habria que verificar vcon la t06215

-
-#define _504042
+#define _424026

 /* FORD  */
 #define FORD_SYNC_PULSE_OUT 0
@@ -32,20 +29,19 @@
 #define CYLINDERS 4

 /* TIMING COMPENSATIONS */
-#define PHI1 41.004
+#define PHI1 41.0f

 #define TEIN_NOMINAL 1556
 //(phiad - injangle with fault tein)*totime = teinnom
 #define TEIN_FAULT 950

-/* ALL FBKW */
-
-#define FBKW_FEEDBACK_ZERO 49.571 //49.559
+//#define FBKW_FEEDBACK_ZERO 45.2
+#define FBKW_FEEDBACK_ZERO 53.613

 #define FBKW_FEEDBACK_MIN -5.367
 #define FBKW_FEEDBACK_MAX 21.27

-#define FBKW_FEEDBACK_IC_DT 19
+#define FBKW_FEEDBACK_IC_DT 18

 /* CAN DEFINITIONS */
 #define CAN_BAUDRATE 500
--- a/Core/Phi/Variants/phi_424026.c
+++ b/Core/Phi/Variants/phi_424026.c
@@ -749,6 +749,116 @@ static void compute_accel_comp_offset(runtime_state_t *rt, const calibration_t *
    (void)rw1c;  /* rw1c is discarded after MUL; preserved for block-mapping */
 }

+/* ======================================================================
+ * tooth_isr / reset_tooth_state — port of FUN_51e1 @ 0x51e1 (producer)
+ * and FUN_5210 @ 0x5210 (DIVU helper) from the T06215 ROM.
+ *
+ * The producer fires once per cylinder when R88 == cal_byte_56 (= 13).
+ * It computes rpm_baseline = 0x0F000000 / period_ticks where period is
+ * the elapsed EPA timer ticks between two consecutive phase-13 hits.
+ * ====================================================================== */
+
+/* 0x0F000000 = 251,658,240 — the fixed dividend (cal+0xA2:cal+0xA4). */
+#define RPM_DIVIDEND_HI  ((uint16_t)0x0F00u)
+#define RPM_DIVIDEND_LO  ((uint16_t)0x0000u)
+
+/* Period saturation (cal+0xA6:cal+0xA8) = 0x001B7740 = 1,800,000 ticks. */
+#define PERIOD_CLAMP_LO  ((uint16_t)0x7740u)
+#define PERIOD_CLAMP_HI  ((uint16_t)0x001Bu)
+
+/* 0x5210–0x529c: period_to_rpm_div helper (FUN_5210). */
+static int16_t period_to_rpm_div(uint16_t period_lo, uint16_t period_hi)
+{
+    /* 0x5255–0x526a: period saturation. */
+    if (period_hi > PERIOD_CLAMP_HI) {
+        period_lo = PERIOD_CLAMP_LO;
+        period_hi = PERIOD_CLAMP_HI;
+    } else if (period_hi == PERIOD_CLAMP_HI) {
+        if (period_lo > PERIOD_CLAMP_LO) {
+            period_lo = PERIOD_CLAMP_LO;
+            period_hi = PERIOD_CLAMP_HI;
+        }
+    }
+
+    /* 0x526f–0x5274: load dividend RL1C = 0x0F000000. */
+    uint16_t rw1c = RPM_DIVIDEND_LO;
+    uint16_t rw1e = RPM_DIVIDEND_HI;
+
+    /* 0x5279–0x527c: if high word == 0, simple 32÷16 DIVU. */
+    if (period_hi == 0u) {
+        /* 0x527e: DIVU RL1C, RW80. */
+        if (period_lo == 0u) {
+            return 0;
+        }
+        uint32_t dividend = ((uint32_t)rw1e << 16) | (uint32_t)rw1c;
+        rw1c = (uint16_t)(dividend / (uint32_t)period_lo);
+    } else {
+        /* 0x5283–0x5295: long-period scaling loop. */
+        uint8_t shift_count = 0u;
+        uint32_t divisor = ((uint32_t)period_hi << 16) | (uint32_t)period_lo;
+        while ((divisor >> 16) != 0u) {
+            divisor >>= 1;
+            shift_count++;
+        }
+        uint32_t dividend = ((uint32_t)rw1e << 16) | (uint32_t)rw1c;
+        uint16_t scaled_divisor = (uint16_t)divisor;
+        if (scaled_divisor == 0u) {
+            return 0;
+        }
+        rw1c = (uint16_t)(dividend / (uint32_t)scaled_divisor);
+        /* 0x5292: SHR RW1C, R20 — rescale quotient. */
+        rw1c >>= shift_count;
+    }
+
+    return (int16_t)rw1c;
+}
+
+void phi_tooth_isr(phi_state_t *state,
+                   const phi_cal_t *cal,
+                   uint8_t  current_tooth,
+                   uint16_t current_capture)
+{
+    runtime_state_t *rt = &state->rt;
+
+    /* 0x7aa4–0x7aa9: gate on phase comparand. */
+    if (current_tooth != cal->cal_byte_56) {
+        return;
+    }
+
+    /* First call after reset: seed snapshot, skip divide. */
+    if (!rt->mt_rpm_seeded) {
+        rt->mt_rpm_capture_prev = current_capture;
+        rt->mt_rpm_index_prev   = 0u;
+        rt->rpm_baseline        = 0;
+        rt->mt_rpm_seeded       = 1u;
+        return;
+    }
+
+    /* 0x5247–0x524b: SUB RW80, RW64, [RW1C]+ / SUBC RW82, [RW1C]. */
+    uint16_t period_lo = (uint16_t)(current_capture - rt->mt_rpm_capture_prev);
+    uint16_t borrow = (current_capture < rt->mt_rpm_capture_prev) ? 1u : 0u;
+    uint16_t period_hi = (uint16_t)(0u - rt->mt_rpm_index_prev - borrow);
+
+    /* 0x524e–0x5251: persist new snapshot. */
+    rt->mt_rpm_capture_prev = current_capture;
+    rt->mt_rpm_index_prev   = 0u;
+
+    /* 0x5255–0x5298: helper → quotient. */
+    int16_t result = period_to_rpm_div(period_lo, period_hi);
+
+    /* 0x51ec: ST RW1C, 0x138. */
+    rt->rpm_baseline = result;
+}
+
+void phi_reset_tooth_state(phi_state_t *state)
+{
+    runtime_state_t *rt = &state->rt;
+    rt->rpm_baseline        = 0;
+    rt->mt_rpm_capture_prev = 0u;
+    rt->mt_rpm_index_prev   = 0u;
+    rt->mt_rpm_seeded       = 0u;
+}
+
 /*
 * 1:1 translation of the RPM-hysteresis block at 0x7801–0x7825 inside
 * the orphan scheduler at 0x77FF (T06211 variant). Bytes were not
@@ -1052,6 +1162,10 @@ void phi_init(phi_state_t *state, const phi_cal_t *cal,
     * already zeroed rt->rw9c / rt->rw9e (mirrors FUN_6ba3 @ 0x6bbf–0x6bc1). */
    state->rt.temp_phi_comp_r94 = 100u;

+    /* Tooth-ISR pipeline: memset already zeroed mt_rpm_capture_prev,
+     * mt_rpm_index_prev, rpm_baseline, and mt_rpm_seeded — matching
+     * reset_toothed_wheel @ 0x5301 boot behaviour. */
+
    /* Bake scratch_0221 = 1 — FUN_62a2's early-out gate. In the live
     * ROM this is written by FUN_5a97 with an RPM-correlated condition
     * via RW68 (whose actual writer lives in the unreadable ROM gap
@@ -1078,7 +1192,8 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)
    rt->inj_qty_demand     = g->get_inj_qty_demand();
    rt->angle_dec_cmd      = g->get_angle_dec_cmd();
    rt->temperature        = g->get_temperature();
-    rt->rpm_baseline       = g->get_rpm_baseline();
+    /* rpm_baseline is now produced internally by tooth_isr (FUN_51e1);
+     * no longer pulled from a getter. */
    rt->rwc2               = g->get_rwc2();
    rt->reset_gate_0226    = g->get_reset_gate_0226();
    rt->dphi               = g->get_dphi();
--- a/Core/Phi/Variants/phi_424026.h
+++ b/Core/Phi/Variants/phi_424026.h
@@ -102,7 +102,14 @@ typedef struct {
    int16_t  dphi;                  /* *(0x014c) — angle delta. */

    /* ---- Inputs to FUN_732d (compute_accel_comp_offset) ---- */
-    int16_t  rpm_baseline;          /* *(0x0138) — slow RPM baseline. */
+    int16_t  rpm_baseline;          /* *(0x0138) — RPM baseline produced internally by tooth_isr
+                                     * (FUN_51e1 @ 0x51e1). No longer an external input. */
+
+    /* ---- Tooth-ISR pipeline state (FUN_51e1 @ 0x51e1 + FUN_5210 @ 0x5210) ---- */
+    uint16_t mt_rpm_capture_prev;   /* *(0x02A8) — RW64 from previous phase-13 hit */
+    uint16_t mt_rpm_index_prev;     /* *(0x02AA) — RW7E (capture index) at previous hit */
+    uint8_t  mt_rpm_seeded;         /* 0 = first phase-13 after reset; skip divide and seed only */
+
    int16_t  accel_comp_gain;       /* *(0x0164) — Δ-rpm × gain multiplier. */
    uint8_t  reset_gate_0226;       /* *(0x0226) — accel_comp_offset enable gate. */
    uint8_t  gate_0220;             /* *(0x0220) — RPM-hysteresis gate. */
@@ -150,6 +157,7 @@ typedef struct {
    int16_t tein_nominal;                 /* CAL[0x1e] — seed base added to tein_valve_fault_guard at 0x747b. */
    int16_t cal_48;                 /* CAL[0x48] — value loaded into RW7A when FUN_62a2 fires (= 0x04B0). */
    int16_t phi0;                   /* CAL[0x4c] — base/initial angle. */
+    uint8_t cal_byte_56;            /* CAL_byte[0x56] — tooth phase comparand for rpm_baseline producer (= 0x0D = 13). */
    uint8_t cal_byte_9c;            /* CAL_byte[0x9c] — counter increment in FUN_62a2 (= 0x03). */
    int16_t cal_54;                 /* CAL[0x54] — UPPER clamp on target_inj_angle at 0x7493. */
    int16_t cal_74;                 /* CAL[0x74] — LOWER RPM threshold for gate_0220 hysteresis. */
@@ -216,7 +224,6 @@ 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) */
    uint16_t (*get_rwc2)(void);              /* RWC2 */
    uint8_t  (*get_reset_gate_0226)(void);   /* *(0x0226) */
    int16_t  (*get_dphi)(void);              /* *(0x014c) */
@@ -251,6 +258,19 @@ void phi_service(phi_state_t        *state,
 *  runtime_state_t. */
 void phi_tick_1khz(phi_state_t *state, const phi_cal_t *cal);

+/** Per-accepted-tooth ISR entry point. Updates rt->rpm_baseline when
+ *  current_tooth == cal->cal_byte_56 (=13). No-op for other phases.
+ *  The caller invokes this once per accepted tooth event at HSI.0 rate,
+ *  separate from the phi_service scheduler cadence. */
+void phi_tooth_isr(phi_state_t *state,
+                   const phi_cal_t *cal,
+                   uint8_t  current_tooth,
+                   uint16_t current_capture);
+
+/** Clear the tooth-ISR pipeline (mirrors reset_toothed_wheel @ 0x5301).
+ *  Next phi_tooth_isr call will seed without dividing. */
+void phi_reset_tooth_state(phi_state_t *state);
+
 size_t phi_state_size(void);
 size_t phi_cal_size(void);

--- a/Core/Phi/Variants/phi_cal_tables_424026.c
+++ b/Core/Phi/Variants/phi_cal_tables_424026.c
@@ -159,6 +159,7 @@ calibration_t phi_t06215_cal = {
    .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) */
    .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 rpm_baseline producer (FUN_51e1 at Tooth_scheduler? 0x7aa4) */
    .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_74        = (int16_t)0x20C5,  /* CAL+0x74 @ 0x9C4C -- gate_0220 lower RPM threshold */
--- a/Core/Phi/phi.c
+++ b/Core/Phi/phi.c
@@ -1,6 +1,6 @@
 /**
 * @file phi.c
- * @brief T06235 compact-port — monolithic single-translation-unit
+ * @brief T06215 compact-port — monolithic single-translation-unit
 *        implementation of the injection-angle producer chain.
 *
 * All seven producer stages and the shared submap helpers are inlined
@@ -349,6 +349,13 @@ reset_path:
 *   5. refine_submap_result over the 1-D table at CAL+0x72
 *   6. signed MUL: rl1c = refined × combined; SHLL by 8; high word → rt->accel_comp_gain
 */
+
+/* Forward declaration — compute_angle_accumulator_3d (defined below) embeds
+ * the Alternate_phiad_calc gate that conditionally calls this producer.
+ * The producer body sits further down in the file alongside its gated
+ * wrapper, so the forward decl lets the gate compile against the prototype. */
+static void compute_accel_comp_offset(runtime_state_t *rt, const calibration_t *cal);
+
 static void compute_accel_comp_gain(runtime_state_t *rt, const calibration_t *cal)
 {
    submap_scratch_t scratch_rpm;
@@ -432,8 +439,29 @@ 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: conditional accel_comp_gain / accel_comp_offset
-     * sub-calls — handled by Stages 3 and 4 of phi_service. */
+    /* 0x728b–0x72af: Alternate_phiad_calc embedded gate (FUN_5df3 @
+     * 0x5e50–0x5e62 in T06215, analog of T06031's FUN_5dd0 tail).
+     *
+     * Below the hysteresis threshold (gate_0220 == 0) the live ROM both
+     * recomputes the accel_comp_gain and force-flags REC.1 so the next
+     * Try_calc_accel_offset visit will produce a value despite low RPM.
+     * Stage 3 of phi_service has already run compute_accel_comp_gain
+     * unconditionally this tick, so we only need to mirror the REC.1 flag
+     * here.
+     *
+     * The compute_accel_comp_offset call is gated on REC.2 (set by
+     * compute_accel_comp_offset_gated when phi_per_cylinder_event has
+     * fired this cylinder cycle) AND REC.0 clear (consumer has drained
+     * 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. */
+    if (rt->gate_0220 == 0u) {
+        rt->rec = (uint8_t)(rt->rec | 0x02u);
+    }
+    if (((rt->rec & 0x04u) != 0u) && ((rt->rec & 0x01u) == 0u)) {
+        compute_accel_comp_offset(rt, cal);
+    }
 }

 /* ══════════════════════════════════════════════════════════════════════
@@ -579,7 +607,7 @@ void phi_tick_1khz(phi_state_t *state, const phi_cal_t *cal)

 /*
 * 1:1 translation of orphan calc_temp_comp_factor @ 0x6AE7–0x6B29
- * (T06235 variant; algorithmically byte-equivalent to T06211 FUN_5DAB
+ * (T06215 variant; algorithmically byte-equivalent to T06211 FUN_5DAB
 * @ 0x5DAB).
 *
 * Per-tick producer of `rt->temp_comp_factor` (the runtime mirror of
@@ -649,7 +677,7 @@ static void compute_temp_comp_factor(runtime_state_t *rt, const calibration_t *c

 /*
 * 1:1 translation of orphan compute_angle_kick_2d @ 0x6A94–0x6AE6
- * (T06235 variant; algorithmically byte-equivalent to T06211 FUN_5D58
+ * (T06215 variant; algorithmically byte-equivalent to T06211 FUN_5D58
 * @ 0x5D58).
 *
 * Per-tick producer of `rt->angle_kick_2d` (RW3E). Reached by
@@ -749,6 +777,43 @@ static void compute_accel_comp_offset(runtime_state_t *rt, const calibration_t *
    (void)rw1c;  /* rw1c is discarded after MUL; preserved for block-mapping */
 }

+/*
+ * 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.
+ *
+ * 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
+ */
+static void compute_accel_comp_offset_gated(runtime_state_t *rt,
+                                            const calibration_t *cal)
+{
+    /* 0x5f37: 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
+     * 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
+     * the live-byte hysteresis at *(0x0220). */
+    if (((rt->rec & 0x02u) != 0u) || (rt->gate_0220 != 0u)) {
+        compute_accel_comp_offset(rt, cal);
+    }
+}
+
 /*
 * 1:1 translation of the RPM-hysteresis block at 0x7801–0x7825 inside
 * the orphan scheduler at 0x77FF (T06211 variant). Bytes were not
@@ -1035,7 +1100,7 @@ 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_t06235_bind_inputs(&state->rt, (phi_cal_t *)cal);
+    phi_t06215_bind_inputs(&state->rt, (phi_cal_t *)cal);

    /* Pull boot-only getters — Phase-1 / Phase-2 thresholds for the
     * FUN_62a2 state machine. */
@@ -1078,7 +1143,13 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)
    rt->inj_qty_demand     = g->get_inj_qty_demand();
    rt->angle_dec_cmd      = g->get_angle_dec_cmd();
    rt->temperature        = g->get_temperature();
-    rt->rpm_baseline       = g->get_rpm_baseline();
+    /* rt->rpm_baseline is intentionally NOT pulled here — its cadence is
+     * 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).
+     * 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();
@@ -1119,9 +1190,18 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)
     * 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. The ROM's
-     * conditional gain/offset sub-calls inside FUN_722e (FUN_72b0 and
-     * FUN_732d at 0x7292 / 0x729d) are handled by Stage 3 and Stage 4. */
+     * 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, 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. */
+    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) ─
@@ -1150,14 +1230,22 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)
        rt->angle_accumulator = 0;
    }

-    /* ── Stage 4: compute_accel_comp_offset (FUN_732d @ 0x732d) ─────
-     * Δ-rpm × accel_comp_gain → high-word of (signed MUL << 4),
-     * clamped against [cal_7a, cal_78]. Forced to 0 when
-     * reset_gate_0226 == 0, then ORs REC with 0x01 so FUN_7453's reset
-     * branch folds RW3C into the accumulator next tick. We invoke the
-     * raw producer (not the gated wrapper FUN_736e) to match the spec —
-     * the gate_0220 update in stage 5 is informational only. */
-    compute_accel_comp_offset(rt, cal);
+    /* ── Stage 4: compute_accel_comp_offset is no longer called here ──
+     * 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.
+     *
+     *   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.
+     *
+     * 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. */

    /* ── Stage 5: compute_gate_0220 (orphan @ 0x77ff) ───────────────
     * Updates rt->gate_0220 from current rpm with hysteresis bands at
@@ -1208,3 +1296,47 @@ void phi_service(phi_state_t *state, const phi_cal_t *cal, phi_outputs_t *out)

 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.
+ *
+ * Models the live-ROM `Tooth_scheduler` dispatch at 0x7abe:
+ *
+ *     if (R88 == cal_byte_56) {            // 0x7aa9 JE LAB_7abb
+ *         Calculate_mid_rpm();             // 0x7abb LCALL FUN_51e1
+ *         Try_calc_accel_offset();         // 0x7abe LCALL FUN_5f33
+ *     }
+ *
+ * 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.
+ *
+ * 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
+ *     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)
+{
+    state->rt.rpm_baseline = state->getters->get_rpm_baseline();
+    compute_accel_comp_offset_gated(&state->rt, cal);
+}
--- a/Core/Phi/phi.h
+++ b/Core/Phi/phi.h
@@ -1,16 +1,6 @@
 /**
 * @file phi.h
- * @brief T06235 injection-angle algorithm — compact public interface.
- *
- * AUTO-GENERATED by tools/extract_t06235_cal.py
- * Source ROM: rom_eeprom_dump_0000-9FFF_504042.bin
- * Bases:      RWA4 = 0x9BB8, RWC6 = 0x8002
- *
- * Cal scalars from offset 0x48 onwards are shifted +0x02 vs T06215.
- * Field names retain T06215 semantics so forked C bodies reuse unchanged.
- *
- * DO NOT EDIT -- regenerate with:
- *   python tools/extract_t06235_cal.py --target compact
+ * @brief T06215 injection-angle algorithm — compact public interface.
 *
 * AUTO-GENERATED by tools/extract_t06215_cal.py
 * Source ROM: rom_eeprom_dump_0000-9FFF_424026.bin
@@ -20,7 +10,7 @@
 *   python tools/extract_t06215_cal.py --target compact
 *
 * Companion to phi.c (single-translation-unit port of the per-function
- * verbose tree under variants/T06235/src/) and the auto-generated
+ * verbose tree under variants/T06215/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.
@@ -29,7 +19,7 @@
 *
 *     phi_input_getters_t getters = { .get_rpm = ..., ... };
 *     phi_state_t state;
- *     phi_cal_t   cal = phi_t06235_cal;   // copy from auto-extracted master
+ *     phi_cal_t   cal = phi_t06215_cal;   // copy from auto-extracted master
 *     phi_outputs_t out;
 *
 *     phi_init(&state, &cal, &getters);     // boot-once
@@ -50,21 +40,20 @@
 *   7. compute_target_injection_angle (FUN_7453) -> RW48 / RW5A
 *
 * The orphan temperature-kick chain (compute_temp_comp_factor → orphan
- * FUN_5D58 angle_kick + `RW52 += RW3E` fold-in @ 0x7A3E) is ported in
- * variants/T06235/src/ and wired into this compact phi_service.
- * RW9E (the IIR state high word consumed by compute_temp_comp_factor)
- * is produced internally by compute_temp_phi_comp — see
- * compute_temp_phi_comp.h for the 1 kHz hook the host must drive.
+ * FUN_5D58 angle_kick + `RW52 += RW3E` fold-in @ 0x7A3E) is wired into
+ * this compact phi_service. RW9E (the IIR state high word consumed by
+ * compute_temp_comp_factor) is produced internally by phi_tick_1khz —
+ * the host must drive it once per 1 ms from its own millisecond timer.
 * See variants/T06211/docs/open-questions.md §9.
 */
-#ifndef PHI_T06235_H
-#define PHI_T06235_H
+#ifndef PHI_T06215_H
+#define PHI_T06215_H

 #include <stdint.h>
 #include <stddef.h>

 /* ─── Internal runtime / calibration types ───────────────────────────
- * Inlined verbatim from variants/T06235/src/injection_angle_state.h.
+ * Inlined verbatim from variants/T06215/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. */
@@ -127,12 +116,12 @@ typedef struct {
                                     * FUN_5DAB @ 0x5DAB). Consumed by compute_angle_kick_2d at 0x5D8D. */
    int16_t  rw9a;                  /* RW9A @ 0x009A — published by compute_temp_comp_factor at 0x5DBD. */
    int16_t  rw9c;                  /* RW9C @ 0x009C — low word of the {rw9e:rw9c} signed IIR-filter
-                                     * state pair updated by compute_temp_phi_comp (port of FUN_6b4e
+                                     * state pair updated by phi_tick_1khz (port of FUN_6b4e
                                     * @ 0x6b4e). Boot-zero (FUN_6ba3 @ 0x6bbf clears it). */
    int16_t  rw9e;                  /* RW9E @ 0x009E — high word of the {rw9e:rw9c} signed IIR-filter
                                     * state pair, sole writer is phi_tick_1khz at the 10 Hz
                                     * derived rate (port of FUN_6b2a @ 0x6b2a). Consumed by
-                                     * compute_temp_comp_factor at 0x6AFC. */
+                                     * compute_temp_comp_factor at 0x5DC0. */
    uint8_t  temp_phi_comp_r94;     /* R94 byte register slot driven by Timer_1khz at 0x79e2 / 0x7a26.
                                     * Prescaler that gates the IIR step inside phi_tick_1khz: counts
                                     * down on every 1 ms call, IIR fires when it reaches 0 and reloads
@@ -160,6 +149,11 @@ typedef struct {
    int16_t tein_nominal;                 /* CAL[0x1e] — seed base added to tein_valve_fault_guard at 0x747b. */
    int16_t cal_48;                 /* CAL[0x48] — value loaded into RW7A when FUN_62a2 fires (= 0x04B0). */
    int16_t phi0;                   /* CAL[0x4c] — base/initial angle. */
+    uint8_t cal_byte_56;            /* CAL_byte[0x56] — tooth phase comparand for the ROM's rpm_baseline
+                                     * producer (T06211 producer @ 0x5153 fires when current_tooth == this
+                                     * byte; = 0x0D = 13). 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. */
    uint8_t cal_byte_9c;            /* CAL_byte[0x9c] — counter increment in FUN_62a2 (= 0x03). */
    int16_t cal_54;                 /* CAL[0x54] — UPPER clamp on target_inj_angle at 0x7493. */
    int16_t cal_74;                 /* CAL[0x74] — LOWER RPM threshold for gate_0220 hysteresis. */
@@ -168,9 +162,9 @@ typedef struct {
    int16_t cal_7a;                 /* CAL[0x7a] — LOWER clamp on accel_comp_offset. */
    int16_t cal_7e;                 /* CAL[0x7e] — temperature reference subtrahend in compute_temp_comp_factor (FUN_5DAB 0x5DD1). */
    int16_t cal_temp_comp_switch_dynamic;  /* CAL[0x80] — boot value of *(0x02F6) (German label TK_AT_W). */
-    int16_t cal_82;                 /* CAL[0x82] — IIR input-gain `b` (Q16 unsigned) used by compute_temp_phi_comp
+    int16_t cal_82;                 /* CAL[0x82] — IIR input-gain `b` (Q16 unsigned) used by phi_tick_1khz
                                     * at the FUN_6b4e MULU @ 0x6B66. Read via (uint16_t) cast. */
-    int16_t cal_84;                 /* CAL[0x84] — IIR pole `a` (Q16 unsigned) used by compute_temp_phi_comp
+    int16_t cal_84;                 /* CAL[0x84] — IIR pole `a` (Q16 unsigned) used by phi_tick_1khz
                                     * at the FUN_6b4e MULUs @ 0x6B4E / 0x6B57. Read via (uint16_t) cast.
                                     * On this ROM cal_82 + (uint16_t)cal_84 == 0x10000 (unity DC). */
    int16_t cal_temp_comp_switch_complete; /* CAL[0x86] — boot value of *(0x02F2) (German label F_TK_TE_W). */
@@ -261,13 +255,39 @@ void phi_service(phi_state_t        *state,
 *  runtime_state_t. */
 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.
+ *
+ *  Mirrors the live-ROM Tooth_scheduler dispatch at 0x7abe (T06215):
+ *
+ *      if (R88 == cal_byte_56) {
+ *          Calculate_mid_rpm();          // host responsibility (writes rpm_baseline)
+ *          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
+ *  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)
+ *    - otherwise                   → REC.2 only, no compute
+ *
+ *  This is the cadence-matched entry point. Hosts that previously relied
+ *  on phi_service alone to drive RW3C should switch to:
+ *      per cylinder edge    → phi_per_cylinder_event(...)
+ *      per main control tick → phi_service(...)
+ *
+ *  Reentrant per phi_state_t. */
+void phi_per_cylinder_event(phi_state_t *state, const phi_cal_t *cal);
+
 size_t phi_state_size(void);
 size_t phi_cal_size(void);

 /* ─── Auto-generated cal export (defined in phi_cal_tables.c) ──────── */

-extern calibration_t phi_t06235_cal;
+extern calibration_t phi_t06215_cal;

-void phi_t06235_bind_inputs(runtime_state_t *rt, calibration_t *cal);
+void phi_t06215_bind_inputs(runtime_state_t *rt, calibration_t *cal);

-#endif /* PHI_T06235_H */
+#endif /* PHI_T06215_H */
--- a/Core/Phi/phi_cal_tables.c
+++ b/Core/Phi/phi_cal_tables.c
@@ -1,179 +1,185 @@
 /**
 * @file phi_cal_tables.c
- * @brief T06235 compact-port calibration data (auto-generated).
+ * @brief T06215 compact-port calibration data (auto-generated).
 *
- * AUTO-GENERATED by tools/extract_t06235_cal.py
- * Source ROM: rom_eeprom_dump_0000-9FFF_504042.bin
- * Bases:      RWA4 = 0x9BB8, RWC6 = 0x8002
- *
- * Cal scalars from offset 0x48 onwards are shifted +0x02 vs T06215.
- * Field names retain T06215 semantics so forked C bodies reuse unchanged.
+ * AUTO-GENERATED by tools/extract_t06215_cal.py
+ * Source ROM: rom_eeprom_dump_0000-9FFF_424026.bin
+ * Bases:      RWA4 = 0x9BD8, RWC6 = 0x7E56
 *
 * DO NOT EDIT -- regenerate with:
- *   python tools/extract_t06235_cal.py --target compact
+ *   python tools/extract_t06215_cal.py --target compact
 */
 #include <stddef.h>
 #include "phi.h"

-/* Accel RPM axis -- 7 words @ 0x9D34. */
+/* ======================================================================
+ * Accel axes + data tables (file-local; expose only phi_t06215_cal).
+ * Angle accumulator axes + 3-D table (FUN_722e producer chain).
+ * ====================================================================== */
+
+/* Accel RPM axis -- 7 words @ 0x9D40. */
 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 @ 0x9D42. */
+/* Accel inj_qty_demand axis -- 6 words @ 0x9D4E. */
 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
 };

-/* Accel temperature axis -- 5 words @ 0x9D4E. */
+/* Accel temperature axis -- 5 words @ 0x9D5A. */
 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 @ 0x9D58. */
+/* Accel 2-D combine (RPM x demand) -- 42 words @ 0x9D64. */
 static const int16_t phi_accel_combine_table[42] = {
-    (int16_t)0x0000, (int16_t)0x01F8, (int16_t)0x0500, (int16_t)0x07E4, (int16_t)0x07E4, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x01F8, (int16_t)0x0500,
-    (int16_t)0x07E4, (int16_t)0x07E4, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x01F8, (int16_t)0x0500, (int16_t)0x07E4, (int16_t)0x07E4, (int16_t)0x0000,
-    (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x01F8, (int16_t)0x0500, (int16_t)0x07E4, (int16_t)0x07E4, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x01F8,
-    (int16_t)0x0500, (int16_t)0x07E4, (int16_t)0x07E4, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x01F8, (int16_t)0x0500, (int16_t)0x07E4, (int16_t)0x07E4,
+    (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,
+    (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, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x020A, (int16_t)0x052C, (int16_t)0x082A, (int16_t)0x082A,
    (int16_t)0x0000, (int16_t)0x0000
 };

-/* Accel 1-D refine (temperature) -- 5 words @ 0x9DAC. */
+/* Accel 1-D refine (temperature) -- 5 words @ 0x9DB8. */
 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 @ 0x8038. */
+/* Angle RPM axis -- 13 words @ 0x7E8C. */
 static const int16_t phi_angle_axis_rpm[13] = {
-    (int16_t)0x4EA5, (int16_t)0x4817, (int16_t)0x4189, (int16_t)0x3AFB, (int16_t)0x346E, (int16_t)0x2DE0, (int16_t)0x240B, (int16_t)0x1A37, (int16_t)0x1206, (int16_t)0x0B78,
+    (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 inj_qty_demand axis -- 15 words @ 0x8052. */
+/* Angle inj_qty_demand axis -- 15 words @ 0x7EA6. */
 static const int16_t phi_angle_axis_demand[15] = {
-    (int16_t)0x0F90, (int16_t)0x0C73, (int16_t)0x0A60, (int16_t)0x084D, (int16_t)0x0743, (int16_t)0x063A, (int16_t)0x0530, (int16_t)0x0426, (int16_t)0x031D, (int16_t)0x0213,
+    (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)0x010A, (int16_t)0x0085, (int16_t)0x0035, (int16_t)0x000D, (int16_t)0x0000
 };

-/* Angle angle_dec_cmd axis -- 3 words @ 0x8070. */
+/* Angle angle_dec_cmd axis -- 3 words @ 0x7EC4. */
 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 @ 0x8076. */
+/* 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)0x05F8, (int16_t)0x0838, (int16_t)0x08EE, (int16_t)0x09B4, (int16_t)0x0A3A, (int16_t)0x0927, (int16_t)0x0781, (int16_t)0x05E0, (int16_t)0x0494, (int16_t)0x03EC,
-    (int16_t)0x03CD, (int16_t)0x04A2, (int16_t)0x04A2, (int16_t)0x05F8, (int16_t)0x0838, (int16_t)0x08EE, (int16_t)0x09B4, (int16_t)0x0A3A, (int16_t)0x0927, (int16_t)0x0781,
-    (int16_t)0x05E0, (int16_t)0x0494, (int16_t)0x03EC, (int16_t)0x0331, (int16_t)0x039C, (int16_t)0x039C, (int16_t)0x05F8, (int16_t)0x0838, (int16_t)0x08EE, (int16_t)0x09B4,
-    (int16_t)0x0A3A, (int16_t)0x0927, (int16_t)0x0781, (int16_t)0x05E0, (int16_t)0x0494, (int16_t)0x037A, (int16_t)0x02C9, (int16_t)0x02ED, (int16_t)0x02ED, (int16_t)0x05F8,
-    (int16_t)0x0838, (int16_t)0x08EE, (int16_t)0x09B4, (int16_t)0x08D1, (int16_t)0x07F4, (int16_t)0x0692, (int16_t)0x052E, (int16_t)0x0400, (int16_t)0x0314, (int16_t)0x0277,
-    (int16_t)0x0276, (int16_t)0x0276, (int16_t)0x05F8, (int16_t)0x0838, (int16_t)0x08EE, (int16_t)0x08EE, (int16_t)0x081F, (int16_t)0x0753, (int16_t)0x0615, (int16_t)0x04C6,
-    (int16_t)0x03BE, (int16_t)0x02D9, (int16_t)0x0252, (int16_t)0x021E, (int16_t)0x021E, (int16_t)0x0601, (int16_t)0x0841, (int16_t)0x08F7, (int16_t)0x0833, (int16_t)0x077B,
-    (int16_t)0x06C3, (int16_t)0x059A, (int16_t)0x046B, (int16_t)0x0375, (int16_t)0x029E, (int16_t)0x0228, (int16_t)0x0204, (int16_t)0x0204, (int16_t)0x060B, (int16_t)0x084B,
-    (int16_t)0x082C, (int16_t)0x0783, (int16_t)0x06DC, (int16_t)0x063B, (int16_t)0x0527, (int16_t)0x0406, (int16_t)0x032F, (int16_t)0x026D, (int16_t)0x0204, (int16_t)0x01E8,
-    (int16_t)0x01E8, (int16_t)0x0614, (int16_t)0x0854, (int16_t)0x07A2, (int16_t)0x0700, (int16_t)0x065D, (int16_t)0x05C2, (int16_t)0x04BD, (int16_t)0x03B4, (int16_t)0x02E6,
-    (int16_t)0x0242, (int16_t)0x01E9, (int16_t)0x0175, (int16_t)0x0175, (int16_t)0x0624, (int16_t)0x0798, (int16_t)0x06F3, (int16_t)0x0664, (int16_t)0x05DD, (int16_t)0x0554,
-    (int16_t)0x045A, (int16_t)0x0358, (int16_t)0x02A2, (int16_t)0x0217, (int16_t)0x01D0, (int16_t)0x0160, (int16_t)0x0160, (int16_t)0x0634, (int16_t)0x0725, (int16_t)0x0685,
-    (int16_t)0x05E7, (int16_t)0x054A, (int16_t)0x04C4, (int16_t)0x03DF, (int16_t)0x030D, (int16_t)0x025A, (int16_t)0x01D7, (int16_t)0x01B0, (int16_t)0x014C, (int16_t)0x014C,
-    (int16_t)0x0634, (int16_t)0x060F, (int16_t)0x059B, (int16_t)0x0534, (int16_t)0x04A9, (int16_t)0x042E, (int16_t)0x0381, (int16_t)0x02C1, (int16_t)0x021C, (int16_t)0x0198,
-    (int16_t)0x018C, (int16_t)0x0134, (int16_t)0x0134, (int16_t)0x0634, (int16_t)0x05F0, (int16_t)0x056A, (int16_t)0x0503, (int16_t)0x0476, (int16_t)0x0404, (int16_t)0x034D,
-    (int16_t)0x02AA, (int16_t)0x01FB, (int16_t)0x0186, (int16_t)0x017B, (int16_t)0x0128, (int16_t)0x0128, (int16_t)0x0634, (int16_t)0x05CE, (int16_t)0x054E, (int16_t)0x04E7,
-    (int16_t)0x045D, (int16_t)0x03D4, (int16_t)0x0323, (int16_t)0x027D, (int16_t)0x01ED, (int16_t)0x017E, (int16_t)0x016C, (int16_t)0x0121, (int16_t)0x0121, (int16_t)0x0634,
-    (int16_t)0x05B4, (int16_t)0x0534, (int16_t)0x04CE, (int16_t)0x0443, (int16_t)0x03C8, (int16_t)0x0309, (int16_t)0x0263, (int16_t)0x01D4, (int16_t)0x0168, (int16_t)0x0164,
-    (int16_t)0x011C, (int16_t)0x011C, (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)0x06AC, (int16_t)0x094A, (int16_t)0x09DC, (int16_t)0x0A89, (int16_t)0x0AF5,
-    (int16_t)0x09D9, (int16_t)0x083A, (int16_t)0x06A5, (int16_t)0x054E, (int16_t)0x04AE, (int16_t)0x045E, (int16_t)0x046B, (int16_t)0x046B, (int16_t)0x06AC, (int16_t)0x094A,
-    (int16_t)0x09DC, (int16_t)0x0A89, (int16_t)0x0AF5, (int16_t)0x09D9, (int16_t)0x083A, (int16_t)0x06A5, (int16_t)0x054E, (int16_t)0x04AE, (int16_t)0x03D3, (int16_t)0x03F3,
-    (int16_t)0x03F3, (int16_t)0x06AC, (int16_t)0x094A, (int16_t)0x09DC, (int16_t)0x0A89, (int16_t)0x0AF5, (int16_t)0x09D9, (int16_t)0x083A, (int16_t)0x06A5, (int16_t)0x054E,
-    (int16_t)0x044F, (int16_t)0x0376, (int16_t)0x03A2, (int16_t)0x03A2, (int16_t)0x06AC, (int16_t)0x094A, (int16_t)0x09DC, (int16_t)0x0A89, (int16_t)0x09A3, (int16_t)0x08B0,
-    (int16_t)0x0755, (int16_t)0x05F2, (int16_t)0x04C6, (int16_t)0x03E5, (int16_t)0x0330, (int16_t)0x02F3, (int16_t)0x02F3, (int16_t)0x06AC, (int16_t)0x094A, (int16_t)0x09DC,
-    (int16_t)0x09D6, (int16_t)0x08F2, (int16_t)0x081C, (int16_t)0x06DB, (int16_t)0x0594, (int16_t)0x047C, (int16_t)0x03B0, (int16_t)0x0314, (int16_t)0x02E3, (int16_t)0x02E3,
-    (int16_t)0x06B5, (int16_t)0x0953, (int16_t)0x09E5, (int16_t)0x091B, (int16_t)0x0852, (int16_t)0x078D, (int16_t)0x065F, (int16_t)0x053D, (int16_t)0x0436, (int16_t)0x037E,
-    (int16_t)0x02ED, (int16_t)0x02CF, (int16_t)0x02CF, (int16_t)0x06BF, (int16_t)0x095D, (int16_t)0x0938, (int16_t)0x087C, (int16_t)0x07BE, (int16_t)0x070A, (int16_t)0x05F5,
-    (int16_t)0x04E2, (int16_t)0x03F9, (int16_t)0x034E, (int16_t)0x02C2, (int16_t)0x02B9, (int16_t)0x02B9, (int16_t)0x06C8, (int16_t)0x0966, (int16_t)0x0895, (int16_t)0x07E0,
-    (int16_t)0x0735, (int16_t)0x068B, (int16_t)0x058A, (int16_t)0x048B, (int16_t)0x03BC, (int16_t)0x031E, (int16_t)0x029F, (int16_t)0x0238, (int16_t)0x0238, (int16_t)0x06D8,
-    (int16_t)0x08B9, (int16_t)0x07F6, (int16_t)0x075B, (int16_t)0x06B2, (int16_t)0x060D, (int16_t)0x0518, (int16_t)0x042C, (int16_t)0x0375, (int16_t)0x02ED, (int16_t)0x027D,
-    (int16_t)0x0221, (int16_t)0x0221, (int16_t)0x06E8, (int16_t)0x07BA, (int16_t)0x0734, (int16_t)0x06B7, (int16_t)0x061E, (int16_t)0x0585, (int16_t)0x04B2, (int16_t)0x03D1,
-    (int16_t)0x032B, (int16_t)0x02BB, (int16_t)0x025F, (int16_t)0x0210, (int16_t)0x0210, (int16_t)0x06E8, (int16_t)0x071E, (int16_t)0x06A8, (int16_t)0x0623, (int16_t)0x0589,
-    (int16_t)0x0500, (int16_t)0x043F, (int16_t)0x0372, (int16_t)0x02D9, (int16_t)0x0284, (int16_t)0x023E, (int16_t)0x01F8, (int16_t)0x01F8, (int16_t)0x06E8, (int16_t)0x0707,
-    (int16_t)0x066E, (int16_t)0x05EB, (int16_t)0x055B, (int16_t)0x04E0, (int16_t)0x0424, (int16_t)0x0357, (int16_t)0x02BD, (int16_t)0x026A, (int16_t)0x022D, (int16_t)0x01EC,
-    (int16_t)0x01EC, (int16_t)0x06E8, (int16_t)0x06E1, (int16_t)0x064E, (int16_t)0x05C8, (int16_t)0x053F, (int16_t)0x04C3, (int16_t)0x0406, (int16_t)0x0341, (int16_t)0x02AF,
-    (int16_t)0x025B, (int16_t)0x0225, (int16_t)0x01E4, (int16_t)0x01E4, (int16_t)0x06E8, (int16_t)0x06C5, (int16_t)0x0631, (int16_t)0x05AC, (int16_t)0x052A, (int16_t)0x04A0,
-    (int16_t)0x03E5, (int16_t)0x032D, (int16_t)0x0297, (int16_t)0x0243, (int16_t)0x0210, (int16_t)0x01CF, (int16_t)0x01CF, (int16_t)0x0000, (int16_t)0x0000, (int16_t)0x0000,
+    (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,
    (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)0x07F1, (int16_t)0x0AFA, (int16_t)0x0B98, (int16_t)0x0C54, (int16_t)0x0CB6, (int16_t)0x0B9C, (int16_t)0x0A01, (int16_t)0x0868, (int16_t)0x0715, (int16_t)0x0676,
-    (int16_t)0x0727, (int16_t)0x06B2, (int16_t)0x06B2, (int16_t)0x07F1, (int16_t)0x0AFA, (int16_t)0x0B98, (int16_t)0x0C54, (int16_t)0x0CB6, (int16_t)0x0B9C, (int16_t)0x0A01,
-    (int16_t)0x0868, (int16_t)0x0715, (int16_t)0x0676, (int16_t)0x0598, (int16_t)0x05B6, (int16_t)0x05B6, (int16_t)0x07F1, (int16_t)0x0AFA, (int16_t)0x0B98, (int16_t)0x0C54,
-    (int16_t)0x0CB6, (int16_t)0x0B9C, (int16_t)0x0A01, (int16_t)0x0868, (int16_t)0x0715, (int16_t)0x0616, (int16_t)0x053B, (int16_t)0x0559, (int16_t)0x0559, (int16_t)0x07F1,
-    (int16_t)0x0AFA, (int16_t)0x0B98, (int16_t)0x0C54, (int16_t)0x0B6B, (int16_t)0x0A78, (int16_t)0x0915, (int16_t)0x07B5, (int16_t)0x068D, (int16_t)0x05A9, (int16_t)0x04F4,
-    (int16_t)0x04B8, (int16_t)0x04B8, (int16_t)0x07F1, (int16_t)0x0AFA, (int16_t)0x0B98, (int16_t)0x0B99, (int16_t)0x0ABC, (int16_t)0x09E1, (int16_t)0x089D, (int16_t)0x0755,
-    (int16_t)0x0642, (int16_t)0x0574, (int16_t)0x04D8, (int16_t)0x04A7, (int16_t)0x04A7, (int16_t)0x07FA, (int16_t)0x0B03, (int16_t)0x0BA1, (int16_t)0x0ADB, (int16_t)0x0A17,
-    (int16_t)0x0951, (int16_t)0x0826, (int16_t)0x06FE, (int16_t)0x05FC, (int16_t)0x0543, (int16_t)0x04B1, (int16_t)0x0495, (int16_t)0x0495, (int16_t)0x0804, (int16_t)0x0B0D,
-    (int16_t)0x0AF4, (int16_t)0x0A39, (int16_t)0x097D, (int16_t)0x08C8, (int16_t)0x07BA, (int16_t)0x06A5, (int16_t)0x05C0, (int16_t)0x0514, (int16_t)0x0486, (int16_t)0x047E,
-    (int16_t)0x047E, (int16_t)0x080D, (int16_t)0x0B16, (int16_t)0x0A59, (int16_t)0x09A3, (int16_t)0x08F4, (int16_t)0x084B, (int16_t)0x074E, (int16_t)0x064E, (int16_t)0x0580,
-    (int16_t)0x04E4, (int16_t)0x0463, (int16_t)0x03FC, (int16_t)0x03FC, (int16_t)0x081D, (int16_t)0x0A3B, (int16_t)0x09AD, (int16_t)0x0908, (int16_t)0x0862, (int16_t)0x07C2,
-    (int16_t)0x06DB, (int16_t)0x05F1, (int16_t)0x053A, (int16_t)0x04B2, (int16_t)0x0442, (int16_t)0x03E5, (int16_t)0x03E5, (int16_t)0x082D, (int16_t)0x097D, (int16_t)0x08ED,
-    (int16_t)0x0863, (int16_t)0x07CF, (int16_t)0x0737, (int16_t)0x0662, (int16_t)0x0593, (int16_t)0x04EE, (int16_t)0x047F, (int16_t)0x0424, (int16_t)0x03D2, (int16_t)0x03D2,
-    (int16_t)0x082D, (int16_t)0x086E, (int16_t)0x07EE, (int16_t)0x077E, (int16_t)0x070C, (int16_t)0x0692, (int16_t)0x05E8, (int16_t)0x053B, (int16_t)0x049E, (int16_t)0x0448,
-    (int16_t)0x0402, (int16_t)0x03BB, (int16_t)0x03BB, (int16_t)0x082D, (int16_t)0x0824, (int16_t)0x07A6, (int16_t)0x0738, (int16_t)0x06BC, (int16_t)0x0653, (int16_t)0x05B5,
-    (int16_t)0x0516, (int16_t)0x047F, (int16_t)0x042E, (int16_t)0x03F2, (int16_t)0x03AF, (int16_t)0x03AF, (int16_t)0x082D, (int16_t)0x07FF, (int16_t)0x078A, (int16_t)0x071B,
-    (int16_t)0x06A4, (int16_t)0x063D, (int16_t)0x05A0, (int16_t)0x0503, (int16_t)0x0470, (int16_t)0x041E, (int16_t)0x03E6, (int16_t)0x03A7, (int16_t)0x03A7, (int16_t)0x082D,
-    (int16_t)0x07D6, (int16_t)0x0769, (int16_t)0x0705, (int16_t)0x068D, (int16_t)0x0628, (int16_t)0x058C, (int16_t)0x04F3, (int16_t)0x0460, (int16_t)0x040D, (int16_t)0x03D8,
-    (int16_t)0x039B, (int16_t)0x039B, (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
 };

-/* 2-D angle-kick combine (RPM x demand) -- consumed by compute_angle_kick_2d @ T06235 0x6D6B -- 195 words @ 0x8508. */
+/* 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)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0B3A, (int16_t)0x0962, (int16_t)0x07B5, (int16_t)0x0607, (int16_t)0x053C, (int16_t)0x0499,
-    (int16_t)0x0512, (int16_t)0x0A37, (int16_t)0x0949, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0B3A, (int16_t)0x0962, (int16_t)0x07B5,
-    (int16_t)0x0607, (int16_t)0x053C, (int16_t)0x0499, (int16_t)0x0512, (int16_t)0x0A37, (int16_t)0x0949, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD,
-    (int16_t)0x0B3A, (int16_t)0x0962, (int16_t)0x07B5, (int16_t)0x0607, (int16_t)0x053C, (int16_t)0x0499, (int16_t)0x0512, (int16_t)0x0A37, (int16_t)0x0949, (int16_t)0x0CCD,
-    (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0B3A, (int16_t)0x0962, (int16_t)0x07B5, (int16_t)0x0607, (int16_t)0x053C, (int16_t)0x0499, (int16_t)0x0512,
-    (int16_t)0x0A37, (int16_t)0x0949, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0CCD, (int16_t)0x0B3A, (int16_t)0x0962, (int16_t)0x07B5, (int16_t)0x0607,
-    (int16_t)0x053C, (int16_t)0x0499, (int16_t)0x0512, (int16_t)0x0A37, (int16_t)0x0949, (int16_t)0x09FD, (int16_t)0x09FD, (int16_t)0x09FD, (int16_t)0x09FD, (int16_t)0x08B2,
-    (int16_t)0x073D, (int16_t)0x0603, (int16_t)0x04CA, (int16_t)0x0472, (int16_t)0x042C, (int16_t)0x0504, (int16_t)0x0D6A, (int16_t)0x0748, (int16_t)0x072D, (int16_t)0x072D,
-    (int16_t)0x072D, (int16_t)0x072D, (int16_t)0x062A, (int16_t)0x0517, (int16_t)0x0452, (int16_t)0x038C, (int16_t)0x03A8, (int16_t)0x03BF, (int16_t)0x04F6, (int16_t)0x109C,
-    (int16_t)0x0547, (int16_t)0x04FA, (int16_t)0x04FA, (int16_t)0x04FA, (int16_t)0x04FA, (int16_t)0x03EF, (int16_t)0x03C2, (int16_t)0x031A, (int16_t)0x0273, (int16_t)0x030D,
-    (int16_t)0x0388, (int16_t)0x048D, (int16_t)0x0BCB, (int16_t)0x04F6, (int16_t)0x02C6, (int16_t)0x02C6, (int16_t)0x02C6, (int16_t)0x02C6, (int16_t)0x01B3, (int16_t)0x026D,
-    (int16_t)0x01E3, (int16_t)0x0159, (int16_t)0x0272, (int16_t)0x0352, (int16_t)0x0424, (int16_t)0x06FA, (int16_t)0x04A6, (int16_t)0x018E, (int16_t)0x018E, (int16_t)0x018E,
-    (int16_t)0x018E, (int16_t)0x00FA, (int16_t)0x014C, (int16_t)0x0132, (int16_t)0x0118, (int16_t)0x0211, (int16_t)0x02D8, (int16_t)0x03A0, (int16_t)0x0657, (int16_t)0x04CB,
-    (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0040, (int16_t)0x002B, (int16_t)0x0081, (int16_t)0x00D7, (int16_t)0x01B0, (int16_t)0x025E,
-    (int16_t)0x031C, (int16_t)0x05B4, (int16_t)0x04F0, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0040, (int16_t)0x002B, (int16_t)0x0081,
-    (int16_t)0x00D7, (int16_t)0x01B0, (int16_t)0x025E, (int16_t)0x031C, (int16_t)0x05B4, (int16_t)0x04F0, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055,
-    (int16_t)0x0040, (int16_t)0x002B, (int16_t)0x0081, (int16_t)0x00D7, (int16_t)0x01B0, (int16_t)0x025E, (int16_t)0x031C, (int16_t)0x05B4, (int16_t)0x04F0, (int16_t)0x0055,
-    (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0040, (int16_t)0x002B, (int16_t)0x0081, (int16_t)0x00D7, (int16_t)0x01B0, (int16_t)0x025E, (int16_t)0x031C,
-    (int16_t)0x05B4, (int16_t)0x04F0, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0055, (int16_t)0x0040, (int16_t)0x002B, (int16_t)0x0081, (int16_t)0x00D7,
-    (int16_t)0x01B0, (int16_t)0x025E, (int16_t)0x031C, (int16_t)0x05B4, (int16_t)0x04F0
+    (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
 };

+/* ======================================================================
+ * Master calibration literal.
+ * ====================================================================== */

-calibration_t phi_t06235_cal = {
-    /* RWA4-relative scalars (base 0x9BB8) */
-    .tein_nominal                        = (int16_t)0x0C28,  /* CAL+0x1E @ 0x9BD6 -- tein_nominal -- nominal TE_IN base (T06215 cal+0x1E unchanged) */
-    .cal_48                              = (int16_t)0x04B0,  /* CAL+0x4A @ 0x9C02 -- RW7A latch value when FUN_62a2 fires (T06235 shift +0x02 from T06215 cal+0x48) */
-    .phi0                                = (int16_t)0x0DAB,  /* CAL+0x4E @ 0x9C06 -- phi0: base/initial angle (T06215 cal+0x4C, T06235 +0x02) */
-    .cal_byte_9c                         = 0x03u,  /* CAL+0x9E @ 0x9C56 -- FUN_62a2 counter increment (T06215 cal+0x9C, T06235 +0x02) */
-    .cal_54                              = (int16_t)0x08DE,  /* CAL+0x56 @ 0x9C0E -- UPPER clamp on target_inj_angle (T06215 cal+0x54, T06235 +0x02; value differs) */
-    .cal_74                              = (int16_t)0x20C5,  /* CAL+0x76 @ 0x9C2E -- gate_0220 lower RPM threshold (T06215 cal+0x74, T06235 +0x02) */
-    .cal_76                              = (int16_t)0x01A3,  /* CAL+0x78 @ 0x9C30 -- gate_0220 hysteresis width (T06215 cal+0x76, T06235 +0x02) */
-    .cal_78                              = (int16_t)0x007F,  /* CAL+0x7A @ 0x9C32 -- accel_comp_offset upper clamp (T06215 cal+0x78, T06235 +0x02) */
-    .cal_7a                              = (int16_t)0xFFCF,  /* CAL+0x7C @ 0x9C34 -- accel_comp_offset lower clamp (T06215 cal+0x7A, T06235 +0x02) */
-    .cal_7e                              = (int16_t)0x1390,  /* CAL+0x80 @ 0x9C38 -- temperature reference subtrahend in compute_temp_comp_factor (read at T06235 0x6DE4; T06215 cal+0x7E) */
-    .cal_temp_comp_switch_dynamic        = (int16_t)0x1702,  /* CAL+0x82 @ 0x9C3A -- boot value of temp_comp_dynamic = TK_AT_W switch (T06215 cal+0x80, T06235 +0x02) */
-    .cal_82                              = (int16_t)0x026F,  /* CAL+0x84 @ 0x9C3C -- IIR input gain b for iir_step_unsigned (read at T06235 0x6E3D; T06215 cal+0x82) */
-    .cal_84                              = (int16_t)0xFD91,  /* CAL+0x86 @ 0x9C3E -- IIR pole coefficient a for iir_step_unsigned (read at T06235 0x6E25/0x6E2E; T06215 cal+0x84) */
-    .cal_temp_comp_switch_complete       = (int16_t)0x0001,  /* CAL+0x88 @ 0x9C40 -- boot value of temp_comp_complete = F_TK_TE_W switch (T06215 cal+0x86, T06235 +0x02) */
-    .cal_92                              = (int16_t)0x1750,  /* CAL+0x94 @ 0x9C4C -- temperature offset subtracted in tein_overtemp_guard (T06215 cal+0x92, T06235 +0x02) */
-    .cal_94                              = (int16_t)0x0008,  /* CAL+0x96 @ 0x9C4E -- tein_overtemp_guard multiplier (T06215 cal+0x94, T06235 +0x02) */
-    .cal_96                              = (int16_t)0x04B0,  /* CAL+0x98 @ 0x9C50 -- tein_overtemp_guard RW1C upper clamp (T06215 cal+0x96, T06235 +0x02) */
-    .cal_98                              = (int16_t)0x1D7E,  /* CAL+0x9A @ 0x9C52 -- tein_overtemp_guard lower RPM (T06215 cal+0x98, T06235 +0x02) */
-    .cal_9a                              = (int16_t)0x3127,  /* CAL+0x9C @ 0x9C54 -- tein_overtemp_guard upper RPM (T06215 cal+0x9A, T06235 +0x02) */
-    /* RWC6-relative scalars (base 0x8002) */
-    .cal_rwc6_34                         = (int16_t)0x0831,  /* RWC6+0x34 @ 0x8036 -- demand-weight multiplier in compute_angle_kick_2d (T06235 0x6D9D; same RWC6 offset as T06215) */
+calibration_t phi_t06215_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) */
+    .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. */
+    .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_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_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) */

-    /* Accel descriptors (input_var bound at runtime by phi_t06235_bind_inputs). */
+    /* Accel descriptors (input_var bound at runtime by phi_t06215_bind_inputs). */
    .desc_accel_rpm = {
        .runtime_slot = 0,
        .input_var    = NULL,
@@ -198,10 +204,10 @@ calibration_t phi_t06235_cal = {
    .accel_refine_table     = phi_accel_refine_table,

    /* Absolute-address ROM constants. */
-    .dat_604c                            = (int16_t)0x0444,  /* *(0x604C) -- FUN_62a2 RWC2 timing threshold (T06215 = 0x0444; verify) */
-    .cal_byte_402                        = (int16_t)0xFFF5,  /* *(0x0402) -- FUN_6ba3-equivalent sign-extends byte 0x0402 in temp_comp_factor (T06235 0x6DE9 reads abs *(0x0402)) */
+    .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) */

-    /* Angle accumulator descriptors (RWC6-relative; identical to T06215; input_var bound at runtime). */
+    /* Angle accumulator descriptors (FUN_722e, RWC6-relative; input_var bound at runtime). */
    .desc_rpm = {
        .runtime_slot = 0,
        .input_var    = NULL,
@@ -226,7 +232,11 @@ calibration_t phi_t06235_cal = {
    .data_table_2d_kick     = phi_angle_2d_kick_table,
 };

-void phi_t06235_bind_inputs(runtime_state_t *rt, calibration_t *cal)
+/* ======================================================================
+ * Runtime input binder.
+ * ====================================================================== */
+
+void phi_t06215_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;
--- a/Core/Src/fuel_map.c
+++ b/Core/Src/fuel_map.c
@@ -23,6 +23,7 @@
 #include "phi.h"
 #include <stdint.h>
 #include <stddef.h>
+#include "ee_manager.h"

 #define CF_TMS  8.388f
 #define CF_ME   32.0f
@@ -34,6 +35,8 @@
 /* Per-call input cache. FM_GET_PHIAD's float args land here so the
 * nullary phi getters can read them. */
 static float s_rpm  = 0.0f;
+static float s_rpm_offset  = 0.0f;
+
 static float s_me   = 0.0f;
 static float s_temp = 0.0f;

@@ -44,6 +47,13 @@ static phi_input_getters_t  s_phi_getters;
 static phi_outputs_t        s_phi_out;
 static float               *s_phiad_out = NULL;

+float s_c2;
+float s_103;
+float s_108;
+
+extern float MT_offset_RPM;
+extern float B_PHIAD;
+
 /* ──── Getters (nullary; T06215 vtable shape) ────────────────────────── */

 static uint16_t get_rpm(void)              { return (uint16_t)(s_rpm  * CF_TMS); }
@@ -55,18 +65,18 @@ static int16_t  get_temperature(void)      { return (int16_t) (s_temp * CF_T_M +
 *     extern float B_PHIAD;
 *     return (int16_t)(B_PHIAD * CF_KW);
 */
-static int16_t  get_angle_dec_cmd(void)    { return 0; }
+static int16_t  get_angle_dec_cmd(void)    { return (uint16_t)(B_PHIAD  * CF_KW); }

 /* Steady-state default: baseline tracks current RPM, so Δ-rpm = 0 and
 * the accel-comp branch contributes nothing. Override if modelling
 * transients. */
-static int16_t  get_rpm_baseline(void)     { return (int16_t)(s_rpm * CF_TMS); }
+static int16_t  get_rpm_baseline(void)     { return (int16_t)(MT_offset_RPM * CF_TMS); }

 static uint16_t get_rwc2(void)             { return 0; }       /* slow timing scratch */
 static uint8_t  get_reset_gate_0226(void)  { return 0xFF; }    /* accel-comp enabled  */
-static int16_t  get_dphi(void)             { return 0; }
-static uint8_t  get_scratch_0103(void)     { return 0xFF; }    /* matches sim_t06215_sweep.c */
-static uint8_t  get_scratch_0108(void)     { return 0xFF; }
+static int16_t  get_dphi(void)             { return (int16_t)(s_dfi_code); }
+static uint8_t  get_scratch_0103(void)     { return 0x78; }    /* matches sim_t06215_sweep.c */
+static uint8_t  get_scratch_0108(void)     { return 0x9A; }

 /* ──── Public API ─────────────────────────────────────────────────────── */

@@ -79,12 +89,12 @@ void init_FuelMap(float *PHIAD) {
    s_phi_getters.get_angle_dec_cmd    = get_angle_dec_cmd;
    s_phi_getters.get_rpm_baseline     = get_rpm_baseline;
    s_phi_getters.get_rwc2             = get_rwc2;
-    s_phi_getters.get_reset_gate_0226  = get_reset_gate_0226;
+    s_phi_getters.get_reset_gate_0226  = get_reset_gate_0226; //this is is_accel_comp_disabled
    s_phi_getters.get_dphi             = get_dphi;
    s_phi_getters.get_scratch_0103     = get_scratch_0103;
    s_phi_getters.get_scratch_0108     = get_scratch_0108;

-    s_phi_cal = phi_t06235_cal;
+    s_phi_cal = phi_t06215_cal;
    phi_init(&s_phi_state, &s_phi_cal, &s_phi_getters);

    /* Pre-latch to skip the cranking-phase ramp (mirrors
@@ -98,20 +108,32 @@ 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, MT_RPM;
+int16_t rw3e = 0;
+int16_t rw3c = 0;
+int16_t rw164 = 0;

-extern float forceTemp;
 float FM_GET_PHIAD(float RPM, float ME, float Temp) {
-    s_rpm  = RPM;
+    s_rpm  = MT_RPM;
+    //s_rpm_offset = MT_offset_RPM;
    s_me   = ME;
    s_temp = Temp;

    phi_service(&s_phi_state, &s_phi_cal, &s_phi_out);

    float Z = (float)s_phi_out.angle_accumulator * ANGLE_DEG_PER_RAW;
+    rw3e = s_phi_out.angle_kick_2d;
+    rw164 = s_phi_out.accel_comp_gain;
+    rw3c = s_phi_out.accel_comp_offset;
+
+    Z = s_me ? Z : 0; // el terrano se apagaba
+
    if (s_phiad_out) *s_phiad_out = Z;
    return Z;
 }
+void TW_midrpm_isr(){
+	phi_per_cylinder_event(&s_phi_state, &s_phi_cal);
+
+}
+

--- a/Core/Src/injection.c
+++ b/Core/Src/injection.c
@@ -89,6 +89,9 @@ extern float last_accel;
 uint8_t awaitingInj = 0;

 float INJ_GET_NOMINAL_EOI();
+void INJ_UPDATE_PHIAD(){
+	FM_GET_PHIAD(MT_RPM, ME, Temp);
+}
 void INJ_UPDATE_ALPHA(){
    /*float rp_sum = MT_RPM + last_MT_RPM;
    float dt = (PHI1 + dFi) / 90 * (1.0f / CYLINDERS) * (120.0f /  rp_sum);
@@ -98,7 +101,6 @@ void INJ_UPDATE_ALPHA(){
 	//FM_GET_PHIAD(MT_RPM, ME, forceTemp);

 	//correction_eoi_accel = TM_GET_ACCEL_CORRECTION(last_MT_RPM, MT_RPM, TEETH_RPM);
-	FM_GET_PHIAD(MT_RPM, ME, Temp);

 	float target = INJ_UPDATE_TARGET_EOI() + correction_eoi;

@@ -138,7 +140,7 @@ void INJ_PREPARE_ONCE(){
 		TIM1->PSC = 20-1;
 	}
 	INJ_PREPARE_BIP(0);
-	INJ_UPDATE_ALPHA();
+	//INJ_UPDATE_ALPHA();
 	INJ_UPDATE_TYPE();

 }
@@ -148,7 +150,7 @@ void INJ_PREPARE_BIP(uint8_t teeth){
 	if(teeth  < triggerTeeth || !triggerTeeth)
 	{
 		INJ_UPDATE_BOI_TRIGGER();
-		INJ_UPDATE_ALPHA();
+		//INJ_UPDATE_ALPHA();
 	}
 	//correction_boi_accel_2 = TM_UPDATE_ACCEL_CORRECTION_BIP(last_MT_RPM, MT_RPM, TEETH_RPM);
 	//correction_beta = s_boi_corr_deg + correction_boi_accel_2;
@@ -470,7 +472,8 @@ void SEND1_Handler(
 #if defined(T06301)
 	startupiscar = 1;
 #endif
-	if(!isInjecting && !hasInjectionEnded){
+	INJ_UPDATE_PHIAD();
+	if(!isInjecting && !hasInjectionEnded){//
 		INJ_UPDATE_ALPHA();
 	}
 }
--- a/Core/Src/toothed_wheel.c
+++ b/Core/Src/toothed_wheel.c
@@ -33,6 +33,8 @@ volatile float RPM;

 volatile float MT_frequency = 0;
 volatile float MT_RPM = 0;
+volatile float MT_offset_RPM = 0;
+
 //volatile float next_MT_RPM = 0;

 volatile float last_MT_RPM = 0;
@@ -46,6 +48,7 @@ volatile float last_TEETHRPM = 0;
 volatile uint8_t SYNCOUT_clear = 0;

 volatile uint32_t RPM_Difference;
+volatile uint32_t RPM_offset_Difference;

 volatile uint8_t startedEngine = 0;
 volatile uint8_t count_CKP = 0;
@@ -191,7 +194,16 @@ void TW_TEETH_CAPTURE(){
 				INJ_EVAL_EOI_COMPENSATION();
 			}
 			INJ_EVAL_END();
+			if(currentTooth == 13){

+				RPM_offset_Difference = IC_RPM_Val2 - edgeBuf[currentTooth].ic;
+				MT_offset_RPM = fclamp(60.0 * (refClock/RPM_offset_Difference) / CYLINDERS, MIN_RPM, 4000);
+				if(MT_RPM <15){
+					MT_offset_RPM = MT_RPM;
+				}
+				TW_midrpm_isr();
+
+			}
 			UpdateEdgeBuffer(IC_RPM_Val2, TEETH_RPM, currentTooth, isInjecting);

 			if(!hasInjected){
@@ -225,7 +237,6 @@ void TW_TEETH_CAPTURE(){
 			INJ_END();
 		}

-
 		hasCapturedTeeth = 1;

 		if(hasInjectionEndedFlag == 1){
@@ -421,9 +432,9 @@ void TW_CALC_FBKW_FEEDBACK(){
 		Timeout_ResetByIndex(13, TIM16->CNT);
 		//si estan fuera de bounds da error.
 	}
-	FBKW_CKP_ISR();

 	FBKW_FEEDBACK -= lpf_fb*(FBKW_FEEDBACK - new_fb - fbkw_offset);
+	FBKW_CKP_ISR();

 	ckp_process_pending=0;
 }
Author	SHA1	Message	Date
LucianoDev	6d09ee3d79	tandem ids fixed	2026-05-06 17:23:50 +02:00
LucianoDev	d4523e3c7e	me habia dekado el forceTemp	2026-05-06 16:36:19 +02:00
LucianoDev	7ff62ccabc	la compensacion de aceleracion va perfecto. Muy parecido al original. cambiado el send1 handler y añadido un call desde tooth 13 para calcular la comp accel en una zona determinada	2026-05-06 16:35:06 +02:00
LucianoDev	98a835026e	424026 pwm tested, with 700 ckp offset and pid working like oem. Also added 0138 rpm baseline calculation and it is tested, it can be merged into other projects for phi accel compensation. Research would be needed if our accel comp would make it worse on top of oem	2026-05-05 22:30:59 +02:00
LucianoDev	de8a09361b	terrano setup, not working	2026-05-05 16:35:42 +02:00