Merge branch 'master' of https://github.com/rusefi/rusefi

2019-12-08 20:16:18 -05:00 · 2019-12-08 20:16:18 -05:00 · 53d5723e18
parent e823c9f51c 62481d7fe8
commit 53d5723e18
283 changed files with 4933 additions and 4981 deletions
--- a/.github/workflows/build-firmware.yaml
+++ b/.github/workflows/build-firmware.yaml
@ -0,0 +1,101 @@
+name: Firmware CI
+
+on: [push,pull_request]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    
+    strategy:
+      # Let all builds finish even if one fails early
+      fail-fast: false
+      matrix:
+        # What boards should we build for? In the 'include' section below,
+        # set up what each of these boards needs to build.
+        build-target: [frankenso, frankenso-pal, mre-f4, mre-f7, prometheus-405, prometheus-469, proteus, kinetis]
+        build-type: [debug, release]
+        
+        include:
+          # Board configurations
+          - build-target: frankenso
+            efi-cpu: ARCH_STM32F4
+            efi-board: st_stm32f4
+            
+          - build-target: frankenso-pal
+            efi-cpu: ARCH_STM32F4
+            efi-board: st_stm32f4
+            target-extra-params: -DHAL_TRIGGER_USE_PAL=TRUE -DHAL_USE_ICU=FALSE -DEFI_VEHICLE_SPEED=FALSE -DEFI_LOGIC_ANALYZER=FALSE
+            
+          - build-target: mre-f4
+            efi-cpu: ARCH_STM32F4
+            efi-board: microrusefi
+            
+          - build-target: mre-f7
+            efi-cpu: ARCH_STM32F7
+            efi-board: microrusefi
+
+          - build-target: prometheus-405
+            efi-cpu: ARCH_STM32F4
+            efi-board: prometheus/f405
+
+          - build-target: prometheus-469
+            efi-cpu: ARCH_STM32F4
+            efi-board: prometheus/f469
+
+          - build-target: proteus
+            efi-cpu: ARCH_STM32F7
+            efi-board: proteus
+
+          - build-target: kinetis
+            efi-cpu: kinetis
+            efi-board: kinetis
+            target-extra-params: -DCPU_MKE16F512VLH16 -DCPU_MKE16F512VLH16_cm4 -D__USE_CMSI -DDEFAULT_ENGINE_TYPE=MINIMAL_PINS
+            extra-options: USE_FATFS=no USE_BOOTLOADER=no
+
+          # Debug vs. release configuration
+          - build-type: debug
+            type-extra-params: -DDUMMY
+            build-debug-level-opt: -O0 -ggdb -g3
+
+          - build-type: release
+            type-extra-params: -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+            build-debug-level-opt: -O2 -ggdb -g3
+
+        exclude:
+          - build-target: kinetis
+            build-type: debug
+
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        fetch-depth: 1
+        submodules: recursive
+  
+    # Build machines don't have arm-none-eabi gcc, so let's download it and put it on the path
+    - name: Download & Install GCC
+      run: |
+        wget 'https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/RC2.1/gcc-arm-none-eabi-9-2019-q4-major-x86_64-linux.tar.bz2?revision=6e63531f-8cb1-40b9-bbfc-8a57cdfc01b4&la=en&hash=F761343D43A0587E8AC0925B723C04DBFB848339' -O compiler.tar.bz2
+        tar -xvf compiler.tar.bz2
+        echo "::add-path::`pwd`/gcc-arm-none-eabi-9-2019-q4-major/bin"
+  
+    # Make sure the compiler we just downloaded works - just print out the version
+    - name: Test Compiler
+      run: arm-none-eabi-gcc -v
+  
+    # Build the firmware!
+    - name: Build Firmware
+      working-directory: ./firmware/
+      run: make -j4 PROJECT_BOARD=${{matrix.efi-board}} PROJECT_CPU=${{matrix.efi-cpu}} EXTRA_PARAMS="${{matrix.type-extra-params}} ${{matrix.target-extra-params}}" DEBUG_LEVEL_OPT='${{matrix.build-debug-level-opt}}' ${{matrix.extra-options}}
+      
+    # The next two steps upload the bin and elf as build artifacts
+    - name: Upload elf
+      uses: actions/upload-artifact@v1
+      with:
+        name: firmware-${{matrix.build-target}}-${{matrix.build-type}}-elf
+        path: ./firmware/build/rusefi.elf
+        
+    - name: Upload bin
+      uses: actions/upload-artifact@v1
+      with:
+        name: firmware-${{matrix.build-target}}-${{matrix.build-type}}-bin
+        path: ./firmware/build/rusefi.bin
--- a/.github/workflows/build-simulator.yaml
+++ b/.github/workflows/build-simulator.yaml
@ -0,0 +1,21 @@
+name: Simulator CI
+
+on: [push,pull_request]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Install Simulator Deps
+      run: sudo apt-get update && sudo apt-get install -y gcc-multilib g++-multilib
+
+    - uses: actions/checkout@v1
+      with:
+        fetch-depth: 1
+        submodules: recursive
+
+    - name: Build Simulator
+      working-directory: ./simulator/
+      run: make -j4
--- a/.github/workflows/build-unit-tests.yaml
+++ b/.github/workflows/build-unit-tests.yaml
@ -1,6 +1,6 @@
-name: unit test ci
+name: Unit Test CI

-on: [push]
+on: [push,pull_request]

 jobs:
  build:
--- a/firmware/Makefile
+++ b/firmware/Makefile
@ -7,6 +7,8 @@ CHIBIOS = ChibiOS
 RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
 RULESFILE = $(RULESPATH)/rules.mk

+include rusefi_rules.mk
+
 # Define project name here
 PROJECT = rusefi
 PROJECT_DIR = .
@ -35,9 +37,12 @@ endif

 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = $(EXTRA_PARAMS) $(DEBUG_LEVEL_OPT) $(RFLAGS) -Wno-error=implicit-fallthrough -Wno-error=bool-operation -fomit-frame-pointer -falign-functions=16 -Werror -Wno-error=pointer-sign -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=sign-compare -Wno-error=unused-parameter -Werror=missing-field-initializers -Werror=type-limits -Wno-error=strict-aliasing -Wno-error=attributes
+  USE_OPT = $(EXTRA_PARAMS) $(DEBUG_LEVEL_OPT) $(RFLAGS) -Wno-error=implicit-fallthrough -Wno-error=bool-operation -fomit-frame-pointer -falign-functions=16 -Werror=type-limits -Wno-error=strict-aliasing -Wno-error=attributes
 endif

+
+USE_OPT += $(RUSEFI_OPT)
+
 # C specific options here (added to USE_OPT).
 ifeq ($(USE_COPT),)
  USE_COPT = -fgnu89-inline -std=gnu99 -Werror-implicit-function-declaration
@ -150,13 +155,7 @@ endif
 include $(PROJECT_DIR)/config/boards/$(PROJECT_BOARD)/board.mk
 include $(PROJECT_DIR)/config/engines/engines.mk
 include $(PROJECT_DIR)/console/console.mk
-include $(PROJECT_DIR)/controllers/algo/algo.mk
 include $(PROJECT_DIR)/controllers/controllers.mk
-include $(PROJECT_DIR)/controllers/core/core.mk
-include $(PROJECT_DIR)/controllers/math/math.mk
-include $(PROJECT_DIR)/controllers/sensors/sensors.mk
-include $(PROJECT_DIR)/controllers/system/system.mk
-include $(PROJECT_DIR)/controllers/trigger/trigger.mk
 include $(PROJECT_DIR)/development/development.mk
 include $(PROJECT_DIR)/hw_layer/hw_layer.mk
 include $(PROJECT_DIR)/hw_layer/drivers/drivers.mk
@ -303,9 +302,7 @@ INCDIR = $(CHIBIOS)/os/license \
 	$(DEVELOPMENT_DIR) \
 	development/hw_layer \
 	development/test \
-	$(CONTROLLERS_INC) \
-	controllers/sensors \
-	controllers/sensors/converters
+	$(CONTROLLERS_INC)

 #
 # Project, sources and paths
--- a/firmware/bootloader/!compile_bootloader_405.bat
+++ b/firmware/bootloader/!compile_bootloader_405.bat
@ -4,7 +4,7 @@ echo Starting compilation for Prometheus-405

 set PROJECT_BOARD=Prometheus
 set PROMETHEUS_BOARD=405
-set EXTRA_PARAMS=-DDUMMY -DEFI_BOOTLOADER -DSTM32F405xx -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE ^
+set EXTRA_PARAMS=-DDUMMY -DEFI_BOOTLOADER -DSTM32F405xx -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE ^
 -DBOARD_TLE8888_COUNT=0 ^
 -DBOARD_TLE6240_COUNT=0 ^
 -DBOARD_MC33972_COUNT=0 ^
--- a/firmware/bootloader/!compile_bootloader_469.bat
+++ b/firmware/bootloader/!compile_bootloader_469.bat
@ -4,7 +4,7 @@ echo Starting compilation for Prometheus-469

 set PROJECT_BOARD=Prometheus
 set PROMETHEUS_BOARD=469
-set EXTRA_PARAMS=-DDUMMY -DEFI_BOOTLOADER -DSTM32F469xx -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE ^
+set EXTRA_PARAMS=-DDUMMY -DEFI_BOOTLOADER -DSTM32F469xx -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE ^
 -DBOARD_TLE8888_COUNT=0 ^
 -DBOARD_TLE6240_COUNT=0 ^
 -DBOARD_MC33972_COUNT=0 ^
--- a/firmware/bootloader/!compile_bootloader_discovery407.bat
+++ b/firmware/bootloader/!compile_bootloader_discovery407.bat
@ -4,7 +4,7 @@ echo Starting compilation for Discovery-407

 rem set PROJECT_BOARD=Prometheus
 rem set PROMETHEUS_BOARD=405
-rem set EXTRA_PARAMS=-DDUMMY -DSTM32F405xx -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+rem set EXTRA_PARAMS=-DDUMMY -DSTM32F405xx -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
 set EXTRA_PARAMS=-DDUMMY -DEFI_BOOTLOADER ^
 -DCH_DBG_ENABLE_STACK_CHECK=FALSE ^
 -DBOARD_TLE8888_COUNT=0 ^
--- a/firmware/bootloader/src/Makefile
+++ b/firmware/bootloader/src/Makefile
@ -9,7 +9,7 @@
 ifeq ($(DEBUG_LEVEL_OPT),)
  # this value would be used by default. For 'debug' configuration override with '-O0 -ggdb -g3' or something along these lines
  DEBUG_LEVEL_OPT = -O2
-  DDEFS += -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+  DDEFS += -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
 endif

 # disable some modules to shrink bootloader binary
@ -156,34 +156,22 @@ CSRC = $(STARTUPSRC) \
 	$(CHIBIOS)/os/various/syscalls.c \
 	$(CHIBIOS)/os/hal/lib/streams/memstreams.c \
 	$(CHIBIOS)/os/hal/lib/streams/chprintf.c \
-	$(ENGINES_SRC) \
 	$(CONSOLESRC) \
 	$(DEV_SRC) \
 	$(HW_LAYER_EMS) \
 	$(HW_LAYER_DRIVERS_CORE) \
-	$(CONTROLLERS_ALGO_SRC) \
-	$(CONTROLLERS_CORE_SRC) \
-	$(CONTROLLERS_SENSORS_SRC) \
 	$(FATFSSRC) \
 	$(SYSTEMSRC) \

 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CPPSRC = $(CHCPPSRC) \
-	$(TRIGGER_SRC_CPP) \
-	$(TRIGGER_DECODERS_SRC_CPP) \
 	$(DEV_SRC_CPP) \
-	$(CONTROLLERS_ALGO_SRC_CPP) \
-	$(SYSTEMSRC_CPP) \
 	$(BOARDSRC_CPP) \
-	$(ENGINES_SRC_CPP) \
 	$(HW_LAYER_EMS_CPP) \
 	$(HW_SENSORS_SRC) \
 	$(TUNERSTUDIO_SRC_CPP) \
 	$(CONSOLE_SRC_CPP) \
-	$(CONTROLLERS_SENSORS_SRC_CPP) \
-	$(CONTROLLERS_CORE_SRC_CPP) \
-	$(CONTROLLERS_MATH_SRC_CPP) \
 	$(PROJECT_DIR)/console/binary/tunerstudio_io.cpp \
 	$(PROJECT_DIR)/controllers/system/efi_gpio.cpp \
 	$(PROJECT_DIR)/controllers/algo/engine_configuration.cpp \
--- a/firmware/bootloader/src/rusefi_stubs.cpp
+++ b/firmware/bootloader/src/rusefi_stubs.cpp
@ -31,8 +31,8 @@ LoggingWithStorage::LoggingWithStorage(const char *name) : Logging(name, DEFAULT

 // this is supposed to be taken from chconf_common.h but it does not work? I am not sure why :(
 // TODO: make this be defined by chconf_common.h?
-#if ! ENABLE_PERF_TRACE
-//void irqEnterHook() {}
-//void irqExitHook() {}
-//void contextSwitchHook() {}
-#endif /* ENABLE_PERF_TRACE */
+//#if ! ENABLE_PERF_TRACE
+void irqEnterHook() {}
+void irqExitHook() {}
+void contextSwitchHook() {}
+//#endif /* ENABLE_PERF_TRACE */
--- a/firmware/clean_compile_two_versions.bat
+++ b/firmware/clean_compile_two_versions.bat
@ -7,7 +7,7 @@ mkdir deliver

 call clean.bat
 echo "TIMESTAMP %date% %time%"
-set EXTRA_PARAMS=-DDUMMY -DFIRMWARE_ID=\"default_no_assert\" -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+set EXTRA_PARAMS=-DDUMMY -DFIRMWARE_ID=\"default_no_assert\" -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
 make -j4 DEBUG_LEVEL_OPT='-O2'
 set EXTRA_PARAMS=

--- a/firmware/config/boards/clean_env_variables.bat
+++ b/firmware/config/boards/clean_env_variables.bat
@ -7,3 +7,7 @@ set PROJECT_CPU=
 set USE_BOOTLOADER=
 set DEFAULT_ENGINE_TYPE=
 set EFI_FATAL_ERROR_PIN=
+set BUILDDIR=
+set DEBUG_LEVEL_OPT=
+set USE_FATFS=
+
--- a/firmware/config/boards/common_make.bat
+++ b/firmware/config/boards/common_make.bat
@ -15,4 +15,6 @@ echo %script_name%: invoking hex2dfu.exe
 cp build/rusefi.bin deliver/

 echo %script_name%: deliver folder
-ls -l deliver
+ls -l deliver
+
+call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/frankenso/!compile-frankenso-pal.bat
+++ b/firmware/config/boards/frankenso/!compile-frankenso-pal.bat
@ -0,0 +1,13 @@
+
+cd ../../..
+
+set EXTRA_PARAMS=-DDUMMY ^
+ -DHAL_TRIGGER_USE_PAL=TRUE ^
+ -DEFI_VEHICLE_SPEED=FALSE ^
+ -DHAL_USE_ICU=FALSE ^
+ -DEFI_LOGIC_ANALYZER=FALSE ^
+ -DDEFAULT_ENGINE_TYPE=MIATA_NA6_VAF ^
+ -DFIRMWARE_ID=\"frankensoNA6\"
+
+call config/boards/common_make.bat
+
--- a/firmware/config/boards/frankenso/!compile-frankenso_na6.bat
+++ b/firmware/config/boards/frankenso/!compile-frankenso_na6.bat
@ -7,4 +7,3 @@ set EXTRA_PARAMS=-DDUMMY ^

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/kinetis/!compile-kinetis.bat
+++ b/firmware/config/boards/kinetis/!compile-kinetis.bat
@ -2,10 +2,10 @@ echo "Compiling for Kinetis MKE16F512"
 rem TODO: somehow this -DDUMMY is helping us to not mess up the parameters, why?!
 rem https://github.com/rusefi/rusefi/issues/684
 set EXTRA_PARAMS=-DDUMMY -DCPU_MKE16F512VLH16 -DCPU_MKE16F512VLH16_cm4 -D__USE_CMSIS^
- -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE^
- -DFIRMWARE_ID=\"kinetis\" ^
+ -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE^
 -DDEFAULT_ENGINE_TYPE=MINIMAL_PINS
-set BUILDDIR=build_kinetis
+rem set BUILDDIR=build_kinetis
+set BUILDDIR=build
 set PROJECT_BOARD=kinetis
 set PROJECT_CPU=kinetis
 set DEBUG_LEVEL_OPT="-O2"
@ -15,9 +15,8 @@ rem -DCH_DBG_ENABLE_CHECKS=FALSE

 cd ../../..

-rm -f build_kinetis/rusefi_kinetis.*
+rem rm -f ${BUILDDIR}/rusefi_kinetis.*

-make -r -j4 2> err.log
-rem rm -f build/rusefi.dfu
-rem dir build
-rem ..\misc\hex2dfu\HEX2DFU.exe build/rusefi.hex   -out build/rusefi.dfu
+rem make -r -j4
+
+call config/boards/common_make.bat
--- a/firmware/config/boards/kinetis/OS/os/hal/ports/KINETIS/LLD/COMPv2/hal_comp_lld.c
+++ b/firmware/config/boards/kinetis/OS/os/hal/ports/KINETIS/LLD/COMPv2/hal_comp_lld.c
@ -112,8 +112,12 @@ void comp_lld_init(void) {
 static void comp_lld_irq_handler(COMPDriver *compp) {
  if (compp->config->cb != NULL)
    compp->config->cb(compp);
-  // clear flags to continue
-  ACMP_ClearStatusFlags(compp->reg, kACMP_OutputRisingEventFlag | kACMP_OutputFallingEventFlag);
+
+  /* Add for ARM errata 838869, affects Cortex-M4, Cortex-M4F Store immediate overlapping
+     exception return operation might vector to incorrect interrupt */
+#if defined __CORTEX_M && (__CORTEX_M == 4U)
+    __DSB();
+#endif
 }

 /**
@ -156,9 +160,10 @@ OSAL_IRQ_HANDLER(KINETIS_COMP2_IRQ_VECTOR) {
 void comp_lld_channel_enable(COMPDriver *compp, uint32_t channel) {
  osalDbgAssert(channel <= 7, "invalid channel number");
  memset(&compp->acmpChannelCfg, 0, sizeof(compp->acmpChannelCfg));
-  compp->acmpChannelCfg.positivePortInput = kACMP_PortInputFromDAC;
-  compp->acmpChannelCfg.negativePortInput = kACMP_PortInputFromMux;
-  compp->acmpChannelCfg.minusMuxInput = channel;
+  compp->acmpChannelCfg.positivePortInput = kACMP_PortInputFromMux;
+  compp->acmpChannelCfg.plusMuxInput = channel;
+  compp->acmpChannelCfg.negativePortInput = kACMP_PortInputFromDAC;
+  compp->acmpChannelCfg.minusMuxInput = 0U;
  ACMP_SetChannelConfig(compp->reg, &compp->acmpChannelCfg);
 }

@ -183,8 +188,6 @@ void comp_lld_channel_disable(COMPDriver *compp, uint32_t channel) {
 * @notapi
 */
 void comp_lld_set_dac_value(COMPDriver *compp, uint32_t value) {
-  memset(&compp->acmpDacCfg, 0, sizeof(compp->acmpDacCfg));
-  compp->acmpDacCfg.referenceVoltageSource = kACMP_VrefSourceVin1;	// connected to VDDA on KE1xF
  compp->acmpDacCfg.DACValue = value;
  ACMP_SetDACConfig(compp->reg, &compp->acmpDacCfg);
 }
@ -200,8 +203,23 @@ void comp_lld_start(COMPDriver *compp) {
  ACMP_GetDefaultConfig(&compp->acmpCfg);
  if (compp->config->output_mode == COMP_OUTPUT_INVERTED)
  	compp->acmpCfg.enableInvertOutput = true;
+  compp->acmpCfg.enableHighSpeed = true;
+  compp->acmpCfg.useUnfilteredOutput = true; //false;
+  compp->acmpCfg.hysteresisMode = kACMP_HysteresisLevel2;	// L1=~16mV, L2=~32mV
+
  ACMP_Init(compp->reg, &compp->acmpCfg);
  compp->irq_mask = 0;
+
+#if 0
+  acmp_filter_config_t filterCfg = { 0 };
+  filterCfg.filterCount = 2U;
+  filterCfg.filterPeriod = 2U;
+  filterCfg.enableSample = false;
+  ACMP_SetFilterConfig(compp->reg, &filterCfg);
+#endif  
+
+  memset(&compp->acmpDacCfg, 0, sizeof(compp->acmpDacCfg));
+  compp->acmpDacCfg.referenceVoltageSource = kACMP_VrefSourceVin1;	// connected to VDDA on KE1xF
 }

 /**
@ -249,7 +267,10 @@ void comp_lld_disable(COMPDriver *compp) {
 }

 uint32_t comp_lld_get_status(COMPDriver *compp) {
-  return ACMP_GetStatusFlags(compp->reg);
+  uint32_t status = ACMP_GetStatusFlags(compp->reg);
+  // clear flags to continue
+  ACMP_ClearStatusFlags(compp->reg, status);
+  return status;
 }

 #endif /* HAL_USE_COMP */
--- a/firmware/config/boards/kinetis/board.mk
+++ b/firmware/config/boards/kinetis/board.mk
@ -20,4 +20,4 @@ PLATFORMINC += $(PLATFORMINC_CONTRIB)
 # Using external ChibiOS-Contrib code for Comparator HAL
 HALSRC += $(CHIBIOS_CONTRIB)/os/hal/src/hal_comp.c

-HW_LAYER_EMS_CPP += $(PROJECT_DIR)/hw_layer/trigger_input_comp.cpp
+
--- a/firmware/config/boards/kinetis/chconf.h
+++ b/firmware/config/boards/kinetis/chconf.h
@ -609,7 +609,7 @@ extern "C"
 * @note    The default is @p FALSE.
 */
 #ifndef CH_DBG_ENABLE_TRACE
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#define CH_DBG_ENABLE_TRACE                 FALSE
 #endif

 /**
@ -823,6 +823,9 @@ void chDbgPanic3(const char *msg, const char * file, int line);
  }                                                                         \
 } while (false)

+#define ENABLE_PERF_TRACE FALSE
+#define TRACE_BUFFER_LENGTH 1
+
 #endif  /* CHCONF_H */

 /** @} */
--- a/firmware/config/boards/kinetis/config.mk
+++ b/firmware/config/boards/kinetis/config.mk
@ -12,4 +12,4 @@ CPU_HWLAYER = ports/kinetis

 GENERATED_ENUMS_DIR = $(BOARD_DIR)/config/controllers/algo

-EXTRA_PARAMS += -nodefaultlibs -L$(PROJECT_DIR)/config/boards/$(PROJECT_BOARD)/libc -lgcc -ltinyc
+EXTRA_PARAMS += -DFIRMWARE_ID=\"kinetis\" -nodefaultlibs -L$(PROJECT_DIR)/config/boards/$(PROJECT_BOARD)/libc -lgcc -ltinyc
--- a/firmware/config/boards/kinetis/config/!gen_config.bat
+++ b/firmware/config/boards/kinetis/config/!gen_config.bat
@ -21,9 +21,12 @@ mkdir build_kinetis

 java ^
 -DSystemOut.name=gen_config ^
+ -Drusefi.generator.lazyfile.enabled=true ^
 -jar ../java_tools/ConfigDefinition.jar ^
 -definition integration/rusefi_config.txt ^
 -ts_destination tunerstudio ^
+ -with_c_defines false ^
+ -initialize_to_zero false ^
 -ts_output_name rusefi_kinetis.ini ^
 -c_defines config/boards/kinetis/config/controllers/algo/rusefi_generated.h ^
 -c_destination config/boards/kinetis/config/controllers/algo/engine_configuration_generated_structures.h ^
--- a/firmware/config/boards/kinetis/config/controllers/algo/auto_generated_enums.cpp
+++ b/firmware/config/boards/kinetis/config/controllers/algo/auto_generated_enums.cpp
@ -627,6 +627,8 @@ case NISSAN_PRIMERA:
  return "NISSAN_PRIMERA";
 case PROMETHEUS_DEFAULTS:
  return "PROMETHEUS_DEFAULTS";
+case PROTEUS:
+  return "PROTEUS";
 case ROVER_V8:
  return "ROVER_V8";
 case SACHS:
@ -861,6 +863,8 @@ case SC_DETAILED_RPM:
  return "SC_DETAILED_RPM";
 case SC_MAP:
  return "SC_MAP";
+case SC_AUX_FAST1:
+	return "SC_AUX_FAST1";
 case SC_OFF:
  return "SC_OFF";
 case SC_RPM_ACCEL:
--- a/firmware/config/boards/kinetis/config/controllers/algo/engine_configuration_generated_structures.h
+++ b/firmware/config/boards/kinetis/config/controllers/algo/engine_configuration_generated_structures.h
--- a/firmware/config/boards/kinetis/config/controllers/algo/rusefi_generated.h
+++ b/firmware/config/boards/kinetis/config/controllers/algo/rusefi_generated.h
@ -97,6 +97,8 @@
 #define autoTuneTpsRocThreshold_offset_hex 978
 #define AUX_DIGITAL_VALVE_COUNT 2
 #define AUX_PID_COUNT 4
+#define auxFastSensor1_adcChannel_offset 680
+#define auxFastSensor1_adcChannel_offset_hex 2a8
 #define auxPid1_dFactor_offset 2620
 #define auxPid1_dFactor_offset_hex a3c
 #define auxPid1_iFactor_offset 2616
@ -362,14 +364,10 @@
 #define cltTimingExtra_offset_hex 950
 #define clutchDownPin_offset 664
 #define clutchDownPin_offset_hex 298
-#define clutchDownPinInverted_offset 976
-#define clutchDownPinInverted_offset_hex 3d0
 #define clutchDownPinMode_offset 667
 #define clutchDownPinMode_offset_hex 29b
 #define clutchUpPin_offset 969
 #define clutchUpPin_offset_hex 3c9
-#define clutchUpPinInverted_offset 976
-#define clutchUpPinInverted_offset_hex 3d0
 #define clutchUpPinMode_offset 971
 #define clutchUpPinMode_offset_hex 3cb
 #define CMD_CALIBRATE_PEDAL_DOWN "calibrate_pedal_down"
@ -377,7 +375,9 @@
 #define CMD_DATE "date"
 #define CMD_DISABLE "disable"
 #define CMD_ENABLE "enable"
+#define CMD_ENGINE_TYPE "engine_type"
 #define CMD_ETB_DUTY "set_etb_duty"
+#define CMD_PINS "pins"
 #define CMD_REBOOT "reboot"
 #define CMD_REBOOT_DFU "reboot_dfu"
 #define CMD_TRIGGER_HW_INPUT "trigger_hw_input"
@ -450,6 +450,8 @@
 #define cylindersCount_offset 400
 #define cylindersCount_offset_hex 190
 #define debug_mode_e_enum "Alternator PID", "TPS acceleration enrichment", "INVALID", "Idle Control", "Engine Load accl enrich", "Trigger Counters", "FSIO_ADC", "AUX_PID_1", "VVT input", "Cranking", "Timing", "Closed-loop fuel corr PID", "VSS", "SD card", "sr5", "Knock", "Trigger Sync", "Electronic Throttle", "Executor", "Bench Test / TS commands", "Aux Valves", "Analog inputs #1", "INSTANT_RPM", "FSIO_EXPRESSION", "Status", "CJ125", "CAN", "MAP", "Metrics", "ETB#2", "Ion Sense", "TLE8888", "Analog inputs #2", "Dwell Metric", "Aux Temperature", "ETB Logic"
+#define debugMapAveraging_offset 807
+#define debugMapAveraging_offset_hex 327
 #define debugMode_offset 2092
 #define debugMode_offset_hex 82c
 #define debugSetTimer_offset 806
@ -508,31 +510,8 @@
 #define engineSnifferRpmThreshold_offset_hex 4
 #define engineType_offset 0
 #define engineType_offset_hex 0
-#define etb1_controlPin1_offset 682
-#define etb1_controlPin1_offset_hex 2aa
-#define etb1_controlPinMode_offset 683
-#define etb1_controlPinMode_offset_hex 2ab
-#define etb1_directionPin1_offset 680
-#define etb1_directionPin1_offset_hex 2a8
-#define etb1_directionPin2_offset 681
-#define etb1_directionPin2_offset_hex 2a9
-#define etb1_offset 680
-#define etb1_offset_hex 2a8
-#define etb1_use_two_wires_offset 76
-#define etb1_use_two_wires_offset_hex 4c
-#define etb2_controlPin1_offset 3966
-#define etb2_controlPin1_offset_hex f7e
-#define etb2_controlPinMode_offset 3967
-#define etb2_controlPinMode_offset_hex f7f
-#define etb2_directionPin1_offset 3964
-#define etb2_directionPin1_offset_hex f7c
-#define etb2_directionPin2_offset 3965
-#define etb2_directionPin2_offset_hex f7d
-#define etb2_offset 3964
-#define etb2_offset_hex f7c
-#define etb2_use_two_wires_offset 76
-#define etb2_use_two_wires_offset_hex 4c
 #define ETB_BIAS_CURVE_LENGTH 8
+#define ETB_COUNT 2
 #define etb_dFactor_offset 1744
 #define etb_dFactor_offset_hex 6d0
 #define etb_iFactor_offset 1740
@ -553,6 +532,8 @@
 #define etb_periodMs_offset_hex 6d6
 #define etb_pFactor_offset 1736
 #define etb_pFactor_offset_hex 6c8
+#define etb_use_two_wires_offset 76
+#define etb_use_two_wires_offset_hex 4c
 #define etbBiasBins_offset 3888
 #define etbBiasBins_offset_hex f30
 #define etbBiasValues_offset 3920
@ -563,10 +544,28 @@
 #define etbDeadband_offset_hex f78
 #define etbFreq_offset 2514
 #define etbFreq_offset_hex 9d2
-#define etbIdleRange_offset 972
-#define etbIdleRange_offset_hex 3cc
 #define etbIdleThrottleRange_offset 4012
 #define etbIdleThrottleRange_offset_hex fac
+#define etbIo1_controlPin1_offset 982
+#define etbIo1_controlPin1_offset_hex 3d6
+#define etbIo1_controlPinMode_offset 983
+#define etbIo1_controlPinMode_offset_hex 3d7
+#define etbIo1_directionPin1_offset 980
+#define etbIo1_directionPin1_offset_hex 3d4
+#define etbIo1_directionPin2_offset 981
+#define etbIo1_directionPin2_offset_hex 3d5
+#define etbIo1_offset 980
+#define etbIo1_offset_hex 3d4
+#define etbIo2_controlPin1_offset 986
+#define etbIo2_controlPin1_offset_hex 3da
+#define etbIo2_controlPinMode_offset 987
+#define etbIo2_controlPinMode_offset_hex 3db
+#define etbIo2_directionPin1_offset 984
+#define etbIo2_directionPin1_offset_hex 3d8
+#define etbIo2_directionPin2_offset 985
+#define etbIo2_directionPin2_offset_hex 3d9
+#define etbIo2_offset 984
+#define etbIo2_offset_hex 3d8
 #define etbNeutralPosition_offset 1471
 #define etbNeutralPosition_offset_hex 5bf
 #define externalKnockSenseAdc_offset 3103
@ -1609,7 +1608,7 @@
 #define sdCardSpiDevice_offset_hex a20
 #define secondTriggerChannelEnabled_offset 1476
 #define secondTriggerChannelEnabled_offset_hex 5c4
-#define sensor_chart_e_enum "none", "trigger", "MAP", "RPM ACCEL", "DETAILED RPM", "INVALID"
+#define sensor_chart_e_enum "none", "trigger", "MAP", "RPM ACCEL", "DETAILED RPM", "Fast Aux1", "INVALID", "INVALID"
 #define sensorChartFrequency_offset 520
 #define sensorChartFrequency_offset_hex 208
 #define sensorChartMode_offset 944
@ -1681,6 +1680,10 @@
 #define spi3SckMode_offset_hex a2a
 #define spi3sckPin_offset 936
 #define spi3sckPin_offset_hex 3a8
+#define starterRelayPin_offset 808
+#define starterRelayPin_offset_hex 328
+#define starterRelayPinMode_offset 809
+#define starterRelayPinMode_offset_hex 329
 #define startOfCrankingPrimingPulse_offset 2032
 #define startOfCrankingPrimingPulse_offset_hex 7f0
 #define startUpFuelPumpDuration_offset 1892
@ -1795,6 +1798,10 @@
 #define tle8888_csPinMode_offset_hex c22
 #define tle8888spiDevice_offset 4000
 #define tle8888spiDevice_offset_hex fa0
+#define todoClutchDownPinInverted_offset 976
+#define todoClutchDownPinInverted_offset_hex 3d0
+#define todoClutchUpPinInverted_offset 976
+#define todoClutchUpPinInverted_offset_hex 3d0
 #define TOP_DEAD_CENTER_MESSAGE "r"
 #define TOTAL_CONFIG_SIZE 20000
 #define TOTAL_CONFIG_SIZE_hex 4e20
@ -1802,6 +1809,10 @@
 #define tps1_1AdcChannel_offset_hex 200
 #define tps2_1AdcChannel_offset 515
 #define tps2_1AdcChannel_offset_hex 203
+#define tps2Max_offset 1770
+#define tps2Max_offset_hex 6ea
+#define tps2Min_offset 1768
+#define tps2Min_offset_hex 6e8
 #define TPS_TPS_ACCEL_TABLE 8
 #define tpsAccelEnrichmentThreshold_offset 2048
 #define tpsAccelEnrichmentThreshold_offset_hex 800
@ -1846,6 +1857,14 @@
 #define trigger_unusedCustomNeedSecondTriggerInput_offset_hex 210
 #define trigger_useOnlyFirstChannel_offset 528
 #define trigger_useOnlyFirstChannel_offset_hex 210
+#define triggerCompCenterVolt_offset 4036
+#define triggerCompCenterVolt_offset_hex fc4
+#define triggerCompHystMax_offset 4038
+#define triggerCompHystMax_offset_hex fc6
+#define triggerCompHystMin_offset 4037
+#define triggerCompHystMin_offset_hex fc5
+#define triggerCompSensorSatRpm_offset 4039
+#define triggerCompSensorSatRpm_offset_hex fc7
 #define triggerErrorPin_offset 828
 #define triggerErrorPin_offset_hex 33c
 #define triggerErrorPinMode_offset 829
@ -1892,10 +1911,12 @@
 #define uartConsoleSerialSpeed_offset_hex 81c
 #define unrealisticRpmThreashold_offset 760
 #define unrealisticRpmThreashold_offset_hex 2f8
+#define unused1059_offset 3964
+#define unused1059_offset_hex f7c
 #define unused1234234_offset 2042
 #define unused1234234_offset_hex 7fa
-#define unused_1484_bit_21_offset 1476
-#define unused_1484_bit_21_offset_hex 5c4
+#define unused556_offset 681
+#define unused556_offset_hex 2a9
 #define unused_1484_bit_22_offset 1476
 #define unused_1484_bit_22_offset_hex 5c4
 #define unused_1484_bit_23_offset 1476
@ -1920,22 +1941,22 @@
 #define unused_board_984_31_offset_hex 2e8
 #define unused_former_warmup_target_afr_offset 2096
 #define unused_former_warmup_target_afr_offset_hex 830
+#define unused_offset 972
+#define unused_offset_hex 3cc
 #define unusedAnotherOne_offset 744
 #define unusedAnotherOne_offset_hex 2e8
-#define unusedAtBoardConfigurationEnd_offset 980
-#define unusedAtBoardConfigurationEnd_offset_hex 3d4
+#define unusedAtOldBoardConfigurationEnd_offset 988
+#define unusedAtOldBoardConfigurationEnd_offset_hex 3dc
 #define unusedErrorPin_offset 2040
 #define unusedErrorPin_offset_hex 7f8
 #define unusedFlexFuelSensor_offset 3100
 #define unusedFlexFuelSensor_offset_hex c1c
-#define unusedFormerWarmupAfrPid_offset 1768
-#define unusedFormerWarmupAfrPid_offset_hex 6e8
+#define unusedFormerWarmupAfrPid_offset 1772
+#define unusedFormerWarmupAfrPid_offset_hex 6ec
+#define unusedHereo_wires_offset 76
+#define unusedHereo_wires_offset_hex 4c
 #define unusedOldWarmupAfr_offset 744
 #define unusedOldWarmupAfr_offset_hex 2e8
-#define unusedSpiPadding2_offset 807
-#define unusedSpiPadding2_offset_hex 327
-#define unusedSpiPadding3_offset 4036
-#define unusedSpiPadding3_offset_hex fc4
 #define unusedSpiPadding4_offset 2593
 #define unusedSpiPadding4_offset_hex a21
 #define unusedSpiPadding5_offset 2713
@ -1944,8 +1965,8 @@
 #define unusedSpiPadding7_offset_hex fa5
 #define unusedSpiPadding8_offset 4009
 #define unusedSpiPadding8_offset_hex fa9
-#define unuseduartPadding1_offset 808
-#define unuseduartPadding1_offset_hex 328
+#define unuseduartPadding1_offset 810
+#define unuseduartPadding1_offset_hex 32a
 #define unusuedsw_offset 4020
 #define unusuedsw_offset_hex fb4
 #define unusuedvref_offset 4016
@ -1984,6 +2005,8 @@
 #define useFSIO8ForServo1_offset_hex 5b8
 #define useFSIO9ForServo2_offset 1464
 #define useFSIO9ForServo2_offset_hex 5b8
+#define useIacPidMultTable_offset 1476
+#define useIacPidMultTable_offset_hex 5c4
 #define useIacTableForCoasting_offset 744
 #define useIacTableForCoasting_offset_hex 2e8
 #define useIdleTimingPidControl_offset 744
@ -2037,6 +2060,7 @@
 #define veRpmBins_offset_hex 4860
 #define veTable_offset 17440
 #define veTable_offset_hex 4420
+#define VOLTAGE_1_BYTE_PACKING_DIV 0.02
 #define vRefAdcChannel_offset 1470
 #define vRefAdcChannel_offset_hex 5be
 #define vvt_mode_e_enum "First half", "Second half", "2GZ", "Miata NB2", "mode4", "mode5", "mode6", "mode7"
--- a/firmware/config/boards/kinetis/efifeatures.h
+++ b/firmware/config/boards/kinetis/efifeatures.h
@ -32,7 +32,6 @@
 * probably want EFI_ENABLE_ASSERTS to be FALSE. Also you would probably want to FALSE
 * CH_DBG_ENABLE_CHECKS
 * CH_DBG_ENABLE_ASSERTS
- * CH_DBG_ENABLE_TRACE
 * in chconf.h
 *
 */
@ -56,8 +55,8 @@
 /**
 * Build-in logic analyzer support. Logic analyzer viewer is one of the java console panes.
 */
-#ifndef EFI_WAVE_ANALYZER
-#define EFI_WAVE_ANALYZER FALSE
+#ifndef EFI_LOGIC_ANALYZER
+#define EFI_LOGIC_ANALYZER FALSE
 #endif

 #ifndef EFI_ICU_INPUTS
@ -176,12 +175,12 @@
 #define EFI_IDLE_CONTROL TRUE
 #endif

-#define EFI_IDLE_INCREMENTAL_PID_CIC FALSE
+#define EFI_IDLE_PID_CIC FALSE

 /**
 * Control the main power relay based on measured ignition voltage (Vbatt)
 */
-#define EFI_MAIN_RELAY_CONTROL FALSE
+#define EFI_MAIN_RELAY_CONTROL TRUE

 #ifndef EFI_PWM
 #define EFI_PWM FALSE
@ -337,6 +336,7 @@
 #define EFI_COMP_PRIMARY_DEVICE (&COMPD3)
 #define EFI_COMP_TRIGGER_CHANNEL 6		// =E7
 //#define EFI_TRIGGER_DEBUG_BLINK TRUE
+//#define EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS TRUE

 #define LED_WARNING_BRAIN_PIN GPIOD_13

@ -407,7 +407,7 @@
 #define EFI_PRINT_ERRORS_AS_WARNINGS TRUE
 #define EFI_PRINT_MESSAGES_TO_TERMINAL TRUE

-#define EFI_ACTIVE_CONFIGURATION_IN_FLASH FLASH_ADDR
+#define EFI_ACTIVE_CONFIGURATION_IN_FLASH (FLASH_ADDR + offsetof(persistent_config_container_s, persistentConfiguration.engineConfiguration))

 //#define PWM_PHASE_MAX_COUNT 122

--- a/firmware/config/boards/me7_pnp/!compile-me7_pnp.bat
+++ b/firmware/config/boards/me7_pnp/!compile-me7_pnp.bat
@ -8,9 +8,7 @@ set PROJECT_CPU=ARCH_STM32F7
 set EXTRA_PARAMS=-DDUMMY -DSTM32F767xx ^
 -DEFI_ENABLE_ASSERTS=FALSE ^
 -DEFI_USE_OSC=TRUE ^
- -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+ -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
 set DEBUG_LEVEL_OPT="-O2"

 call config/boards/common_make.bat
-
-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/microrusefi/!compile-mre-f4-test.bat
+++ b/firmware/config/boards/microrusefi/!compile-mre-f4-test.bat
@ -7,4 +7,4 @@ set DEFAULT_ENGINE_TYPE = -DDEFAULT_ENGINE_TYPE=MRE_BOARD_TEST

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
+
--- a/firmware/config/boards/microrusefi/!compile-mre-f4.bat
+++ b/firmware/config/boards/microrusefi/!compile-mre-f4.bat
@ -6,4 +6,4 @@ set PROJECT_CPU=ARCH_STM32F4

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
+
--- a/firmware/config/boards/microrusefi/!compile-mre-f7-test.bat
+++ b/firmware/config/boards/microrusefi/!compile-mre-f7-test.bat
@ -9,4 +9,3 @@ set DEFAULT_ENGINE_TYPE = -DDEFAULT_ENGINE_TYPE=MRE_BOARD_TEST

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/microrusefi/!compile-mre-f7.bat
+++ b/firmware/config/boards/microrusefi/!compile-mre-f7.bat
@ -8,4 +8,3 @@ set PROJECT_CPU=ARCH_STM32F7

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/microrusefi/!compile-nucleo-Manhattan.bat
+++ b/firmware/config/boards/microrusefi/!compile-nucleo-Manhattan.bat
@ -16,4 +16,3 @@ rem -DDEFAULT_ENGINE_TYPE=MRE_BOARD_TEST

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/microrusefi/board_configuration.cpp
+++ b/firmware/config/boards/microrusefi/board_configuration.cpp
@ -93,9 +93,9 @@ static void setupEtb() {
 	// DIS - disables motor (enable low)

 	// PWM pin
-	boardConfiguration->etb1.controlPin1 = GPIOC_7;
+	engineConfiguration->etbIo[0].controlPin1 = GPIOC_7;
 	// DIR pin
-	boardConfiguration->etb1.directionPin1 = GPIOA_8;
+	engineConfiguration->etbIo[0].directionPin1 = GPIOA_8;

 	// set_fsio_output_pin 7 PC8
 #if EFI_FSIO
@ -113,10 +113,10 @@ static void setupEtb() {
 	// engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_7;

 	// Unused
-	boardConfiguration->etb1.directionPin2 = GPIO_UNASSIGNED;
+	engineConfiguration->etbIo[0].directionPin2 = GPIO_UNASSIGNED;

 	// we only have pwm/dir, no dira/dirb
-	engineConfiguration->etb1_use_two_wires = false;
+	engineConfiguration->etb_use_two_wires = false;

 	engineConfiguration->etbFreq = 800;
 }
--- a/firmware/config/boards/nucleo_f746/!compile-stm32f746_nucleo.bat
+++ b/firmware/config/boards/nucleo_f746/!compile-stm32f746_nucleo.bat
@ -19,4 +19,3 @@ set EXTRA_PARAMS=-DDUMMY -DSTM32F746xx ^
 set DEBUG_LEVEL_OPT="-O2"
 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/nucleo_f767/!compile-stm32f767_nucleo.bat
+++ b/firmware/config/boards/nucleo_f767/!compile-stm32f767_nucleo.bat
@ -14,9 +14,8 @@ set EXTRA_PARAMS=-DDUMMY -DSTM32F767xx ^
 -DEFI_COMMUNICATION_PIN=GPIOB_7 ^
 -DEFI_FATAL_ERROR_PIN=GPIOB_14 ^
 -DEFI_ENABLE_ASSERTS=FALSE ^
- -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+ -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
 set DEBUG_LEVEL_OPT="-O2"

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/nucleo_f767/!compile-stm32f767_osc.bat
+++ b/firmware/config/boards/nucleo_f767/!compile-stm32f767_osc.bat
@ -12,11 +12,10 @@ set EXTRA_PARAMS=-DDUMMY -DSTM32F767xx ^
 -DEFI_FATAL_ERROR_PIN=GPIOB_14 ^
 -DEFI_ENABLE_ASSERTS=FALSE ^
 -DEFI_USE_OSC=TRUE ^
- -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+ -DCH_DBG_ENABLE_CHECKS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE

 rem Do not forget to comment out following line if looking to debug!
 set DEBUG_LEVEL_OPT="-O2"

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/nucleo_f767/board_configuration.cpp
+++ b/firmware/config/boards/nucleo_f767/board_configuration.cpp
@ -69,7 +69,7 @@ void setBoardConfigurationOverrides(void) {
 	boardConfiguration->triggerSimulatorPins[2] = GPIO_UNASSIGNED;
 	boardConfiguration->triggerSimulatorPinModes[1] = OM_DEFAULT;
 	boardConfiguration->triggerSimulatorPinModes[2] = OM_DEFAULT;
-	boardConfiguration->vehicleSpeedSensorInputPin = GPIO_UNASSIGNED;
+	engineConfiguration->vehicleSpeedSensorInputPin = GPIO_UNASSIGNED;

 	boardConfiguration->digitalPotentiometerSpiDevice = SPI_NONE;
 	boardConfiguration->max31855spiDevice = SPI_NONE;
--- a/firmware/config/boards/prometheus/!compile-prometheus_405.bat
+++ b/firmware/config/boards/prometheus/!compile-prometheus_405.bat
@ -3,14 +3,7 @@ rem STM32F405 version of the firmware for https://rusefi.com/forum/viewtopic.php
 rem

 cd ../../..
-set PROJECT_BOARD=prometheus
-set PROMETHEUS_BOARD=405
-set EXTRA_PARAMS=-DDUMMY -DSTM32F405xx -DEFI_ENABLE_ASSERTS=FALSE ^
- -DFIRMWARE_ID=\"prometheus405\" ^
- -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
-set DEBUG_LEVEL_OPT="-O2"
-set USE_BOOTLOADER=yes
+set PROJECT_BOARD=prometheus/f405

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/prometheus/!compile-prometheus_469.bat
+++ b/firmware/config/boards/prometheus/!compile-prometheus_469.bat
@ -3,14 +3,8 @@ rem STM32F469 version of the firmware for https://rusefi.com/forum/viewtopic.php
 rem

 cd ../../..
-set PROJECT_BOARD=prometheus
-set PROMETHEUS_BOARD=469
-set EXTRA_PARAMS=-DDUMMY -DSTM32F469xx -DEFI_ENABLE_ASSERTS=FALSE ^
- -DFIRMWARE_ID=\"prometeus469\" ^
- -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
-set DEBUG_LEVEL_OPT="-O2"
+set PROJECT_BOARD=prometheus/f469
 set USE_BOOTLOADER=yes

 call config/boards/common_make.bat

-call config/boards/clean_env_variables.bat
--- a/firmware/config/boards/prometheus/board_configuration.cpp
+++ b/firmware/config/boards/prometheus/board_configuration.cpp
@ -191,7 +191,7 @@ void setBoardConfigurationOverrides(void) {
 	boardConfiguration->malfunctionIndicatorPinMode = OM_DEFAULT;

 	// starter block
-	setFsio(0, (is469 ? GPIOB_10 : GPIOB_1), STARTER_BLOCK PASS_CONFIG_PARAMETER_SUFFIX);
+	setFsio(0, (is469 ? GPIOB_10 : GPIOB_1), STARTER_RELAY_LOGIC PASS_CONFIG_PARAMETER_SUFFIX);

 	
 	// debug pad
@ -215,7 +215,7 @@ void setBoardConfigurationOverrides(void) {
 	boardConfiguration->triggerSimulatorPins[2] = GPIO_UNASSIGNED;
 	boardConfiguration->triggerSimulatorPinModes[1] = OM_DEFAULT;
 	boardConfiguration->triggerSimulatorPinModes[2] = OM_DEFAULT;
-	boardConfiguration->vehicleSpeedSensorInputPin = GPIO_UNASSIGNED;
+	engineConfiguration->vehicleSpeedSensorInputPin = GPIO_UNASSIGNED;

 	boardConfiguration->digitalPotentiometerSpiDevice = SPI_NONE;
 	boardConfiguration->max31855spiDevice = SPI_NONE;
--- a/firmware/config/boards/prometheus/efifeatures.h
+++ b/firmware/config/boards/prometheus/efifeatures.h
@ -105,8 +105,8 @@
 #undef EFI_MEMS
 #define EFI_MEMS FALSE

-#undef EFI_IDLE_INCREMENTAL_PID_CIC
-#define EFI_IDLE_INCREMENTAL_PID_CIC TRUE
+#undef EFI_IDLE_PID_CIC
+#define EFI_IDLE_PID_CIC TRUE

 #define RPM_LOW_THRESHOLD 8				// RPM=8 is an empirical lower sensitivity threshold of MAX9926 for 60-2
 #define NO_RPM_EVENTS_TIMEOUT_SECS 5	// (RPM < 12)
--- a/firmware/config/boards/prometheus/f405/board.mk
+++ b/firmware/config/boards/prometheus/f405/board.mk
@ -0,0 +1,3 @@
+PROMETHEUS_BOARD = 405
+
+include $(PROJECT_DIR)/config/boards/prometheus/prometheus-common.mk
--- a/firmware/config/boards/prometheus/f469/board.mk
+++ b/firmware/config/boards/prometheus/f469/board.mk
@ -0,0 +1,3 @@
+PROMETHEUS_BOARD = 469
+
+include $(PROJECT_DIR)/config/boards/prometheus/prometheus-common.mk
--- a/firmware/config/boards/prometheus/prometheus-common.mk
+++ b/firmware/config/boards/prometheus/prometheus-common.mk
@ -7,17 +7,25 @@ BOARDSRC_CPP = $(PROJECT_DIR)/config/boards/Prometheus/board_configuration.cpp
 # Required include directories
 BOARDINC = $(PROJECT_DIR)/config/boards/prometheus

-# Override LD script
-ifeq ($(USE_BOOTLOADER),yes)
-  # include Prometheus bootloader code
-  BOOTLOADERINC= $(PROJECT_DIR)/bootloader/prometheus/$(PROMETHEUS_BOARD)
+# This board uses bootloader
+USE_BOOTLOADER=yes
+
+# include Prometheus bootloader code
+BOOTLOADERINC= $(PROJECT_DIR)/bootloader/prometheus/$(PROMETHEUS_BOARD)
+
+# Default to a release build - clear EXTRA_PARAMS from cmdline to build debug
+ifeq ($(EXTRA_PARAMS),)
+	EXTRA_PARAMS=-DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE
+endif
+ifeq ($(DEBUG_LEVEL_OPT),)
+	DEBUG_LEVEL_OPT = -O2
 endif

 ifeq ($(PROMETHEUS_BOARD),405)
 LDSCRIPT= $(PROJECT_DIR)/config/boards/prometheus/STM32F405xG.ld
-DDEFS += -DDEFAULT_ENGINE_TYPE=PROMETHEUS_DEFAULTS -DSTM32F405xx
+DDEFS += -DDEFAULT_ENGINE_TYPE=PROMETHEUS_DEFAULTS -DSTM32F405xx -DFIRMWARE_ID=\"prometeus405\"
 else
 # Override DEFAULT_ENGINE_TYPE
 LDSCRIPT= $(PROJECT_DIR)/config/boards/prometheus/STM32F469xI.ld
-DDEFS += -DDEFAULT_ENGINE_TYPE=PROMETHEUS_DEFAULTS -DSTM32F469xx
+DDEFS += -DDEFAULT_ENGINE_TYPE=PROMETHEUS_DEFAULTS -DSTM32F469xx -DFIRMWARE_ID=\"prometeus469\"
 endif
--- a/firmware/config/boards/proteus/board.mk
+++ b/firmware/config/boards/proteus/board.mk
@ -0,0 +1,11 @@
+# List of all the board related files.
+BOARDSRC = $(CHIBIOS)/os/hal/boards/ST_NUCLEO144_F767ZI/board.c
+BOARDSRC_CPP = $(PROJECT_DIR)/config/boards/proteus/board_configuration.cpp
+
+# Required include directories
+BOARDINC = $(PROJECT_DIR)/config/boards/nucleo_f767 $(PROJECT_DIR)/config/stm32f7ems
+
+LDSCRIPT= $(PROJECT_DIR)/config/boards/nucleo_f767/STM32F76xxI.ld
+
+# Override DEFAULT_ENGINE_TYPE
+DDEFS += -DSTM32F767xx -DEFI_USE_OSC=TRUE -DEFI_FATAL_ERROR_PIN=GPIOE_3 -DFIRMWARE_ID=\"proteus\" -DDEFAULT_ENGINE_TYPE=PROTEUS
--- a/firmware/config/boards/proteus/board_configuration.cpp
+++ b/firmware/config/boards/proteus/board_configuration.cpp
@ -0,0 +1,166 @@
+/**
+ * @file boards/proteus/board_configuration.cpp
+ *
+ * @brief Configuration defaults for the Proteus board
+ *
+ * @author Matthew Kennedy, (c) 2019
+ */
+
+#include "global.h"
+#include "engine.h"
+#include "engine_math.h"
+#include "allsensors.h"
+#include "fsio_impl.h"
+#include "engine_configuration.h"
+
+EXTERN_ENGINE;
+
+static void setInjectorPins() {
+	boardConfiguration->injectionPins[0] = GPIOD_7;
+	boardConfiguration->injectionPins[1] = GPIOG_9;
+	boardConfiguration->injectionPins[2] = GPIOG_10;
+	boardConfiguration->injectionPins[3] = GPIOG_11;
+	boardConfiguration->injectionPins[4] = GPIOG_12;
+	boardConfiguration->injectionPins[5] = GPIOG_13;
+	boardConfiguration->injectionPins[6] = GPIOG_14;
+	boardConfiguration->injectionPins[7] = GPIOB_4;
+	boardConfiguration->injectionPins[8] = GPIOB_5;
+	boardConfiguration->injectionPins[9] = GPIOB_6;
+	boardConfiguration->injectionPins[10] = GPIOB_7;
+	boardConfiguration->injectionPins[11] = GPIOB_8;
+
+	boardConfiguration->injectionPinMode = OM_DEFAULT;
+}
+
+static void setIgnitionPins() {
+	boardConfiguration->ignitionPins[0] = GPIOD_4;
+	boardConfiguration->ignitionPins[1] = GPIOD_3;
+	boardConfiguration->ignitionPins[2] = GPIOC_9;
+	boardConfiguration->ignitionPins[3] = GPIOC_8;
+	boardConfiguration->ignitionPins[4] = GPIOC_7;
+	boardConfiguration->ignitionPins[5] = GPIOG_8;
+	boardConfiguration->ignitionPins[6] = GPIOG_7;
+	boardConfiguration->ignitionPins[7] = GPIOG_6;
+	boardConfiguration->ignitionPins[8] = GPIOG_5;
+	boardConfiguration->ignitionPins[9] = GPIOG_4;
+	boardConfiguration->ignitionPins[10] = GPIOG_3;
+	boardConfiguration->ignitionPins[11] = GPIOG_2;
+
+	boardConfiguration->ignitionPinMode = OM_DEFAULT;
+}
+
+static void setLedPins() {
+	engineConfiguration->communicationLedPin = GPIOE_4;
+	engineConfiguration->runningLedPin = GPIOE_5;
+	boardConfiguration->triggerErrorPin = GPIOE_6;
+}
+
+static void setupVbatt() {
+	// 6.8k high side/10k low side = 1.6667 ratio divider
+	engineConfiguration->analogInputDividerCoefficient = 2.5f / 1.5f;
+
+	// 47k high side/10k low side = 4.7
+	engineConfiguration->vbattDividerCoeff = (57.0f / 10.0f);
+	//engineConfiguration->vbattAdcChannel = TODO;
+
+	engineConfiguration->adcVcc = 3.3f;
+}
+
+static void setupEtb() {
+	// TLE9201 driver
+	// This chip has three control pins:
+	// DIR - sets direction of the motor
+	// PWM - pwm control (enable high, coast low)
+	// DIS - disables motor (enable low)
+
+	// Throttle #1
+	// PWM pin
+	engineConfiguration->etbIo[0].controlPin1 = GPIOD_12;
+	// DIR pin
+	engineConfiguration->etbIo[0].directionPin1 = GPIOD_10;
+	// Unused
+	engineConfiguration->etbIo[0].directionPin2 = GPIO_UNASSIGNED;
+
+	// Throttle #2
+	// PWM pin
+	engineConfiguration->etbIo[0].controlPin1 = GPIOD_13;
+	// DIR pin
+	engineConfiguration->etbIo[0].directionPin1 = GPIOD_9;
+	// Unused
+	engineConfiguration->etbIo[0].directionPin2 = GPIO_UNASSIGNED;
+
+#if EFI_FSIO
+	// disable ETB by default
+	setFsio(7, GPIOD_8, "1" PASS_CONFIG_PARAMETER_SUFFIX);
+	setFsio(8, GPIOD_11, "1" PASS_CONFIG_PARAMETER_SUFFIX);
+#endif /* EFI_FSIO */
+
+	// we only have pwm/dir, no dira/dirb
+	engineConfiguration->etb_use_two_wires = false;
+	engineConfiguration->etbFreq = 800;
+}
+
+static void setupDefaultSensorInputs() {
+	// trigger inputs
+	// VR channel 1 as default - others not set
+	boardConfiguration->triggerInputPins[0] = GPIOC_6;
+	boardConfiguration->triggerInputPins[1] = GPIO_UNASSIGNED;
+	boardConfiguration->triggerInputPins[2] = GPIO_UNASSIGNED;
+	engineConfiguration->camInputs[0] = GPIO_UNASSIGNED;
+
+	// clt = Analog Temp 1 = PC4
+	engineConfiguration->clt.adcChannel = EFI_ADC_14;
+	engineConfiguration->clt.config.bias_resistor = 2700;
+
+	// iat = Analog Temp 2 = PC5
+	engineConfiguration->iat.adcChannel = EFI_ADC_15;
+	engineConfiguration->iat.config.bias_resistor = 2700;
+
+	// TODO: more sensors
+}
+
+void setPinConfigurationOverrides(void) {
+}
+
+void setSerialConfigurationOverrides(void) {
+	boardConfiguration->useSerialPort = false;
+	engineConfiguration->binarySerialTxPin = GPIO_UNASSIGNED;
+	engineConfiguration->binarySerialRxPin = GPIO_UNASSIGNED;
+	engineConfiguration->consoleSerialTxPin = GPIO_UNASSIGNED;
+	engineConfiguration->consoleSerialRxPin = GPIO_UNASSIGNED;
+}
+
+
+/**
+ * @brief   Board-specific configuration code overrides.
+ *
+ * See also setDefaultEngineConfiguration
+ *
+ * @todo    Add your board-specific code, if any.
+ */
+void setBoardConfigurationOverrides(void) {
+	setInjectorPins();
+	setIgnitionPins();
+	setLedPins();
+	setupVbatt();
+	setupEtb();
+
+	// "required" hardware is done - set some reasonable defaults
+	setupDefaultSensorInputs();
+
+	// Some sensible defaults for other options
+	setOperationMode(engineConfiguration, FOUR_STROKE_CRANK_SENSOR);
+	engineConfiguration->trigger.type = TT_TOOTHED_WHEEL_60_2;
+	engineConfiguration->useOnlyRisingEdgeForTrigger = true;
+	setAlgorithm(LM_SPEED_DENSITY PASS_CONFIG_PARAMETER_SUFFIX);
+
+	engineConfiguration->specs.cylindersCount = 8;
+	engineConfiguration->specs.firingOrder = FO_1_8_7_2_6_5_4_3;
+
+	engineConfiguration->ignitionMode = IM_INDIVIDUAL_COILS;
+	engineConfiguration->crankingInjectionMode = IM_SIMULTANEOUS;
+	engineConfiguration->injectionMode = IM_SIMULTANEOUS;
+}
+
+void setAdcChannelOverrides(void) {
+}
--- a/firmware/config/boards/proteus/mapping.yaml
+++ b/firmware/config/boards/proteus/mapping.yaml
@ -0,0 +1,73 @@
+outputs:
+  GPIOD_7:  "Lowside 1"
+  GPIOG_9:  "Lowside 2"
+  GPIOG_10: "Lowside 3"
+  GPIOG_11: "Lowside 4"
+  GPIOG_12: "Lowside 5"
+  GPIOG_13: "Lowside 6"
+  GPIOG_14: "Lowside 7"
+  GPIOB_4:  "Lowside 8"
+  GPIOB_5:  "Lowside 9"
+  GPIOB_6:  "Lowside 10"
+  GPIOB_7:  "Lowside 11"
+  GPIOB_8:  "Lowside 12"
+  GPIOB_9:  "Lowside 13"
+  GPIOE_0:  "Lowside 14"
+  GPIOE_1:  "Lowside 15"
+  GPIOE_2:  "Lowside 16"
+
+  GPIOD_4:  "Ign 1"
+  GPIOD_3:  "Ign 2"
+  GPIOC_9:  "Ign 3"
+  GPIOC_8:  "Ign 4"
+  GPIOC_7:  "Ign 5"
+  GPIOG_8:  "Ign 6"
+  GPIOG_7:  "Ign 7"
+  GPIOG_6:  "Ign 8"
+  GPIOG_5:  "Ign 9"
+  GPIOG_4:  "Ign 10"
+  GPIOG_3:  "Ign 11"
+  GPIOG_2:  "Ign 12"
+
+  GPIOA_9:  "Highside 1"
+  GPIOA_8:  "Highside 2"
+  GPIOD_15: "Highside 3"
+  GPIOD_14: "Highside 4"
+
+event_inputs:
+  GPIOC_6:  "Digital 1"
+  GPIOE_11: "Digital 2"
+  GPIOE_12: "Digital 3"
+  GPIOE_13: "Digital 4"
+  GPIOE_14: "Digital 5"
+  GPIOE_15: "Digital 6"
+  GPIOE_7:  "Digital 7"
+  GPIOE_8:  "Digital 8"
+
+switch_inputs:
+  GPIOC_6:  "Digital 1"
+  GPIOE_11: "Digital 2"
+  GPIOE_12: "Digital 3"
+  GPIOE_13: "Digital 4"
+  GPIOE_14: "Digital 5"
+  GPIOE_15: "Digital 6"
+  GPIOE_7:  "Digital 7"
+  GPIOE_8:  "Digital 8"
+
+analog_inputs:
+  EFI_ADC_0: "Analog Volt 5"
+  EFI_ADC_1: "Analog Volt 6"
+  EFI_ADC_2: "Analog Volt 7"
+  EFI_ADC_3: "Analog Volt 8"
+  EFI_ADC_4: "Analog Volt 9"
+  EFI_ADC_5: "Analog Volt 10"
+  EFI_ADC_6: "Analog Volt 11"
+  EFI_ADC_7: "Analog Volt 12"
+  EFI_ADC_8: "Analog Temp 3"
+  EFI_ADC_9: "Analog Temp 4"
+  EFI_ADC_10: "Analog Volt 1"
+  EFI_ADC_11: "Analog Volt 2"
+  EFI_ADC_12: "Analog Volt 3"
+  EFI_ADC_13: "Analog Volt 4"
+  EFI_ADC_14: "Analog Temp 1"
+  EFI_ADC_15: "Analog Temp 2"
--- a/firmware/config/boards/skeleton/board_configuration.cpp
+++ b/firmware/config/boards/skeleton/board_configuration.cpp
@ -64,11 +64,11 @@ static void setupTle8888() {
 //   diagnostic interface on SPI
 static void setupTle9201Etb() {
 	// This chip has PWM/DIR, not dira/dirb
-	engineConfiguration->etb1_use_two_wires = false;
+	engineConfiguration->etb_use_two_wires = false;
 	// PWM and DIR pins
-	boardConfiguration->etb1.controlPin1 = GPIOC_7;
-	boardConfiguration->etb1.directionPin1 = GPIOA_8;
-	boardConfiguration->etb1.directionPin2 = GPIO_UNASSIGNED;
+	engineConfiguration->etbIo[0].controlPin1 = GPIOC_7;
+	engineConfiguration->etbIo[0].directionPin1 = GPIOA_8;
+	engineConfiguration->etbIo[0].directionPin2 = GPIO_UNASSIGNED;
 	// PWM frequency needs to be configured to match the physical part
 	engineConfiguration->etbFreq = 800;
 }
--- a/firmware/config/boards/skeleton/efifeatures.h
+++ b/firmware/config/boards/skeleton/efifeatures.h
@ -33,7 +33,7 @@

 // Build the logic analyzer support.
 // A logic analyzer viewer is included in the java console.
-#define EFI_WAVE_ANALYZER TRUE
+#define EFI_LOGIC_ANALYZER TRUE

 // A development feature to test output jitter and consistency
 #define EFI_PWM_TESTER FALSE
@ -175,7 +175,7 @@
 #define EFI_IDLE_CONTROL TRUE
 #endif

-#define EFI_IDLE_INCREMENTAL_PID_CIC FALSE
+#define EFI_IDLE_PID_CIC FALSE

 /**
 * Control the main power relay based on measured ignition voltage (Vbatt)
--- a/firmware/config/boards/subaru-ej20gn/board_configuration.cpp
+++ b/firmware/config/boards/subaru-ej20gn/board_configuration.cpp
@ -160,7 +160,7 @@ void setBoardConfigurationOverrides(void) {

 	// starter block
 	/* Starter signal connected through MC33972 - SG11 */
-	//setFsio(0, (GPIOB_1), STARTER_BLOCK PASS_CONFIG_PARAMETER_SUFFIX);
+	//setFsio(0, (GPIOB_1), STARTER_RELAY_LOGIC PASS_CONFIG_PARAMETER_SUFFIX);


 	// not used
@ -177,7 +177,7 @@ void setBoardConfigurationOverrides(void) {
 	boardConfiguration->digitalPotentiometerChipSelect[1] = GPIO_UNASSIGNED;
 	boardConfiguration->digitalPotentiometerChipSelect[2] = GPIO_UNASSIGNED;
 	boardConfiguration->digitalPotentiometerChipSelect[3] = GPIO_UNASSIGNED;
-	boardConfiguration->vehicleSpeedSensorInputPin = GPIO_UNASSIGNED;
+	engineConfiguration->vehicleSpeedSensorInputPin = GPIO_UNASSIGNED;

 	boardConfiguration->digitalPotentiometerSpiDevice = SPI_NONE;
 	boardConfiguration->max31855spiDevice = SPI_NONE;
--- a/firmware/config/boards/subaru-ej20gn/efifeatures.h
+++ b/firmware/config/boards/subaru-ej20gn/efifeatures.h
@ -103,8 +103,8 @@
 #undef EFI_MEMS
 #define EFI_MEMS 					FALSE

-#undef EFI_IDLE_INCREMENTAL_PID_CIC
-#define EFI_IDLE_INCREMENTAL_PID_CIC TRUE
+#undef EFI_IDLE_PID_CIC
+#define EFI_IDLE_PID_CIC TRUE

 #define RPM_LOW_THRESHOLD 			8				// RPM=8 is an empirical lower sensitivity threshold of MAX9926 for 60-2
 #define NO_RPM_EVENTS_TIMEOUT_SECS	5	// (RPM < 12)
--- a/firmware/config/boards/subaru-ej20gn/make.sh
+++ b/firmware/config/boards/subaru-ej20gn/make.sh
@ -3,7 +3,7 @@
 export PROJECT_BOARD=subaru-ej20gn
 export PROJECT_CPU=ARCH_STM32F7
 export PROJECT_CORE=cortex-m7
-export EXTRA_PARAMS="-DDUMMY -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_TRACE=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE"
+export EXTRA_PARAMS="-DDUMMY -DEFI_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_ASSERTS=FALSE -DCH_DBG_ENABLE_STACK_CHECK=FALSE -DCH_DBG_FILL_THREADS=FALSE -DCH_DBG_THREADS_PROFILING=FALSE"
 #echo $EXTRA_PARAMS
 #export DEBUG_LEVEL_OPT="-O0"
 #export USE_BOOTLOADER=yes
--- a/firmware/config/engines/bmw_e34.cpp
+++ b/firmware/config/engines/bmw_e34.cpp
@ -119,8 +119,8 @@ void setBmwE34(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	boardConfiguration->triggerErrorPin = GPIO_UNASSIGNED;

 	// clutch up
-	boardConfiguration->clutchUpPin = GPIOD_3;
-	boardConfiguration->clutchUpPinMode = PI_PULLUP;
+	engineConfiguration->clutchUpPin = GPIOD_3;
+	engineConfiguration->clutchUpPinMode = PI_PULLUP;

 	// fuel pump
 	boardConfiguration->fuelPumpPin = GPIOD_4;
--- a/firmware/config/engines/bmw_m73.cpp
+++ b/firmware/config/engines/bmw_m73.cpp
@ -24,17 +24,17 @@
 * ECU pin 23: OUT BRN/BLK BLK ECU relay control, low-side
 *
 * Plug #3 52 pin
- * ECU pin 2:  OUT             injector #4
+ * ECU pin 2:  OUT         WHT injector #4
 * ECU pin 6:  GND             ECU
- * ECU pin 15: OUT             injector #2
+ * ECU pin 15: OUT         BLK injector #2
 * ECU pin 20: IN          WHT hall effect camshaft sensor signal
 * ECU pin 21: GND BRN     BLK CLT sensor
 * ECU pin 22: IN  RED/BRN GRN CLT sensor
- * ECU pin 27: OUT             injector #6
- * ECU pin 28: OUT             injector #5
+ * ECU pin 27: OUT         ORG injector #6
+ * ECU pin 28: OUT         RED injector #5
 * ECU pin 32: IN          ORG VR positive crankshaft sensor - only 2x 5k per channel, R111 not installed, W1002 not installed
- * ECU pin 40: OUT BRN/BLK     injector #3
- * ECU pin 41: OUT BRN/WHT     injector #1
+ * ECU pin 40: OUT BRN/BLK GRN injector #3
+ * ECU pin 41: OUT BRN/WHT BLU injector #1
 * ECU pin 45: GND             crankshaft shield
 * ECU pin 46: IN  BLK     BLU VR negative crankshaft sensor
 *
@ -50,13 +50,15 @@
 * ECU pic 3:  OUT BLK         coil signal, low-side
 * ECU pic 5:  GND BRN         ground
 * ECU pic 6:  OUT BLK         coil signal, low-side
- * ECU pic 9:  OUT BLK         coil signal, low-side
+ * ECU pic 9:  OUT BLK     RED coil signal, low-side
 *
 * Frankenso
 * set engine_type 40
 * Manhattan
 * set engine_type 24
 *
+ * https://raw.githubusercontent.com/wiki/rusefi/rusefi_documentation/oem_docs/VAG/Bosch_0280750009_pinout.jpg
+ *
 * @date Nov 1, 2019
 * @author Andrey Belomutskiy, (c) 2012-2019
 */
@ -78,9 +80,16 @@ static void m73engine(DECLARE_CONFIG_PARAMETER_SIGNATURE) {

 	engineConfiguration->globalTriggerAngleOffset = 90;
 	setOperationMode(engineConfiguration, FOUR_STROKE_CRANK_SENSOR);
+	// todo: that's not right, should be 60/2 without VW
 	engineConfiguration->trigger.type = TT_60_2_VW;

+	// this large engine seems to crank at around only 150 RPM? And happily idle at 400RPM?
+	engineConfiguration->cranking.rpm = 280;
+
 	engineConfiguration->ignitionMode = IM_TWO_COILS;
+
+	// set cranking_fuel 15
+	engineConfiguration->cranking.baseFuel = 15;
 }


@ -99,31 +108,106 @@ void setEngineBMW_M73_Frankenso(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	CONFIGB(fuelPumpPin) = GPIO_UNASSIGNED;


-	boardConfiguration->ignitionPins[ID2INDEX(1)] = GPIOE_14; // Frankenso high side - pin 1G
+	boardConfiguration->ignitionPins[ID2INDEX(1)] = GPIOE_14; // Frankenso high side - pin 1G - GREEN wire
 	boardConfiguration->ignitionPins[ID2INDEX(2)] = GPIO_UNASSIGNED;
 	boardConfiguration->ignitionPins[ID2INDEX(3)] = GPIO_UNASSIGNED;
 	boardConfiguration->ignitionPins[ID2INDEX(4)] = GPIO_UNASSIGNED;
-	boardConfiguration->ignitionPins[ID2INDEX(7)] = GPIOC_7; // Frankenso high side - pin 1H
+	boardConfiguration->ignitionPins[ID2INDEX(7)] = GPIOC_7; // Frankenso high side - pin 1H - ORANGE wire


-	boardConfiguration->injectionPins[0] = GPIOB_8;
-	boardConfiguration->injectionPins[1] = GPIOB_7;
-	boardConfiguration->injectionPins[2] = GPIOB_9;
-	boardConfiguration->injectionPins[3] = GPIOD_5;
-	boardConfiguration->injectionPins[4] = GPIOD_3;
-	boardConfiguration->injectionPins[5] = GPIOE_2;
+	boardConfiguration->injectionPins[0] = GPIOB_8; // BLU
+	boardConfiguration->injectionPins[1] = GPIOB_7; // BLK
+	boardConfiguration->injectionPins[2] = GPIOB_9; // GRN
+	boardConfiguration->injectionPins[3] = GPIOD_5; // WHT
+	boardConfiguration->injectionPins[4] = GPIOD_3; // RED
+	boardConfiguration->injectionPins[5] = GPIOE_2; // ORG

-	boardConfiguration->injectionPins[6] = GPIOE_3;
-	boardConfiguration->injectionPins[7] = GPIOE_4;
-	boardConfiguration->injectionPins[8] = GPIOE_5;
-	boardConfiguration->injectionPins[9] = GPIOE_6;
-	boardConfiguration->injectionPins[10] = GPIOC_13;
-	boardConfiguration->injectionPins[11] = GPIOD_7;
+	boardConfiguration->injectionPins[6] = GPIOE_3; // BLU
+	boardConfiguration->injectionPins[7] = GPIOE_4; // BLK
+	boardConfiguration->injectionPins[8] = GPIOE_5; // GRN
+	boardConfiguration->injectionPins[9] = GPIOE_6; // WHT
+	boardConfiguration->injectionPins[10] = GPIOC_13;//RED
+	boardConfiguration->injectionPins[11] = GPIOD_7;// ORG
 }

 // BMW_M73_M
 void setEngineBMW_M73_Manhattan(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	m73engine(PASS_CONFIG_PARAMETER_SIGNATURE);

+	/**
+Nucleo boards - first step is to confirm that I can blink via each pin
+going clockwise from top-right corner
+
+GPIOA_10 USD ID
+GPIOA_11 USD DM
+GPIOA_12 USD DP
+
+E_4: running
+
+Good GPIO:
+GPIOC_9 ETB#1
+GPIOC_8 ETB#1
+GPIOB_8 ETB#2
+GPIOB_9 ETB#2
+GPIOC_5
+GPIOA_7
+GPIOA_6
+	 */
+
+
+	CONFIGB(fsioOutputPins)[7] = GPIO_UNASSIGNED;
+	boardConfiguration->fuelPumpPin = GPIO_UNASSIGNED;
+	boardConfiguration->idle.solenoidPin = GPIO_UNASSIGNED;
+	boardConfiguration->fanPin = GPIO_UNASSIGNED;
+
+	/**
+	 * Yellow op-amp board
+	 *
+	 * AN5 tested pull-down 1M               PA3 TPS1 orange wire
+	 * AN6 tested pull-down 1M               PA4 TPS2
+	 * AN7 tested pull-down 1M               PA6 PPS
+	 * AN8 tested no pull-down / no pull-up
+	 */
+
+
+	// For example TLE7209 - two control wires:
+	// PWM on both wires - one to open, another to close
+	// ETB motor NEG pin # - white wire - OUT 1
+
+	engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_6;
+	// set_analog_input_pin tps PA3
+	engineConfiguration->tps1_1AdcChannel = EFI_ADC_3; // PA3
+	// set_analog_input_pin tps2 PA4
+	engineConfiguration->tps2_1AdcChannel = EFI_ADC_4; // PA4
+
+	// PWM pin
+	engineConfiguration->etbIo[0].controlPin1 = GPIO_UNASSIGNED;
+	// DIR pin
+	engineConfiguration->etbIo[0].directionPin1 = GPIOC_9;
+	engineConfiguration->etbIo[0].directionPin2 = GPIOC_8;
+	CONFIG(etb_use_two_wires) = true;
+
+	// PWM pin
+	engineConfiguration->etbIo[1].controlPin1 = GPIO_UNASSIGNED;
+	// DIR pin
+	engineConfiguration->etbIo[1].directionPin1 = GPIOB_8;
+	engineConfiguration->etbIo[1].directionPin2 = GPIOB_9;
+
+
+	boardConfiguration->injectionPins[0] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[1] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[2] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[3] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[4] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[5] = GPIO_UNASSIGNED;
+
+	boardConfiguration->injectionPins[6] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[7] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[8] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[9] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[10] = GPIO_UNASSIGNED;
+	boardConfiguration->injectionPins[11] = GPIO_UNASSIGNED;
+
+
 }

--- a/firmware/config/engines/citroenBerlingoTU3JP.cpp
+++ b/firmware/config/engines/citroenBerlingoTU3JP.cpp
@ -201,7 +201,7 @@ void setCitroenBerlingoTU3JPConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	/**
 	* Speed Sensor
 	*/
-	boardConfiguration->vehicleSpeedSensorInputPin = GPIOA_8;
+	engineConfiguration->vehicleSpeedSensorInputPin = GPIOA_8;
 	/**
 	* Other
 	*/
--- a/firmware/config/engines/custom_engine.cpp
+++ b/firmware/config/engines/custom_engine.cpp
@ -253,6 +253,13 @@ void setEtbTestConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	// set tps_max 540
 	engineConfiguration->tpsMax = 540;

+	// yes, 30K - that's a test configuration
+	engineConfiguration->rpmHardLimit = 30000;
+
+	setOperationMode(engineConfiguration, FOUR_STROKE_CRANK_SENSOR);
+	engineConfiguration->trigger.type = TT_TOOTHED_WHEEL_60_2;
+
+
 	boardConfiguration->ignitionPins[0] = GPIO_UNASSIGNED;
 	boardConfiguration->ignitionPins[1] = GPIO_UNASSIGNED;
 	boardConfiguration->ignitionPins[2] = GPIO_UNASSIGNED;
@ -260,9 +267,9 @@ void setEtbTestConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	/**
 	 * remember that some H-bridges require 5v control lines, not just 3v logic outputs we have on stm32
 	 */
-	CONFIGB(etb1.directionPin1) = GPIOC_7; // Frankenso high-side in order to get 5v control
-	CONFIGB(etb1.directionPin2) = GPIOC_9;
-	CONFIGB(etb1.controlPin1) = GPIOE_14;
+	CONFIG(etbIo[0].directionPin1) = GPIOC_7; // Frankenso high-side in order to get 5v control
+	CONFIG(etbIo[0].directionPin2) = GPIOC_9;
+	CONFIG(etbIo[0].controlPin1) = GPIOE_14;

 #if EFI_ELECTRONIC_THROTTLE_BODY
 	setBoschVNH2SP30Curve(PASS_CONFIG_PARAMETER_SIGNATURE);
@ -342,10 +349,10 @@ void setTle8888TestConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	setFsio(12, GPIOF_12, "0" PASS_CONFIG_PARAMETER_SUFFIX);
 	setFsio(14, GPIOF_13, "1" PASS_CONFIG_PARAMETER_SUFFIX);
 #endif /* EFI_FSIO */
-	CONFIGB(etb1.directionPin1) = GPIOF_15;
-	CONFIGB(etb1.directionPin2) = GPIOF_14;
+	CONFIG(etbIo[0].directionPin1) = GPIOF_15;
+	CONFIG(etbIo[0].directionPin2) = GPIOF_14;
 #endif /* STM32_HAS_GPIOF */
-	CONFIG(etb1_use_two_wires) = true;
+	CONFIG(etb_use_two_wires) = true;
 	boardConfiguration->isHip9011Enabled = false;

 	// ETB #2
@ -358,9 +365,8 @@ void setTle8888TestConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	setFsio(13, GPIOE_5, "0" PASS_CONFIG_PARAMETER_SUFFIX);
 	setFsio(15, GPIOE_6, "1" PASS_CONFIG_PARAMETER_SUFFIX);
 #endif
-	CONFIG(etb2_use_two_wires) = true;
-	CONFIG(etb2.directionPin1) = GPIOE_2;
-	CONFIG(etb2.directionPin2) = GPIOE_4;
+	CONFIG(etbIo[0].directionPin1) = GPIOE_2;
+	CONFIG(etbIo[0].directionPin2) = GPIOE_4;


 	engineConfiguration->tps1_1AdcChannel = EFI_ADC_3; // PA3
--- a/firmware/config/engines/dodge_neon.cpp
+++ b/firmware/config/engines/dodge_neon.cpp
@ -310,7 +310,7 @@ void setDodgeNeonNGCEngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	//engineConfiguration->fuelAlgorithm = LM_ALPHA_N; // I want to start with a simple Alpha-N

 	setFuelLoadBin(0, 100 PASS_CONFIG_PARAMETER_SUFFIX);
-	setLinearCurve(config->ignitionLoadBins, IGN_LOAD_COUNT, 20, 120, 1);
+	setLinearCurve(config->ignitionLoadBins, 20, 120, 1);

 	setAlgorithm(LM_SPEED_DENSITY PASS_CONFIG_PARAMETER_SUFFIX);

@ -434,8 +434,8 @@ void setDodgeNeonNGCEngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {

 	boardConfiguration->clutchDownPin = GPIOC_12;
 	boardConfiguration->clutchDownPinMode = PI_PULLUP;
-//	boardConfiguration->clutchUpPin = GPIOA_14; // note SWCLK - conflict with SWD
-	boardConfiguration->clutchUpPinMode = PI_PULLUP;
+//	engineConfiguration->clutchUpPin = GPIOA_14; // note SWCLK - conflict with SWD
+	engineConfiguration->clutchUpPinMode = PI_PULLUP;

 	engineConfiguration->activateAuxPid1 = 1;
 	engineConfiguration->auxPidPins[0] = GPIOD_5; // playing with AUX PID for alternator
@ -456,7 +456,7 @@ void setDodgeNeonNGCEngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 //	setFsioExt(0, GPIOE_5, "0 fsio_setting", 400 PASS_CONFIG_PARAMETER_SUFFIX);
 #endif

-	boardConfiguration->vehicleSpeedSensorInputPin = GPIOA_8;
+	engineConfiguration->vehicleSpeedSensorInputPin = GPIOA_8;

 	engineConfiguration->fanOnTemperature = 92;
 	engineConfiguration->fanOffTemperature = 89;
--- a/firmware/config/engines/ford_festiva.cpp
+++ b/firmware/config/engines/ford_festiva.cpp
@ -149,7 +149,7 @@ void setFordEscortGt(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	engineConfiguration->crankingTimingAngle = 3;
 	engineConfiguration->crankingChargeAngle = 70;

-	setLinearCurve(config->ignitionLoadBins, IGN_LOAD_COUNT, 20, 105, 5);
+	setLinearCurve(config->ignitionLoadBins, 20, 105, 5);
 	setWholeTimingTable_d(10 PASS_CONFIG_PARAMETER_SUFFIX);
 	// set_whole_fuel_map 5
 	setWholeFuelMap(5 PASS_CONFIG_PARAMETER_SUFFIX);
--- a/firmware/config/engines/mazda_323.cpp
+++ b/firmware/config/engines/mazda_323.cpp
@ -7,7 +7,9 @@

 #include "mazda_323.h"

-void setMazda323EngineConfiguration(engine_configuration_s *engineConfiguration) {
+EXTERN_CONFIG;
+
+void setMazda323EngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	engineConfiguration->specs.cylindersCount = 4;
 	engineConfiguration->specs.displacement = 1.6;

--- a/firmware/config/engines/mazda_323.h
+++ b/firmware/config/engines/mazda_323.h
@ -10,11 +10,8 @@
 * @author Andrey Belomutskiy, (c) 2012-2017
 */

-#ifndef MAZDA_323_H_
-#define MAZDA_323_H_
+#pragma once

 #include "engine_configuration.h"

-void setMazda323EngineConfiguration(engine_configuration_s *engineConfiguration);
-
-#endif /* MAZDA_323_H_ */
+void setMazda323EngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE);
--- a/firmware/config/engines/mazda_miata_vvt.cpp
+++ b/firmware/config/engines/mazda_miata_vvt.cpp
@ -304,7 +304,7 @@ void setMazdaMiata2003EngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	boardConfiguration->alternatorControlPin = GPIOE_10;
 	boardConfiguration->alternatorControlPinMode = OM_OPENDRAIN;

-//	boardConfiguration->vehicleSpeedSensorInputPin = GPIOA_8;
+//	engineConfiguration->vehicleSpeedSensorInputPin = GPIOA_8;


 	boardConfiguration->vvtCamSensorUseRise = true;
@ -411,12 +411,12 @@ void setMazdaMiata2003EngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {

 	// VNH2SP30 three-wire ETB control
 	// PWM
-	boardConfiguration->etb1.controlPin1 = GPIOE_6;
-	boardConfiguration->etb1.controlPinMode = OM_INVERTED;
+	engineConfiguration->etbIo[0].controlPin1 = GPIOE_6;
+	engineConfiguration->etbIo[0].controlPinMode = OM_INVERTED;
 	//
-	boardConfiguration->etb1.directionPin1 = GPIOE_12;
+	engineConfiguration->etbIo[0].directionPin1 = GPIOE_12;
 	//
-	boardConfiguration->etb1.directionPin2 = GPIOC_7;
+	engineConfiguration->etbIo[0].directionPin2 = GPIOC_7;

 	// set_analog_input_pin tps PC3
 	engineConfiguration->tps1_1AdcChannel = EFI_ADC_13; // PC3
--- a/firmware/config/engines/me7pnp.cpp
+++ b/firmware/config/engines/me7pnp.cpp
@ -117,7 +117,7 @@ void vag_18_Turbo(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	boardConfiguration->triggerInputPins[0] = GPIOG_7;
 #endif /* STM32_HAS_GPIOF */
 #if defined(STM32_HAS_GPIOF) && STM32_HAS_GPIOF
-	boardConfiguration->vehicleSpeedSensorInputPin = GPIOF_14;
+	engineConfiguration->vehicleSpeedSensorInputPin = GPIOF_14;
 #endif /* STM32_HAS_GPIOF */


@ -140,10 +140,10 @@ void vag_18_Turbo(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	setFsioExt (3, GPIOE_0, "0.15 90 coolant 120 min max 90 - 30 / 0.8 * +", 25 PASS_CONFIG_PARAMETER_SUFFIX);
 #endif
 	engineConfiguration->auxPidFrequency[3] = 25;
-	CONFIG(etb1_use_two_wires) = true;
+	CONFIG(etb_use_two_wires) = true;
 #if defined(STM32_HAS_GPIOF) && STM32_HAS_GPIOF
-	CONFIGB(etb1.directionPin1) = GPIOF_15;
-	CONFIGB(etb1.directionPin2) = GPIOF_14;
+	CONFIG(etbIo[0].directionPin1) = GPIOF_15;
+	CONFIG(etbIo[0].directionPin2) = GPIOF_14;
 #endif /* STM32_HAS_GPIOF */
 	boardConfiguration->isHip9011Enabled = false;

@ -151,9 +151,8 @@ void vag_18_Turbo(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	setFsio (13, GPIOE_5, "0" PASS_CONFIG_PARAMETER_SUFFIX);
 	setFsio (15, GPIOE_6, "1" PASS_CONFIG_PARAMETER_SUFFIX);
 #endif
-	CONFIG(etb2_use_two_wires) = true;
-	CONFIG(etb2.directionPin1) = GPIOE_2;
-	CONFIG(etb2.directionPin2) = GPIOE_4;
+	CONFIG(etbIo[1].directionPin1) = GPIOE_2;
+	CONFIG(etbIo[1].directionPin2) = GPIOE_4;

 	engineConfiguration->etb.pFactor = 1.07;
 	engineConfiguration->etb.iFactor = 0.18;
--- a/firmware/config/engines/nissan_primera.cpp
+++ b/firmware/config/engines/nissan_primera.cpp
@ -1,10 +1,11 @@
 /**
 * @file	nissan_primera.cpp
 *
- * engine_type 5
+ * NISSAN_PRIMERA
+ * set engine_type 5
 *
 * @date Oct 14, 2013
- * @author Andrey Belomutskiy, (c) 2012-2018
+ * @author Andrey Belomutskiy, (c) 2012-2019
 */

 #include "global.h"
@ -12,11 +13,23 @@
 #if EFI_SUPPORT_NISSAN_PRIMERA
 #include "nissan_primera.h"

-void setNissanPrimeraEngineConfiguration(engine_configuration_s *engineConfiguration) {
+EXTERN_CONFIG;
+
+void setNissanPrimeraEngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
+	setDefaultFrankensoConfiguration(PASS_CONFIG_PARAMETER_SIGNATURE);
+
 	engineConfiguration->trigger.type = TT_NISSAN_SR20VE;
+
+	boardConfiguration->ignitionPins[0] = GPIOD_7;
+	boardConfiguration->ignitionPins[1] = GPIO_UNASSIGNED;
+	boardConfiguration->ignitionPins[2] = GPIOD_6;
+
+
+	engineConfiguration->auxValves[0] = GPIOE_14;
+	engineConfiguration->auxValves[1] = GPIOE_12;
 }

-void setNissanPrimeraEngineConfiguration_360(engine_configuration_s *engineConfiguration) {
+void setNissanPrimeraEngineConfiguration_360(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	engineConfiguration->trigger.type = TT_NISSAN_SR20VE_360;
 }

--- a/firmware/config/engines/nissan_primera.h
+++ b/firmware/config/engines/nissan_primera.h
@ -2,19 +2,16 @@
 * @file	nissan_primera.h
 *
 * @date Oct 14, 2013
- * @author Andrey Belomutskiy, (c) 2012-2017
+ * @author Andrey Belomutskiy, (c) 2012-2019
 */

-#ifndef NISSAN_PRIMERA_H_
-#define NISSAN_PRIMERA_H_
+#pragma once

 #if EFI_SUPPORT_NISSAN_PRIMERA

 #include "engine_configuration.h"

-void setNissanPrimeraEngineConfiguration(engine_configuration_s *engineConfiguration);
-void setNissanPrimeraEngineConfiguration_360(engine_configuration_s *engineConfiguration);
+void setNissanPrimeraEngineConfiguration(DECLARE_CONFIG_PARAMETER_SIGNATURE);
+void setNissanPrimeraEngineConfiguration_360(DECLARE_CONFIG_PARAMETER_SIGNATURE);

 #endif /* EFI_SUPPORT_NISSAN_PRIMERA */
-
-#endif /* NISSAN_PRIMERA_H_ */
--- a/firmware/config/engines/rover_v8.cpp
+++ b/firmware/config/engines/rover_v8.cpp
@ -88,7 +88,7 @@ void setRoverv8(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
    boardConfiguration->injectionPins[6] = GPIOE_2; // Frankenstein: low side - out #7
    boardConfiguration->injectionPins[7] = GPIOE_3; // Frankenstein: low side - out #8

-// not valid ICU pin	boardConfiguration->vehicleSpeedSensorInputPin = GPIOC_2;
+// not valid ICU pin	engineConfiguration->vehicleSpeedSensorInputPin = GPIOC_2;

 	//GPIOE_0 AND GPIOE_1 are bad pins since they conflict with accelerometer
 	//no malfunction indicator pin needed, since we use CAN_BUS_MAZDA_RX8
--- a/firmware/config/engines/sachs.cpp
+++ b/firmware/config/engines/sachs.cpp
@ -85,11 +85,11 @@ void setSachs(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	// todo: extract a method? figure out something smarter
 	setFuelRpmBin(800, 15000 PASS_CONFIG_PARAMETER_SUFFIX);
 	setTimingRpmBin(800, 15000 PASS_CONFIG_PARAMETER_SUFFIX);
-	setLinearCurve(config->veRpmBins, FUEL_RPM_COUNT, 15000, 7000, 1);
-	setLinearCurve(config->afrRpmBins, FUEL_RPM_COUNT, 15000, 7000, 1);
+	setLinearCurve(config->veRpmBins, 15000, 7000, 1);
+	setLinearCurve(config->afrRpmBins, 15000, 7000, 1);

 	engineConfiguration->hasFrequencyReportingMapSensor = true;
-	boardConfiguration->frequencyReportingMapInputPin = GPIOC_6;
+	engineConfiguration->frequencyReportingMapInputPin = GPIOC_6;
 	boardConfiguration->mapFrequency100Kpa = 159;
 	boardConfiguration->mapFrequency0Kpa = 80;
 }
--- a/firmware/config/stm32f4ems/chconf.h
+++ b/firmware/config/stm32f4ems/chconf.h
@ -52,7 +52,7 @@

 #if !defined(ENABLE_PERF_TRACE) || defined(__DOXYGEN__)
 // looks like this value could not be defined in efifeatures.h - please define either externally or just change the value here
- #define ENABLE_PERF_TRACE FALSE
+ #define ENABLE_PERF_TRACE TRUE
 #endif /* ENABLE_PERF_TRACE */

 #include "chconf_common.h"
@ -132,7 +132,7 @@
 *          must be set to zero in that case.
 */
 #if !defined(CH_CFG_TIME_QUANTUM)
-#define CH_CFG_TIME_QUANTUM                 20
+#define CH_CFG_TIME_QUANTUM                 0
 #endif

 /**
@ -147,7 +147,7 @@
 * @note    Requires @p CH_CFG_USE_MEMCORE.
 */
 #if !defined(CH_CFG_MEMCORE_SIZE)
-#define CH_CFG_MEMCORE_SIZE                 2048
+#define CH_CFG_MEMCORE_SIZE                 0
 #endif

 /**
@ -346,7 +346,7 @@
 * @note    The default is @p TRUE.
 * @note    Requires @p CH_CFG_USE_SEMAPHORES.
 */
-#define CH_CFG_USE_MAILBOXES                TRUE
+#define CH_CFG_USE_MAILBOXES                FALSE

 /**
 * @brief   I/O Queues APIs.
@ -354,7 +354,7 @@
 *
 * @note    The default is @p TRUE.
 */
-#define CH_CFG_USE_QUEUES                   TRUE
+#define CH_CFG_USE_QUEUES                   FALSE

 /**
 * @brief   Core Memory Manager APIs.
@ -364,7 +364,7 @@
 * @note    The default is @p TRUE.
 */
 #if !defined(CH_CFG_USE_MEMCORE)
-#define CH_CFG_USE_MEMCORE                  TRUE
+#define CH_CFG_USE_MEMCORE                  FALSE
 #endif

 /**
@ -378,7 +378,7 @@
 * @note    Mutexes are recommended.
 */
 #if !defined(CH_CFG_USE_HEAP)
-#define CH_CFG_USE_HEAP                     TRUE
+#define CH_CFG_USE_HEAP                     FALSE
 #endif

 /**
@ -389,7 +389,7 @@
 * @note    The default is @p TRUE.
 */
 #if !defined(CH_CFG_USE_MEMPOOLS)
-#define CH_CFG_USE_MEMPOOLS                 TRUE
+#define CH_CFG_USE_MEMPOOLS                 FALSE
 #endif

 /**
--- a/firmware/config/stm32f4ems/efifeatures.h
+++ b/firmware/config/stm32f4ems/efifeatures.h
@ -57,8 +57,8 @@
 /**
 * Build-in logic analyzer support. Logic analyzer viewer is one of the java console panes.
 */
-#ifndef EFI_WAVE_ANALYZER
-#define EFI_WAVE_ANALYZER TRUE
+#ifndef EFI_LOGIC_ANALYZER
+#define EFI_LOGIC_ANALYZER TRUE
 #endif

 #ifndef EFI_ICU_INPUTS
@ -194,7 +194,7 @@
 #define EFI_IDLE_CONTROL TRUE
 #endif

-#define EFI_IDLE_INCREMENTAL_PID_CIC FALSE
+#define EFI_IDLE_PID_CIC FALSE

 /**
 * Control the main power relay based on measured ignition voltage (Vbatt)
--- a/firmware/config/stm32f7ems/chconf.h
+++ b/firmware/config/stm32f7ems/chconf.h
@ -31,11 +31,24 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_5_1_

-#define CHPRINTF_USE_FLOAT          	TRUE
+/*
+ * __process_stack_size__ and __process_stack_size__ defaults are each hard-coded as 0x400 in ChibiOS rules.mk files
+ * rusEfi do not override these defaults.
+ *
+ * http://www.chibios.com/forum/viewtopic.php?t=309
+ * "__main_stack_size__ is the size of INTERRUPTS stack"
+ * "__process_stack_size__ is the stack of the C-runtime, in ChibiOS the "main" thread uses the C-runtime stack."
+ *
+ */

-#if !defined(EFI_CLOCK_LOCKS) || defined(__DOXYGEN__)
- #define EFI_CLOCK_LOCKS FALSE
-#endif /* EFI_CLOCK_LOCKS */
+#define PORT_IDLE_THREAD_STACK_SIZE     1024
+
+// rusEfi main processing happens on IRQ so PORT_INT_REQUIRED_STACK has to be pretty large.
+// see also a strange comment about PORT_INT_REQUIRED_STACK in global_shared.h
+// see also http://www.chibios.org/dokuwiki/doku.php?id=chibios:kb:stacks
+#define PORT_INT_REQUIRED_STACK 	768
+
+#define CHPRINTF_USE_FLOAT          	TRUE

 #if !defined(ENABLE_PERF_TRACE) || defined(__DOXYGEN__)
 // looks like this value could not be defined in efifeatures.h - please define either externally or just change the value here
@ -44,7 +57,6 @@

 #include "chconf_common.h"

-
 /*===========================================================================*/
 /**
 * @name System timers settings
@ -56,18 +68,14 @@
 * @brief   System time counter resolution.
 * @note    Allowed values are 16 or 32 bits.
 */
-#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
-#endif

 /**
 * @brief   System tick frequency.
 * @details Frequency of the system timer that drives the system ticks. This
 *          setting also defines the system tick time unit.
 */
-#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
-#endif

 /**
 * @brief   Time intervals data size.
@ -338,9 +346,15 @@
 * @note    The default is @p TRUE.
 * @note    Requires @p CH_CFG_USE_SEMAPHORES.
 */
-#if !defined(CH_CFG_USE_MAILBOXES)
-#define CH_CFG_USE_MAILBOXES                TRUE
-#endif
+#define CH_CFG_USE_MAILBOXES                FALSE
+
+/**
+ * @brief   I/O Queues APIs.
+ * @details If enabled then the I/O queues APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_QUEUES                   FALSE

 /**
 * @brief   Core Memory Manager APIs.
@ -350,7 +364,7 @@
 * @note    The default is @p TRUE.
 */
 #if !defined(CH_CFG_USE_MEMCORE)
-#define CH_CFG_USE_MEMCORE                  TRUE
+#define CH_CFG_USE_MEMCORE                  FALSE
 #endif

 /**
@ -378,17 +392,6 @@
 #define CH_CFG_USE_MEMPOOLS                 FALSE
 #endif

-/**
- * @brief  Objects FIFOs APIs.
- * @details If enabled then the objects FIFOs APIs are included
- *          in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#if !defined(CH_CFG_USE_OBJ_FIFOS)
-#define CH_CFG_USE_OBJ_FIFOS                FALSE
-#endif
-
 /**
 * @brief   Dynamic Threads APIs.
 * @details If enabled then the dynamic threads creation APIs are included
@ -402,6 +405,17 @@
 #define CH_CFG_USE_DYNAMIC                  FALSE
 #endif

+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                FALSE
+#endif
+
 /** @} */

 /*===========================================================================*/
@ -456,7 +470,7 @@
 * @brief   Enables factory for mailboxes.
 */
 #if !defined(CH_CFG_FACTORY_MAILBOXES)
-#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#define CH_CFG_FACTORY_MAILBOXES            FALSE
 #endif

 /**
@ -495,6 +509,12 @@
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 #endif

+/**
+ * micro-optimization: use same (lower-level) api for lock/unlock regardless on context
+ * this saves us one branching
+ */
+#define USE_PORT_LOCK FALSE
+
 /**
 * @brief   Debug option, parameters checks.
 * @details If enabled then the checks on the API functions input
@ -503,7 +523,7 @@
 * @note    The default is @p FALSE.
 */
 #if !defined(CH_DBG_ENABLE_CHECKS)
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 #endif

 /**
@ -515,7 +535,7 @@
 * @note    The default is @p FALSE.
 */
 #if !defined(CH_DBG_ENABLE_ASSERTS)
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 #endif

 /**
@ -537,6 +557,17 @@
 #define CH_DBG_TRACE_BUFFER_SIZE            128
 #endif

+/**
+ * @brief   Debug option, trace buffer.
+ * @details If enabled then the context switch circular trace buffer is
+ *          activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#ifndef CH_DBG_ENABLE_TRACE
+#define CH_DBG_ENABLE_TRACE                 FALSE
+#endif
+
 /**
 * @brief   Debug option, stack checks.
 * @details If enabled then a runtime stack check is performed.
@ -548,7 +579,7 @@
 *          @p panic_msg variable set to @p NULL.
 */
 #if !defined(CH_DBG_ENABLE_STACK_CHECK)
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 #endif

 /**
@ -559,8 +590,9 @@
 *
 * @note    The default is @p FALSE.
 */
+// see also CH_DBG_STACK_FILL_VALUE
 #if !defined(CH_DBG_FILL_THREADS)
-#define CH_DBG_FILL_THREADS                 FALSE
+#define CH_DBG_FILL_THREADS                 TRUE
 #endif

 /**
@ -606,13 +638,15 @@
 * @details User fields added to the end of the @p thread_t structure.
 */
 #define CH_CFG_THREAD_EXTRA_FIELDS                                          \
+  void *activeStack; \
+  int remainingStack; \
  /* Add threads custom fields here.*/

 /**
 * @brief   Threads initialization hook.
- * @details User initialization code added to the @p _thread_init() function.
+ * @details User initialization code added to the @p chThdInit() API.
 *
- * @note    It is invoked from within @p _thread_init() and implicitly from all
+ * @note    It is invoked from within @p chThdInit() and implicitly from all
 *          the threads creation APIs.
 */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@ -622,6 +656,10 @@
 /**
 * @brief   Threads finalization hook.
 * @details User finalization code added to the @p chThdExit() API.
+ *
+ * @note    It is inserted into lock zone.
+ * @note    It is also invoked when the threads simply return in order to
+ *          terminate.
 */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
  /* Add threads finalization code here.*/                                  \
@ -632,7 +670,7 @@
 * @details This hook is invoked just before switching between threads.
 */
 #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
-  /* Context switch code here.*/                                            \
+  contextSwitchHook();                                            \
 }

 /**
@ -640,6 +678,7 @@
 */
 #define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
  /* IRQ prologue code here.*/                                              \
+  irqEnterHook();                                                           \
 }

 /**
@ -647,6 +686,7 @@
 */
 #define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
  /* IRQ epilogue code here.*/                                              \
+  irqExitHook();                                                            \
 }

 /**
@ -656,7 +696,6 @@
 * @note    This macro can be used to activate a power saving mode.
 */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
-  /* Idle-enter code here.*/                                                \
 }

 /**
@ -666,7 +705,6 @@
 * @note    This macro can be used to deactivate a power saving mode.
 */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
-  /* Idle-leave code here.*/                                                \
 }

 /**
@ -693,7 +731,7 @@
 */
 #define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
  /* System halt code here.*/                                               \
-  chDbgPanic3(reason, __FILE__, __LINE__);                                  \
+  chDbgPanic3(reason, __FILE__, __LINE__); \
 }

 /**
@ -705,6 +743,7 @@
  /* Trace code here.*/                                                     \
 }

+
 /** @} */

 /*===========================================================================*/
--- a/firmware/config/stm32f7ems/mcuconf.h
+++ b/firmware/config/stm32f7ems/mcuconf.h
@ -38,6 +38,11 @@
 */
 #define UART_DMA_IRQ_PRIORITY (PRECISE_SCHEDULING_TIMER_PRIORITY + 2)

+/*
+ * SysTick driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2

 /*
 * STM32F7xx drivers configuration.
@ -162,8 +167,8 @@
 #define STM32_DAC_DUAL_MODE                 FALSE
 #define STM32_DAC_USE_DAC1_CH1              FALSE
 #define STM32_DAC_USE_DAC1_CH2              FALSE
-#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     10
-#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     PRECISE_SCHEDULING_TIMER_PRIORITY + 6
+#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     PRECISE_SCHEDULING_TIMER_PRIORITY + 6
 #define STM32_DAC_DAC1_CH1_DMA_PRIORITY     2
 #define STM32_DAC_DAC1_CH2_DMA_PRIORITY     2
 #define STM32_DAC_DAC1_CH1_DMA_STREAM       STM32_DMA_STREAM_ID(1, 5)
@ -172,18 +177,19 @@
 /*
 * EXT driver system settings.
 */
-#define STM32_EXT_EXTI0_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI1_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI2_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI3_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI4_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI16_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXT_IRQ_PRIORITY          ICU_PRIORITY
+#define STM32_EXT_EXTI0_IRQ_PRIORITY        STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI1_IRQ_PRIORITY        STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI2_IRQ_PRIORITY        STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI3_IRQ_PRIORITY        STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI4_IRQ_PRIORITY        STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI16_IRQ_PRIORITY       STM32_EXT_EXT_IRQ_PRIORITY
 #define STM32_EXT_EXTI17_IRQ_PRIORITY       15
-#define STM32_EXT_EXTI18_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI19_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
-#define STM32_EXT_EXTI20_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI18_IRQ_PRIORITY       STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI19_IRQ_PRIORITY       STM32_EXT_EXT_IRQ_PRIORITY
+#define STM32_EXT_EXTI20_IRQ_PRIORITY       STM32_EXT_EXT_IRQ_PRIORITY
 #define STM32_EXT_EXTI21_IRQ_PRIORITY       15
 #define STM32_EXT_EXTI22_IRQ_PRIORITY       15

@ -356,11 +362,6 @@
 #define STM32_SPI_SPI6_IRQ_PRIORITY         10
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")

-/*
- * ST driver system settings.
- */
-#define STM32_ST_IRQ_PRIORITY               8
-#define STM32_ST_USE_TIMER                  2

 /*
 * UART driver system settings.
--- a/firmware/console/binary/tunerstudio.cpp
+++ b/firmware/console/binary/tunerstudio.cpp
@ -76,6 +76,7 @@
 #include "bluetooth.h"
 #include "tunerstudio_io.h"
 #include "tooth_logger.h"
+#include "electronic_throttle.h"

 #include <string.h>
 #include "engine_configuration.h"
@ -94,11 +95,11 @@


 #ifndef EFI_IDLE_CONTROL
- #if EFI_IDLE_INCREMENTAL_PID_CIC
+ #if EFI_IDLE_PID_CIC
  extern PidCic idlePid;
 #else
  extern Pid idlePid;
- #endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
+ #endif /* EFI_IDLE_PID_CIC */
 #endif /* EFI_IDLE_CONTROL */


@ -256,7 +257,7 @@ static void onlineApplyWorkingCopyBytes(int currentPageId, uint32_t offset, int
 	}
 }

-extern Pid etbPid;
+extern EtbController etbController[ETB_COUNT];

 static const void * getStructAddr(int structId) {
 	switch (structId) {
@ -274,7 +275,7 @@ static const void * getStructAddr(int structId) {
 		return static_cast<trigger_state_s*>(&engine->triggerCentral.triggerState);
 #if EFI_ELECTRONIC_THROTTLE_BODY
 	case LDS_ETB_PID_STATE_INDEX:
-		return static_cast<pid_state_s*>(&etbPid);
+		return static_cast<pid_state_s*>(&etbController[0].etbPid);
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */

 #ifndef EFI_IDLE_CONTROL
@ -487,7 +488,9 @@ static bool isKnownCommand(char command) {
 			|| command == TS_GET_LOGGER_BUFFER
 			|| command == TS_GET_TEXT
 			|| command == TS_CRC_CHECK_COMMAND
-			|| command == TS_GET_FIRMWARE_VERSION;
+			|| command == TS_GET_FIRMWARE_VERSION
+			|| command == TS_PERF_TRACE_BEGIN
+			|| command == TS_PERF_TRACE_GET_BUFFER;
 }

 // this function runs indefinitely
@ -852,20 +855,20 @@ int tunerStudioHandleCrcCommand(ts_channel_s *tsChannel, char *data, int incomin
 		}

 		break;
-	case TS_PERF_TRACE_BEGIN:
+#endif /* EFI_TOOTH_LOGGER */
 #if ENABLE_PERF_TRACE
+	case TS_PERF_TRACE_BEGIN:
 		perfTraceEnable();
-#endif /* ENABLE_PERF_TRACE */
+		sendOkResponse(tsChannel, TS_CRC);
 		break;
 	case TS_PERF_TRACE_GET_BUFFER:
 		{
-#if ENABLE_PERF_TRACE
 			auto trace = perfTraceGetBuffer();
 			sr5SendResponse(tsChannel, TS_CRC, trace.Buffer, trace.Size);
-#endif /* ENABLE_PERF_TRACE */
 		}
-#endif /* EFI_TOOTH_LOGGER */
+
 		break;
+#endif /* ENABLE_PERF_TRACE */
 	default:
 		tunerStudioError("ERROR: ignoring unexpected command");
 		return false;
--- a/firmware/console/binary/tunerstudio_io.cpp
+++ b/firmware/console/binary/tunerstudio_io.cpp
@ -102,6 +102,10 @@ void startTsPort(ts_channel_s *tsChannel) {
 			if (CONFIGB(useSerialPort)) {

 				print("TunerStudio over USART");
+				/**
+				 * We have hard-coded USB serial console so that it would be clear how to connect to each specific board,
+				 * but for UART serial we allow users to change settings.
+				 */
 				efiSetPadMode("tunerstudio rx", engineConfiguration->binarySerialRxPin, PAL_MODE_ALTERNATE(TS_SERIAL_AF));
 				efiSetPadMode("tunerstudio tx", engineConfiguration->binarySerialTxPin, PAL_MODE_ALTERNATE(TS_SERIAL_AF));

--- a/firmware/console/eficonsole.cpp
+++ b/firmware/console/eficonsole.cpp
@ -78,8 +78,8 @@ static void sayHello(void) {
 	scheduleMsg(&logger, "CH_DBG_SYSTEM_STATE_CHECK=%d", CH_DBG_SYSTEM_STATE_CHECK);
 	scheduleMsg(&logger, "CH_DBG_ENABLE_STACK_CHECK=%d", CH_DBG_ENABLE_STACK_CHECK);

-#ifdef EFI_WAVE_ANALYZER
-	scheduleMsg(&logger, "EFI_WAVE_ANALYZER=%d", EFI_WAVE_ANALYZER);
+#ifdef EFI_LOGIC_ANALYZER
+	scheduleMsg(&logger, "EFI_LOGIC_ANALYZER=%d", EFI_LOGIC_ANALYZER);
 #endif
 #ifdef EFI_TUNER_STUDIO
 	scheduleMsg(&logger, "EFI_TUNER_STUDIO=%d", EFI_TUNER_STUDIO);
--- a/firmware/console/status_loop.cpp
+++ b/firmware/console/status_loop.cpp
@ -30,9 +30,9 @@
 #include "engine_controller.h"

 #include "adc_inputs.h"
-#if EFI_WAVE_ANALYZER
-#include "wave_analyzer.h"
-#endif /* EFI_WAVE_ANALYZER */
+#if EFI_LOGIC_ANALYZER
+#include "logic_analyzer.h"
+#endif /* EFI_LOGIC_ANALYZER */

 #include "trigger_central.h"
 #include "allsensors.h"
@ -458,10 +458,10 @@ void printOverallStatus(systime_t nowSeconds) {
 	printOutPin(PROTOCOL_HIP_NAME, CONFIGB(hip9011IntHoldPin));
 	printOutPin(PROTOCOL_TACH_NAME, CONFIGB(tachOutputPin));
 	printOutPin(PROTOCOL_DIZZY_NAME, engineConfiguration->dizzySparkOutputPin);
-#if EFI_WAVE_ANALYZER
+#if EFI_LOGIC_ANALYZER
 	printOutPin(PROTOCOL_WA_CHANNEL_1, CONFIGB(logicAnalyzerPins)[0]);
 	printOutPin(PROTOCOL_WA_CHANNEL_2, CONFIGB(logicAnalyzerPins)[1]);
-#endif /* EFI_WAVE_ANALYZER */
+#endif /* EFI_LOGIC_ANALYZER */

 	for (int i = 0; i < engineConfiguration->specs.cylindersCount; i++) {
 		printOutPin(enginePins.coils[i].getShortName(), CONFIGB(ignitionPins)[i]);
@ -524,9 +524,9 @@ void updateDevConsoleState(void) {
 	chThdSleepMilliseconds(200);
 #endif

-#if EFI_WAVE_ANALYZER
+#if EFI_LOGIC_ANALYZER
 	printWave(&logger);
-#endif /* EFI_WAVE_ANALYZER */
+#endif /* EFI_LOGIC_ANALYZER */

 	scheduleLogging(&logger);
 }
@ -741,7 +741,7 @@ void updateTunerStudioState(TunerStudioOutputChannels *tsOutputChannels DECLARE_
 		tsOutputChannels->vBatt = getVBatt(PASS_ENGINE_PARAMETER_SIGNATURE);
 	}
 	// offset 32
-	tsOutputChannels->tpsADC = getTPS12bitAdc(PASS_ENGINE_PARAMETER_SIGNATURE) / TPS_TS_CONVERSION;
+	tsOutputChannels->tpsADC = getTPS12bitAdc(0 PASS_ENGINE_PARAMETER_SUFFIX) / TPS_TS_CONVERSION;
 	// offset 36
 #if EFI_ANALOG_SENSORS
 	tsOutputChannels->baroPressure = hasBaroSensor() ? getBaroPressure() : 0;
--- a/firmware/controllers/actuators/alternator_controller.cpp
+++ b/firmware/controllers/actuators/alternator_controller.cpp
@ -133,9 +133,9 @@ void setAltPFactor(float p) {

 static void applyAlternatorPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ {
 	efiAssertVoid(CUSTOM_ERR_6643, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
-	efiAssertVoid(CUSTOM_IDLE_WAVE_CNT, state->multiWave.waveCount == 1, "invalid idle waveCount");
+	efiAssertVoid(CUSTOM_IDLE_WAVE_CNT, state->multiChannelStateSequence.waveCount == 1, "invalid idle waveCount");
 	OutputPin *output = state->outputPins[0];
-	int value = state->multiWave.getChannelState(/*channelIndex*/0, stateIndex);
+	int value = state->multiChannelStateSequence.getChannelState(/*channelIndex*/0, stateIndex);
 	/**
 	 * 'engine->isAlternatorControlEnabled' would be false is RPM is too low
 	 */
--- a/firmware/controllers/actuators/aux_pid.cpp
+++ b/firmware/controllers/actuators/aux_pid.cpp
@ -134,9 +134,11 @@ void startAuxPins(void) {
 }

 void stopAuxPins(void) {
+#if EFI_PROD_CODE
 	for (int i = 0;i < AUX_PID_COUNT;i++) {
 		brain_pin_markUnused(activeConfiguration.auxPidPins[i]);
 	}
+#endif /* EFI_PROD_CODE */
 }

 void initAuxPid(Logging *sharedLogger) {
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@ -86,9 +86,9 @@
 #error "Unexpected OS ACCESS HERE"
 #endif

+#ifndef ETB_MAX_COUNT
 #define ETB_MAX_COUNT 2
-
-static bool shouldResetPid = false;
+#endif /* ETB_MAX_COUNT */

 static pid_s tuneWorkingPidSettings;
 static Pid tuneWorkingPid(&tuneWorkingPidSettings);
@ -103,7 +103,7 @@ static bool startupPositionError = false;

 #define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5

-class EtbControl {
+class EtbHardware {
 private:
 	OutputPin m_pinEnable;
 	OutputPin m_pinDir1;
@ -116,9 +116,7 @@ private:
 	SimplePwm etbPwmUp;

 public:
-	DECLARE_ENGINE_PTR;
-
-	EtbControl() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
+	EtbHardware() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}

 	TwoPinDcMotor dcMotor;
 	
@ -133,49 +131,48 @@ public:
 			// since we have pointer magic here we cannot simply have value parameter
 			pin_output_mode_e *pinEnableMode,
 			brain_pin_e pinDir1,
-			brain_pin_e pinDir2) {
-		dcMotor.SetType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
+			brain_pin_e pinDir2,
+			ExecutorInterface* executor,
+			int frequency) {
+		dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);

 		m_pinEnable.initPin("ETB Enable", pinEnable, pinEnableMode);
 		m_pinDir1.initPin("ETB Dir 1", pinDir1);
 		m_pinDir2.initPin("ETB Dir 2", pinDir2);

 		// Clamp to >100hz
-		int freq = maxI(100, engineConfiguration->etbFreq);
+		int clampedFrequency = maxI(100, frequency);


 // no need to complicate event queue with ETB PWM in unit tests
 #if ! EFI_UNIT_TEST
 		startSimplePwm(&m_pwmEnable, "ETB Enable",
-				&engine->executor,
+				executor,
 				&m_pinEnable,
-				freq,
+				clampedFrequency,
 				0,
 				(pwm_gen_callback*)applyPinState);

 		startSimplePwm(&m_pwmDir1, "ETB Dir 1",
-				&engine->executor,
+				executor,
 				&m_pinDir1,
-				freq,
+				clampedFrequency,
 				0,
 				(pwm_gen_callback*)applyPinState);

 		startSimplePwm(&m_pwmDir2, "ETB Dir 2",
-				&engine->executor,
+				executor,
 				&m_pinDir2,
-				freq,
+				clampedFrequency,
 				0,
 				(pwm_gen_callback*)applyPinState);
 #endif /* EFI_UNIT_TEST */
 	}
 };

-static EtbControl etb1;

 extern percent_t mockPedalPosition;

-Pid etbPid;
-
 static percent_t directPwmValue = NAN;
 static percent_t currentEtbDuty;

@ -183,151 +180,167 @@ static percent_t currentEtbDuty;
 // this macro clamps both positive and negative percentages from about -100% to 100%
 #define ETB_PERCENT_TO_DUTY(X) (maxF(minF((X * 0.01), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))

+void EtbController::init(DcMotor *motor, int ownIndex) {
+	this->m_motor = motor;
+	this->ownIndex = ownIndex;
+}

-	int EtbController::getPeriodMs() {
-		return GET_PERIOD_LIMITED(&engineConfiguration->etb);
+int EtbController::getPeriodMs() {
+	return GET_PERIOD_LIMITED(&engineConfiguration->etb);
+}
+
+void EtbController::PeriodicTask() {
+	// set debug_mode 17
+	if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
+#if EFI_TUNER_STUDIO
+		etbPid.postState(&tsOutputChannels);
+		tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
+#endif /* EFI_TUNER_STUDIO */
+	} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
+#if EFI_TUNER_STUDIO
+		// set debug_mode 29
+		tsOutputChannels.debugFloatField1 = directPwmValue;
+#endif /* EFI_TUNER_STUDIO */
 	}

-	void EtbController::PeriodicTask() {
-		// set debug_mode 17
-		if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
+	if (!m_motor) {
+		return;
+	}
+
+	if (startupPositionError) {
+		m_motor->set(0);
+		return;
+	}
+
+	if (shouldResetPid) {
+		etbPid.reset();
+		shouldResetPid = false;
+	}
+
+	if (!cisnan(directPwmValue)) {
+		m_motor->set(directPwmValue);
+		return;
+	}
+
+	if (boardConfiguration->pauseEtbControl) {
+		m_motor->set(0);
+		return;
+	}
+
+	percent_t actualThrottlePosition = getTPSWithIndex(ownIndex PASS_ENGINE_PARAMETER_SUFFIX);
+
+	if (engine->etbAutoTune) {
+		autoTune.input = actualThrottlePosition;
+		bool result = autoTune.Runtime(&logger);
+
+		tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
+
+		float value = tuneWorkingPid.getOutput(50, actualThrottlePosition);
+		scheduleMsg(&logger, "AT input=%f output=%f PID=%f", autoTune.input,
+				autoTune.output,
+				value);
+		scheduleMsg(&logger, "AT PID=%f", value);
+		m_motor->set(ETB_PERCENT_TO_DUTY(value));
+
+		if (result) {
+			scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
+		}
+
+		return;
+	}
+
+
+	percent_t pedalPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
+
+	int rpm = GET_RPM();
+	engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition);
+	percent_t etbIdleAddition = CONFIGB(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
+	percent_t targetPosition = engine->engineState.targetFromTable + etbIdleAddition;
+
+	if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
 #if EFI_TUNER_STUDIO
-			etbPid.postState(&tsOutputChannels);
-			tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
+		tsOutputChannels.debugFloatField1 = engine->engineState.targetFromTable;
+		tsOutputChannels.debugFloatField2 = engine->engineState.idle.etbIdleAddition;
 #endif /* EFI_TUNER_STUDIO */
-		} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
-#if EFI_TUNER_STUDIO
-			// set debug_mode 29
-			tsOutputChannels.debugFloatField1 = directPwmValue;
-#endif /* EFI_TUNER_STUDIO */
-		}
+	}

-		if (startupPositionError) {
-			etb1.dcMotor.Set(0);
-			return;
-		}
+	if (cisnan(targetPosition)) {
+		// this could happen while changing settings
+		warning(CUSTOM_ERR_ETB_TARGET, "target");
+		return;
+	}
+	engine->engineState.etbFeedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);

-		if (shouldResetPid) {
-			etbPid.reset();
-			shouldResetPid = false;
-		}
+	etbPid.iTermMin = engineConfiguration->etb_iTermMin;
+	etbPid.iTermMax = engineConfiguration->etb_iTermMax;

-		if (!cisnan(directPwmValue)) {
-			etb1.dcMotor.Set(directPwmValue);
-			return;
-		}
+	currentEtbDuty = engine->engineState.etbFeedForward +
+			etbPid.getOutput(targetPosition, actualThrottlePosition);

-		if (boardConfiguration->pauseEtbControl) {
-			etb1.dcMotor.Set(0);
-			return;
-		}
+	m_motor->set(ETB_PERCENT_TO_DUTY(currentEtbDuty));

-		percent_t actualThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
+	if (engineConfiguration->isVerboseETB) {
+		etbPid.showPidStatus(&logger, "ETB");
+	}

-		if (engine->etbAutoTune) {
-			autoTune.input = actualThrottlePosition;
-			bool result = autoTune.Runtime(&logger);
-
-			tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
-
-			float value = tuneWorkingPid.getOutput(50, actualThrottlePosition);
-			scheduleMsg(&logger, "AT input=%f output=%f PID=%f", autoTune.input,
-					autoTune.output,
-					value);
-			scheduleMsg(&logger, "AT PID=%f", value);
-			etb1.dcMotor.Set(ETB_PERCENT_TO_DUTY(value));
-
-			if (result) {
-				scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
-			}
-
-			return;
-		}
-
-
-		percent_t pedalPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
-
-		int rpm = GET_RPM();
-		engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition);
-		percent_t etbIdleAddition = CONFIGB(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
-		percent_t targetPosition = engine->engineState.targetFromTable + etbIdleAddition;
-
-		if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
-#if EFI_TUNER_STUDIO
-			tsOutputChannels.debugFloatField1 = engine->engineState.targetFromTable;
-			tsOutputChannels.debugFloatField2 = engine->engineState.idle.etbIdleAddition;
-#endif /* EFI_TUNER_STUDIO */
-		}
-
-		engine->engineState.etbFeedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);
-
-		etbPid.iTermMin = engineConfiguration->etb_iTermMin;
-		etbPid.iTermMax = engineConfiguration->etb_iTermMax;
-
-		currentEtbDuty = engine->engineState.etbFeedForward +
-				etbPid.getOutput(targetPosition, actualThrottlePosition);
-
-		etb1.dcMotor.Set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
-
-		if (engineConfiguration->isVerboseETB) {
-			etbPid.showPidStatus(&logger, "ETB");
-		}
-
-		DISPLAY_STATE(Engine)
+	DISPLAY_STATE(Engine)
 DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
-		DISPLAY_TEXT(Electronic_Throttle);
-		DISPLAY_SENSOR(TPS)
-		DISPLAY_TEXT(eol);
+	DISPLAY_TEXT(Electronic_Throttle);
+	DISPLAY_SENSOR(TPS)
+	DISPLAY_TEXT(eol);

-		DISPLAY_TEXT(Pedal);
-		DISPLAY_SENSOR(PPS);
-		DISPLAY(DISPLAY_CONFIG(throttlePedalPositionAdcChannel));
-		DISPLAY_TEXT(eol);
+	DISPLAY_TEXT(Pedal);
+	DISPLAY_SENSOR(PPS);
+	DISPLAY(DISPLAY_CONFIG(throttlePedalPositionAdcChannel));
+	DISPLAY_TEXT(eol);

-		DISPLAY_TEXT(Feed_forward);
-		DISPLAY(DISPLAY_FIELD(etbFeedForward));
-		DISPLAY_TEXT(eol);
+	DISPLAY_TEXT(Feed_forward);
+	DISPLAY(DISPLAY_FIELD(etbFeedForward));
+	DISPLAY_TEXT(eol);

-		DISPLAY_STATE(ETB_pid)
-		DISPLAY_TEXT(input);
-		DISPLAY(DISPLAY_FIELD(input));
-		DISPLAY_TEXT(Output);
-		DISPLAY(DISPLAY_FIELD(output));
-		DISPLAY_TEXT(iTerm);
-		DISPLAY(DISPLAY_FIELD(iTerm));
-		DISPLAY_TEXT(eol);
-		DISPLAY(DISPLAY_FIELD(errorAmplificationCoef));
-		DISPLAY(DISPLAY_FIELD(previousError));
-		DISPLAY_TEXT(eol);
+	DISPLAY_STATE(ETB_pid)
+	DISPLAY_TEXT(input);
+	DISPLAY(DISPLAY_FIELD(input));
+	DISPLAY_TEXT(Output);
+	DISPLAY(DISPLAY_FIELD(output));
+	DISPLAY_TEXT(iTerm);
+	DISPLAY(DISPLAY_FIELD(iTerm));
+	DISPLAY_TEXT(eol);
+	DISPLAY(DISPLAY_FIELD(errorAmplificationCoef));
+	DISPLAY(DISPLAY_FIELD(previousError));
+	DISPLAY_TEXT(eol);

-		DISPLAY_TEXT(Settings);
-		DISPLAY(DISPLAY_CONFIG(ETB_PFACTOR));
-		DISPLAY(DISPLAY_CONFIG(ETB_IFACTOR));
-		DISPLAY(DISPLAY_CONFIG(ETB_DFACTOR));
-		DISPLAY_TEXT(eol);
-		DISPLAY(DISPLAY_CONFIG(ETB_OFFSET));
-		DISPLAY(DISPLAY_CONFIG(ETB_PERIODMS));
-		DISPLAY_TEXT(eol);
-		DISPLAY(DISPLAY_CONFIG(ETB_MINVALUE));
-		DISPLAY(DISPLAY_CONFIG(ETB_MAXVALUE));
+	DISPLAY_TEXT(Settings);
+	DISPLAY(DISPLAY_CONFIG(ETB_PFACTOR));
+	DISPLAY(DISPLAY_CONFIG(ETB_IFACTOR));
+	DISPLAY(DISPLAY_CONFIG(ETB_DFACTOR));
+	DISPLAY_TEXT(eol);
+	DISPLAY(DISPLAY_CONFIG(ETB_OFFSET));
+	DISPLAY(DISPLAY_CONFIG(ETB_PERIODMS));
+	DISPLAY_TEXT(eol);
+	DISPLAY(DISPLAY_CONFIG(ETB_MINVALUE));
+	DISPLAY(DISPLAY_CONFIG(ETB_MAXVALUE));
 /* DISPLAY_ELSE */
-		DISPLAY_TEXT(No_Pedal_Sensor);
+	DISPLAY_TEXT(No_Pedal_Sensor);
 /* DISPLAY_ENDIF */
 #if EFI_TUNER_STUDIO
-		// 312
-		tsOutputChannels.etbTarget = targetPosition;
-		// 316
-		tsOutputChannels.etb1DutyCycle = currentEtbDuty;
-		// 320
-		// Error is positive if the throttle needs to open further
-		tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
+	// 312
+	tsOutputChannels.etbTarget = targetPosition;
+	// 316
+	tsOutputChannels.etb1DutyCycle = currentEtbDuty;
+	// 320
+	// Error is positive if the throttle needs to open further
+	tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
 #endif /* EFI_TUNER_STUDIO */
-	}
+}

-EtbController etbController;
+static EtbHardware etbHardware[ETB_COUNT];
+EtbController etbController[ETB_COUNT];

 /**
+ * At the moment there are TWO ways to use this
 * set_etb_duty X
+ * set etb X
 * manual duty cycle control without PID. Percent value from 0 to 100
 */
 void setThrottleDutyCycle(percent_t level) {
@ -339,14 +352,22 @@ void setThrottleDutyCycle(percent_t level) {

 	float dc = ETB_PERCENT_TO_DUTY(level);
 	directPwmValue = dc;
-	etb1.dcMotor.Set(dc);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbHardware[i].dcMotor.set(dc);
+	}
 	scheduleMsg(&logger, "duty ETB duty=%f", dc);
 }

+static bool etbOperational = false;
+
 static void showEthInfo(void) {
 #if EFI_PROD_CODE
 	static char pinNameBuffer[16];

+	if (!etbOperational) {
+		scheduleMsg(&logger, "ETB DISABLED since no PPS");
+	}
+
 	scheduleMsg(&logger, "etbAutoTune=%d",
 			engine->etbAutoTune);

@ -357,31 +378,48 @@ static void showEthInfo(void) {
 			getPinNameByAdcChannel("tPedal", engineConfiguration->throttlePedalPositionAdcChannel, pinNameBuffer));

 	scheduleMsg(&logger, "TPS=%.2f", getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
-	scheduleMsg(&logger, "dir=%d DC=%f", etb1.dcMotor.isOpenDirection(), etb1.dcMotor.Get());
+

 	scheduleMsg(&logger, "etbControlPin1=%s duty=%.2f freq=%d",
-			hwPortname(CONFIGB(etb1.controlPin1)),
+			hwPortname(CONFIG(etbIo[0].controlPin1)),
 			currentEtbDuty,
 			engineConfiguration->etbFreq);
-	scheduleMsg(&logger, "dir1=%s", hwPortname(CONFIGB(etb1.directionPin1)));
-	scheduleMsg(&logger, "dir2=%s", hwPortname(CONFIGB(etb1.directionPin2)));
-	etbPid.showPidStatus(&logger, "ETB");
+	scheduleMsg(&logger, "dir1=%s", hwPortname(CONFIG(etbIo[0].directionPin1)));
+	scheduleMsg(&logger, "dir2=%s", hwPortname(CONFIG(etbIo[0].directionPin2)));
+
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		EtbHardware *etb = &etbHardware[i];
+
+		scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
+	}
+
+	etbController[0].etbPid.showPidStatus(&logger, "ETB");
 #endif /* EFI_PROD_CODE */
 }

+static void etbPidReset() {
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].etbPid.reset();
+	}
+}
+
 #if EFI_PROD_CODE

 static void setEtbFrequency(int frequency) {
 	engineConfiguration->etbFreq = frequency;

-	etb1.setFrequency(frequency);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbHardware[i].setFrequency(frequency);
+	}
 }

 static void etbReset() {
 	scheduleMsg(&logger, "etbReset");
 	
-	etb1.dcMotor.Set(0);
-	etbPid.reset();
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbHardware[i].dcMotor.set(0);
+	}
+	etbPidReset();

 	mockPedalPosition = MOCK_UNDEFINED;
 }
@ -393,7 +431,7 @@ static void etbReset() {
 */
 void setEtbPFactor(float value) {
 	engineConfiguration->etb.pFactor = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }

@ -402,7 +440,7 @@ void setEtbPFactor(float value) {
 */
 void setEtbIFactor(float value) {
 	engineConfiguration->etb.iFactor = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }

@ -411,7 +449,7 @@ void setEtbIFactor(float value) {
 */
 void setEtbDFactor(float value) {
 	engineConfiguration->etb.dFactor = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }

@ -420,7 +458,7 @@ void setEtbDFactor(float value) {
 */
 void setEtbOffset(int value) {
 	engineConfiguration->etb.offset = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }

@ -459,8 +497,8 @@ void setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	CONFIG(etbIdleThrottleRange) = 5;

-	setLinearCurveAny<uint8_t>(config->pedalToTpsPedalBins, PEDAL_TO_TPS_SIZE, /*from*/0, /*to*/100, 1);
-	setLinearCurveAny<uint8_t>(config->pedalToTpsRpmBins, PEDAL_TO_TPS_SIZE, /*from*/0, /*to*/8000 / RPM_1_BYTE_PACKING_MULT, 1);
+	setLinearCurve(config->pedalToTpsPedalBins, /*from*/0, /*to*/100, 1);
+	setLinearCurve(config->pedalToTpsRpmBins, /*from*/0, /*to*/8000 / RPM_1_BYTE_PACKING_MULT, 1);

 	for (int pedalIndex = 0;pedalIndex<PEDAL_TO_TPS_SIZE;pedalIndex++) {
 		for (int rpmIndex = 0;rpmIndex<PEDAL_TO_TPS_SIZE;rpmIndex++) {
@ -494,33 +532,50 @@ static bool isEtbPinsChanged(etb_io *current, etb_io *active) {

 #if EFI_PROD_CODE
 bool isETBRestartNeeded(void) {
-	/**
-	 * We do not want any interruption in HW pin while adjusting other properties
-	 */
-	return isEtbPinsChanged(&engineConfiguration->bc.etb1, &activeConfiguration.bc.etb1);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		/**
+		 * We do not want any interruption in HW pin while adjusting other properties
+		 */
+		bool changed = isEtbPinsChanged(&engineConfiguration->etbIo[i], &activeConfiguration.etbIo[i]);
+		if (changed) {
+			return changed;
+		}
+	}
+	return false;
 }

 void stopETBPins(void) {
-	brain_pin_markUnused(activeConfiguration.bc.etb1.controlPin1);
-	brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin1);
-	brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin2);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etb_io *activeIo = &activeConfiguration.etbIo[i];
+		brain_pin_markUnused(activeIo->controlPin1);
+		brain_pin_markUnused(activeIo->directionPin1);
+		brain_pin_markUnused(activeIo->directionPin2);
+	}
 }
 #endif /* EFI_PROD_CODE */

 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
-	shouldResetPid = !etbPid.isSame(&previousConfiguration->etb);
+	bool shouldResetPid = !etbController[0].etbPid.isSame(&previousConfiguration->etb);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].shouldResetPid = shouldResetPid;
+	}
 }

 void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {

-	// controlPinMode is a strange feature - it's simply because I am short on 5v I/O on Frankenso with Miata NB2 test mule
-	etb1.start(
-			CONFIG(etb1_use_two_wires),
-			CONFIGB(etb1.controlPin1),
-			&CONFIGB(etb1.controlPinMode),
-			CONFIGB(etb1.directionPin1),
-			CONFIGB(etb1.directionPin2)
-			);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etb_io *io = &engineConfiguration->etbIo[i];
+		// controlPinMode is a strange feature - it's simply because I am short on 5v I/O on Frankenso with Miata NB2 test mule
+		etbHardware[i].start(
+				CONFIG(etb_use_two_wires),
+				io->controlPin1,
+				&io->controlPinMode,
+				io->directionPin1,
+				io->directionPin2,
+				&ENGINE(executor),
+				CONFIG(etbFreq)
+				);
+	}
 }

 #if EFI_PROD_CODE && 0
@ -588,10 +643,12 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleActionI("etb_freq", setEtbFrequency);
 #endif /* EFI_PROD_CODE */

-	etbPid.initPidClass(&engineConfiguration->etb);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].init(&etbHardware[i].dcMotor, i);
+		etbController[i].etbPid.initPidClass(&engineConfiguration->etb);
+		INJECT_ENGINE_REFERENCE(&etbController[i]);
+	}

-	INJECT_ENGINE_REFERENCE(etb1);
-	INJECT_ENGINE_REFERENCE(etbController);

 	pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);

@ -599,6 +656,7 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	if (!engine->engineState.hasEtbPedalPositionSensor) {
 		return;
 	}
+	etbOperational = true;
 #if 0
 	// not alive code
 	autoTune.SetOutputStep(0.1);
@ -621,12 +679,20 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {

 #if EFI_PROD_CODE
 	if (engineConfiguration->etbCalibrationOnStart) {
-		etb1.dcMotor.Set(70);
-		chThdSleep(600);
-		grabTPSIsWideOpen();
-		etb1.dcMotor.Set(-70);
-		chThdSleep(600);
-		grabTPSIsClosed();
+
+		for (int i = 0 ; i < ETB_COUNT; i++) {
+			EtbHardware *etb = &etbHardware[i];
+
+			etb->dcMotor.set(70);
+			chThdSleep(600);
+			// todo: grab with proper index
+			grabTPSIsWideOpen();
+			etb->dcMotor.set(-70);
+			chThdSleep(600);
+			// todo: grab with proper index
+			grabTPSIsClosed();
+		}
+
 	}

 	// manual duty cycle control without PID. Percent value from 0 to 100
@ -651,9 +717,11 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #endif /* EFI_PROD_CODE */


-	etbPid.reset();
+	etbPidReset();

-	etbController.Start();
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].Start();
+	}
 }

 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
--- a/firmware/controllers/actuators/electronic_throttle.h
+++ b/firmware/controllers/actuators/electronic_throttle.h
@ -14,12 +14,21 @@
 #include "engine.h"
 #include "periodic_task.h"

-class EtbController : public PeriodicTimerController {
+class DcMotor;
+
+class EtbController final : public PeriodicTimerController {
 public:
 	DECLARE_ENGINE_PTR;
+	void init(DcMotor *motor, int ownIndex);

 	int getPeriodMs() override;
 	void PeriodicTask() override;
+	Pid etbPid;
+	bool shouldResetPid = false;
+
+private:
+	int ownIndex;
+    DcMotor *m_motor;
 };

 void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
--- a/firmware/controllers/actuators/idle_thread.cpp
+++ b/firmware/controllers/actuators/idle_thread.cpp
@ -34,6 +34,7 @@
 #include "rpm_calculator.h"
 #include "pwm_generator.h"
 #include "idle_thread.h"
+#include "engine_math.h"

 #include "engine.h"
 #include "periodic_task.h"
@ -58,7 +59,7 @@ static bool shouldResetPid = false;
 // See automaticIdleController().
 static bool mightResetPid = false;

-#if EFI_IDLE_INCREMENTAL_PID_CIC
+#if EFI_IDLE_PID_CIC
 // Use new PID with CIC integrator
 PidCic idlePid;
 #else
@ -85,7 +86,7 @@ public:
 };

 PidWithOverrides idlePid;
-#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
+#endif /* EFI_IDLE_PID_CIC */

 // todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
 static SimplePwm idleSolenoid("idle");
@ -93,6 +94,8 @@ static SimplePwm idleSolenoid("idle");
 static uint32_t lastCrankingCyclesCounter = 0;
 static float lastCrankingIacPosition;

+static iacPidMultiplier_t iacPidMultMap("iacPidMultiplier");
+
 /**
 * When the IAC position value change is insignificant (lower than this threshold), leave the poor valve alone
 * todo: why do we have this logic? is this ever useful?
@ -273,17 +276,18 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
 	mightResetPid = true;

-#if EFI_IDLE_INCREMENTAL_PID_CIC
+	// Apply PID Multiplier if used
+	if (CONFIG(useIacPidMultTable)) {
+		float engineLoad = getEngineLoadT(PASS_ENGINE_PARAMETER_SIGNATURE);
+		float multCoef = iacPidMultMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, engineLoad);
+		// PID can be completely disabled of multCoef==0, or it just works as usual if multCoef==1
+		newValue = interpolateClamped(0.0f, engine->engineState.idle.baseIdlePosition, 1.0f, newValue, multCoef);
+	}
+	
+	// Apply PID Deactivation Threshold as a smooth taper for TPS transients.
 	percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
-
-	// Treat the 'newValue' as if it contains not an actual IAC position, but an incremental delta.
-	// So we add this delta to the base IAC position, with a smooth taper for TPS transients.
-	newValue = engine->engineState.idle.baseIdlePosition + interpolateClamped(0.0f, newValue, CONFIGB(idlePidDeactivationTpsThreshold), 0.0f, tpsPos);
-
-	// apply the PID limits
-	newValue = maxF(newValue, CONFIG(idleRpmPid.minValue));
-	newValue = minF(newValue, CONFIG(idleRpmPid.maxValue));
-#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
+	// if tps==0 then PID just works as usual, or we completely disable it if tps>=threshold
+	newValue = interpolateClamped(0.0f, newValue, CONFIGB(idlePidDeactivationTpsThreshold), engine->engineState.idle.baseIdlePosition, tpsPos);

 	// Interpolate to the manual position when RPM is close to the upper RPM limit (if idlePidRpmUpperLimit is set).
 	// If RPM increases and the throttle is closed, then we're in coasting mode, and we should smoothly disable auto-pid.
@ -348,8 +352,8 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 			}
 			engine->acSwitchState = result;
 		}
-		if (CONFIGB(clutchUpPin) != GPIO_UNASSIGNED) {
-			engine->clutchUpState = efiReadPin(CONFIGB(clutchUpPin));
+		if (CONFIG(clutchUpPin) != GPIO_UNASSIGNED) {
+			engine->clutchUpState = efiReadPin(CONFIG(clutchUpPin));
 		}
 		if (CONFIG(throttlePedalUpPin) != GPIO_UNASSIGNED) {
 			engine->engineState.idle.throttlePedalUpState = efiReadPin(CONFIG(throttlePedalUpPin));
@ -451,6 +455,7 @@ IdleController idleControllerInstance;

 static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	idlePid.updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
+	iacPidMultMap.init(CONFIG(iacPidMultTable), CONFIG(iacPidMultLoadBins), CONFIG(iacPidMultRpmBins));
 }

 void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
@ -516,9 +521,9 @@ void startIdleBench(void) {

 static void applyIdleSolenoidPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ {
 	efiAssertVoid(CUSTOM_ERR_6645, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
-	efiAssertVoid(CUSTOM_ERR_6646, state->multiWave.waveCount == 1, "invalid idle waveCount");
+	efiAssertVoid(CUSTOM_ERR_6646, state->multiChannelStateSequence.waveCount == 1, "invalid idle waveCount");
 	OutputPin *output = state->outputPins[0];
-	int value = state->multiWave.getChannelState(/*channelIndex*/0, stateIndex);
+	int value = state->multiChannelStateSequence.getChannelState(/*channelIndex*/0, stateIndex);
 	if (!value /* always allow turning solenoid off */ ||
 			(GET_RPM_VALUE != 0 || timeToStopIdleTest != 0) /* do not run solenoid unless engine is spinning or bench testing in progress */
 			) {
@ -539,6 +544,7 @@ bool isIdleHardwareRestartNeeded() {
 }

 void stopIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+#if EFI_PROD_CODE
 	brain_pin_markUnused(activeConfiguration.stepperEnablePin);
 	brain_pin_markUnused(activeConfiguration.bc.idle.stepperStepPin);
 	brain_pin_markUnused(activeConfiguration.bc.idle.solenoidPin);
@ -546,7 +552,7 @@ void stopIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 //	brain_pin_markUnused(activeConfiguration.bc.idle.);
 //	brain_pin_markUnused(activeConfiguration.bc.idle.);
 //	brain_pin_markUnused(activeConfiguration.bc.idle.);
-
+#endif /* EFI_PROD_CODE */
 }

 void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
@ -577,7 +583,7 @@ void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {

 void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	logger = sharedLogger;
-	INJECT_ENGINE_REFERENCE(idleControllerInstance);
+	INJECT_ENGINE_REFERENCE(&idleControllerInstance);

 	idlePid.initPidClass(&engineConfiguration->idleRpmPid);

@ -641,9 +647,9 @@ void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 				getInputMode(CONFIGB(clutchDownPinMode)));
 	}

-	if (CONFIGB(clutchUpPin) != GPIO_UNASSIGNED) {
-		efiSetPadMode("clutch up switch", CONFIGB(clutchUpPin),
-				getInputMode(CONFIGB(clutchUpPinMode)));
+	if (CONFIG(clutchUpPin) != GPIO_UNASSIGNED) {
+		efiSetPadMode("clutch up switch", CONFIG(clutchUpPin),
+				getInputMode(CONFIG(clutchUpPinMode)));
 	}

 	if (CONFIG(throttlePedalUpPin) != GPIO_UNASSIGNED) {
--- a/firmware/controllers/actuators/pwm_tester.cpp
+++ b/firmware/controllers/actuators/pwm_tester.cpp
@ -11,7 +11,7 @@
 #if EFI_PWM_TESTER

 #include "pwm_tester.h"
-#include "efi_wave.h"
+#include "state_requence.h"
 #include "pwm_generator_logic.h"
 #include "engine.h"
 #include "pwm_generator.h"
--- a/firmware/controllers/algo/advance_map.cpp
+++ b/firmware/controllers/algo/advance_map.cpp
@ -224,12 +224,12 @@ angle_t getAdvance(int rpm, float engineLoad DECLARE_ENGINE_PARAMETER_SUFFIX) {
 }

 void setDefaultIatTimingCorrection(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	setLinearCurve(config->ignitionIatCorrLoadBins, IGN_LOAD_COUNT, /*from*/CLT_CURVE_RANGE_FROM, 110, 1);
+	setLinearCurve(config->ignitionIatCorrLoadBins, /*from*/CLT_CURVE_RANGE_FROM, 110, 1);
 #if IGN_LOAD_COUNT == DEFAULT_IGN_LOAD_COUNT
 	memcpy(config->ignitionIatCorrRpmBins, iatTimingRpmBins, sizeof(iatTimingRpmBins));
 	copyTimingTable(defaultIatTiming, config->ignitionIatCorrTable);
 #else
-	setLinearCurve(config->ignitionIatCorrLoadBins, IGN_RPM_COUNT, /*from*/0, 6000, 1);
+	setLinearCurve(config->ignitionIatCorrLoadBins, /*from*/0, 6000, 1);
 #endif /* IGN_LOAD_COUNT == DEFAULT_IGN_LOAD_COUNT */
 }

--- a/firmware/controllers/algo/algo.mk
+++ b/firmware/controllers/algo/algo.mk
@ -8,6 +8,6 @@ CONTROLLERS_ALGO_SRC_CPP = $(PROJECT_DIR)/controllers/algo/advance_map.cpp \
 	$(PROJECT_DIR)/controllers/algo/engine_configuration.cpp \
 	$(PROJECT_DIR)/controllers/algo/engine.cpp \
 	$(PROJECT_DIR)/controllers/algo/engine2.cpp \
-	$(PROJECT_DIR)/controllers/algo/lcd_menu_tree.cpp \
+	$(PROJECT_DIR)/controllers/gauges/lcd_menu_tree.cpp \
 	$(PROJECT_DIR)/controllers/algo/event_registry.cpp \
 	$(PROJECT_DIR)/controllers/algo/algo.cpp \
--- a/firmware/controllers/algo/auto_generated_enums.cpp
+++ b/firmware/controllers/algo/auto_generated_enums.cpp
@ -77,6 +77,12 @@ case EFI_ADC_ERROR:
  return "EFI_ADC_ERROR";
 case EFI_ADC_NONE:
  return "EFI_ADC_NONE";
+#if EFI_UNIT_TEST
+case TEST_MAF_CHANNEL:
+case TEST_CLT_CHANNEL:
+case TEST_IAT_CHANNEL:
+  return "EFI_TEST";
+#endif /* EFI_UNIT_TEST */
  }
 return NULL;
 }
@ -769,6 +775,8 @@ case SACHS:
  return "SACHS";
 case MRE_MIATA_NA6:
  return "MRE_MIATA_NA6";
+case PROTEUS:
+  return "PROTEUS";
 case SUBARUEJ20G_DEFAULTS:
  return "SUBARUEJ20G_DEFAULTS";
 case SUBARU_2003_WRX:
@ -999,6 +1007,8 @@ case SC_DETAILED_RPM:
  return "SC_DETAILED_RPM";
 case SC_MAP:
  return "SC_MAP";
+case SC_AUX_FAST1:
+	return "SC_AUX_FAST1";
 case SC_OFF:
  return "SC_OFF";
 case SC_RPM_ACCEL:
--- a/firmware/controllers/algo/engine.cpp
+++ b/firmware/controllers/algo/engine.cpp
@ -52,16 +52,16 @@ FsioState::FsioState() {
 #endif
 }

-void Engine::eInitializeTriggerShape(Logging *logger DECLARE_ENGINE_PARAMETER_SUFFIX) {
+void Engine::initializeTriggerWaveform(Logging *logger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 #if EFI_ENGINE_CONTROL && EFI_SHAFT_POSITION_INPUT
 	// we have a confusing threading model so some synchronization would not hurt
 	bool alreadyLocked = lockAnyContext();

-	TRIGGER_SHAPE(initializeTriggerShape(logger,
+	TRIGGER_WAVEFORM(initializeTriggerWaveform(logger,
 			engineConfiguration->ambiguousOperationMode,
 			engineConfiguration->useOnlyRisingEdgeForTrigger, &engineConfiguration->trigger));

-	if (TRIGGER_SHAPE(bothFrontsRequired) && engineConfiguration->useOnlyRisingEdgeForTrigger) {
+	if (TRIGGER_WAVEFORM(bothFrontsRequired) && engineConfiguration->useOnlyRisingEdgeForTrigger) {
 #if EFI_PROD_CODE || EFI_SIMULATOR
 		firmwareError(CUSTOM_ERR_BOTH_FRONTS_REQUIRED, "Inconsistent trigger setup");
 #else
@ -70,9 +70,9 @@ void Engine::eInitializeTriggerShape(Logging *logger DECLARE_ENGINE_PARAMETER_SU
 	}


-	if (!TRIGGER_SHAPE(shapeDefinitionError)) {
+	if (!TRIGGER_WAVEFORM(shapeDefinitionError)) {
 		/**
-	 	 * this instance is used only to initialize 'this' TriggerShape instance
+	 	 * this instance is used only to initialize 'this' TriggerWaveform instance
 	 	 * #192 BUG real hardware trigger events could be coming even while we are initializing trigger
 	 	 */
 		initState.resetTriggerState();
@ -82,14 +82,14 @@ void Engine::eInitializeTriggerShape(Logging *logger DECLARE_ENGINE_PARAMETER_SU
 		if (engine->triggerCentral.triggerShape.getSize() == 0) {
 			firmwareError(CUSTOM_ERR_TRIGGER_ZERO, "triggerShape size is zero");
 		}
-		engine->engineCycleEventCount = TRIGGER_SHAPE(getLength());
+		engine->engineCycleEventCount = TRIGGER_WAVEFORM(getLength());
 	}

 	if (!alreadyLocked) {
 		unlockAnyContext();
 	}

-	if (!TRIGGER_SHAPE(shapeDefinitionError)) {
+	if (!TRIGGER_WAVEFORM(shapeDefinitionError)) {
 		prepareOutputSignals(PASS_ENGINE_PARAMETER_SIGNATURE);
 	}
 #endif /* EFI_ENGINE_CONTROL && EFI_SHAFT_POSITION_INPUT */
@ -121,7 +121,9 @@ void Engine::periodicSlowCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {

 #if EFI_FSIO
 	runFsio(PASS_ENGINE_PARAMETER_SIGNATURE);
-#endif /* EFI_PROD_CODE && EFI_FSIO */
+#else
+	runHardcodedFsio(PASS_ENGINE_PARAMETER_SIGNATURE);
+#endif /* EFI_FSIO */

 	cylinderCleanupControl(PASS_ENGINE_PARAMETER_SIGNATURE);

@ -225,6 +227,19 @@ void Engine::preCalculate(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #endif
 }

+void Engine::OnTriggerStateDecodingError() {
+	Engine *engine = this;
+	EXPAND_Engine;
+	triggerCentral.triggerState.handleTriggerError(PASS_ENGINE_PARAMETER_SIGNATURE);
+}
+
+void Engine::OnTriggerStateProperState(efitick_t nowNt) {
+	Engine *engine = this;
+	EXPAND_Engine;
+	rpmCalculator.setSpinningUp(nowNt PASS_ENGINE_PARAMETER_SUFFIX);
+}
+
+
 void Engine::setConfig(persistent_config_s *config) {
 	this->config = config;
 	engineConfigurationPtr = &config->engineConfiguration;
@ -382,3 +397,22 @@ void doScheduleStopEngine(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	// let's close injectors or else if these happen to be open right now
 	enginePins.stopPins();
 }
+
+void action_s::setAction(schfunc_t callback, void *param) {
+	this->callback = callback;
+	this->param = param;
+}
+
+void action_s::execute() {
+	efiAssertVoid(CUSTOM_ERR_ASSERT, callback != NULL, "callback==null1");
+	callback(param);
+}
+
+schfunc_t action_s::getCallback() const {
+	return callback;
+}
+
+void * action_s::getArgument() const {
+	return param;
+}
+
--- a/firmware/controllers/algo/engine.h
+++ b/firmware/controllers/algo/engine.h
@ -45,10 +45,16 @@ class RpmCalculator;
 #define CLEANUP_MODE_TPS 90
 #define STEPPER_PARKING_TPS CLEANUP_MODE_TPS

-class Engine {
+#define CYCLE_ALTERNATION 2
+
+class Engine : public TriggerStateListener {
 public:
 	explicit Engine(persistent_config_s *config);
 	Engine();
+
+	void OnTriggerStateDecodingError() override;
+	void OnTriggerStateProperState(efitick_t nowNt) override;
+
 	void setConfig(persistent_config_s *config);
 	injection_mode_e getCurrentInjectionMode(DECLARE_ENGINE_PARAMETER_SIGNATURE);

@ -56,6 +62,10 @@ public:
 	LocalVersionHolder auxParametersVersion;
 	operation_mode_e getOperationMode(DECLARE_ENGINE_PARAMETER_SIGNATURE);

+	AuxActor auxValves[AUX_DIGITAL_VALVE_COUNT][2];
+
+	bool needTdcCallback = true;
+
 	/**
 	 * By the way 32-bit value should hold at least 400 hours of events at 6K RPM x 12 events per revolution
 	 */
@ -102,9 +112,11 @@ public:
 	bool needToStopEngine(efitick_t nowNt) const;
 	bool etbAutoTune = false;
 	/**
-	 * That's the linked list of pending spark firing events
+	 * That's the linked list of pending events scheduled in relation to trigger
+	 * At the moment we iterate over the whole list while looking for events for specific trigger index
+	 * We can make it an array of lists per trigger index, but that would take some RAM and probably not needed yet.
 	 */
-	IgnitionEvent *ignitionEventsHead = nullptr;
+	AngleBasedEvent *angleBasedEventsHead = nullptr;
 	/**
 	 * this is based on isEngineChartEnabled and engineSnifferRpmThreshold settings
 	 */
@ -132,9 +144,6 @@ public:
 	// timestamp of most recent time RPM hard limit was triggered
 	efitime_t rpmHardLimitTimestamp = 0;

-	// todo: should be a field on some other class, not Engine?
-	bool isInitializingTrigger = false;
-
 	/**
 	 * This flag indicated a big enough problem that engine control would be
 	 * prohibited if this flag is set to true.
@ -185,7 +194,7 @@ public:
 	void periodicFastCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 	void periodicSlowCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 	void updateSlowSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE);
-	void eInitializeTriggerShape(Logging *logger DECLARE_ENGINE_PARAMETER_SUFFIX);
+	void initializeTriggerWaveform(Logging *logger DECLARE_ENGINE_PARAMETER_SUFFIX);

 	bool clutchUpState = false;
 	bool clutchDownState = false;
--- a/firmware/controllers/algo/engine2.cpp
+++ b/firmware/controllers/algo/engine2.cpp
@ -145,7 +145,7 @@ void EngineState::periodicFastCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {

 #if EFI_ENGINE_CONTROL
 	if (!engine->slowCallBackWasInvoked) {
-		warning(CUSTOM_ERR_6696, "Slow not invoked yet");
+		warning(CUSTOM_SLOW_NOT_INVOKED, "Slow not invoked yet");
 	}
 	efitick_t nowNt = getTimeNowNt();
 	if (ENGINE(rpmCalculator).isCranking(PASS_ENGINE_PARAMETER_SIGNATURE)) {
--- a/firmware/controllers/algo/engine_configuration.cpp
+++ b/firmware/controllers/algo/engine_configuration.cpp
@ -143,6 +143,8 @@ static fuel_table_t alphaNfuel = {
 */
 #ifdef EFI_ACTIVE_CONFIGURATION_IN_FLASH
 engine_configuration_s & activeConfiguration = *(engine_configuration_s *)EFI_ACTIVE_CONFIGURATION_IN_FLASH;
+// we cannot use this activeConfiguration until we call rememberCurrentConfiguration()
+bool isActiveConfigurationVoid = true;
 #else
 static engine_configuration_s activeConfigurationLocalStorage;
 engine_configuration_s & activeConfiguration = activeConfigurationLocalStorage;
@ -153,6 +155,8 @@ extern engine_configuration_s *engineConfiguration;
 void rememberCurrentConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #ifndef EFI_ACTIVE_CONFIGURATION_IN_FLASH
 	memcpy(&activeConfiguration, engineConfiguration, sizeof(engine_configuration_s));
+#else
+	isActiveConfigurationVoid = false;
 #endif /* EFI_ACTIVE_CONFIGURATION_IN_FLASH */
 }

@ -208,7 +212,7 @@ void setConstantDwell(floatms_t dwellMs DECLARE_CONFIG_PARAMETER_SUFFIX) {
 	for (int i = 0; i < DWELL_CURVE_SIZE; i++) {
 		engineConfiguration->sparkDwellRpmBins[i] = 1000 * i;
 	}
-	setLinearCurve(engineConfiguration->sparkDwellValues, DWELL_CURVE_SIZE, dwellMs, dwellMs, 0.01);
+	setLinearCurve(engineConfiguration->sparkDwellValues, dwellMs, dwellMs, 0.01);
 }

 void setAfrMap(afr_table_t table, float value) {
@ -248,9 +252,9 @@ void setWholeIgnitionIatCorr(float value DECLARE_CONFIG_PARAMETER_SUFFIX) {
 }

 void setFuelTablesLoadBin(float minValue, float maxValue DECLARE_CONFIG_PARAMETER_SUFFIX) {
-	setLinearCurve(config->injPhaseLoadBins, FUEL_LOAD_COUNT, minValue, maxValue, 1);
-	setLinearCurve(config->veLoadBins, FUEL_LOAD_COUNT, minValue, maxValue, 1);
-	setLinearCurve(config->afrLoadBins, FUEL_LOAD_COUNT, minValue, maxValue, 1);
+	setLinearCurve(config->injPhaseLoadBins, minValue, maxValue, 1);
+	setLinearCurve(config->veLoadBins, minValue, maxValue, 1);
+	setLinearCurve(config->afrLoadBins, minValue, maxValue, 1);
 }

 void setTimingMap(ignition_table_t map, float value) {
@ -304,6 +308,11 @@ void prepareVoidConfiguration(engine_configuration_s *engineConfiguration) {
 	engineConfiguration->vbattAdcChannel = EFI_ADC_NONE;
 	engineConfiguration->map.sensor.hwChannel = EFI_ADC_NONE;
 	engineConfiguration->mafAdcChannel = EFI_ADC_NONE;
+/* this breaks unit tests lovely TODO: fix this?
+	engineConfiguration->tps1_1AdcChannel = EFI_ADC_NONE;
+*/
+	engineConfiguration->tps2_1AdcChannel = EFI_ADC_NONE;
+	engineConfiguration->bc.auxFastSensor1_adcChannel = EFI_ADC_NONE;
 	engineConfiguration->acSwitchAdc = EFI_ADC_NONE;
 	engineConfiguration->externalKnockSenseAdc = EFI_ADC_NONE;
 	engineConfiguration->fuelLevelSensor = EFI_ADC_NONE;
@ -313,7 +322,7 @@ void prepareVoidConfiguration(engine_configuration_s *engineConfiguration) {
 	engineConfiguration->high_fuel_pressure_sensor_2 = EFI_ADC_NONE;
 	
 	boardConfiguration->clutchDownPinMode = PI_PULLUP;
-	boardConfiguration->clutchUpPinMode = PI_PULLUP;
+	engineConfiguration->clutchUpPinMode = PI_PULLUP;
 	engineConfiguration->brakePedalPinMode = PI_PULLUP;
 }

@ -450,11 +459,11 @@ static void setDefaultFuelCutParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 static void setDefaultCrankingSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	CONFIG(useTLE8888_cranking_hack) = true;

-	setLinearCurve(engineConfiguration->crankingTpsCoef, CRANKING_CURVE_SIZE, /*from*/1, /*to*/1, 1);
-	setLinearCurve(engineConfiguration->crankingTpsBins, CRANKING_CURVE_SIZE, 0, 100, 1);
+	setLinearCurve(engineConfiguration->crankingTpsCoef, /*from*/1, /*to*/1, 1);
+	setLinearCurve(engineConfiguration->crankingTpsBins, 0, 100, 1);

-	setLinearCurve(config->cltCrankingCorrBins, CLT_CRANKING_CURVE_SIZE, CLT_CURVE_RANGE_FROM, 100, 1);
-	setLinearCurve(config->cltCrankingCorr, CLT_CRANKING_CURVE_SIZE, 1.0, 1.0, 1);
+	setLinearCurve(config->cltCrankingCorrBins, CLT_CURVE_RANGE_FROM, 100, 1);
+	setLinearCurve(config->cltCrankingCorr, 1.0, 1.0, 1);

 	config->crankingFuelCoef[0] = 2.8; // base cranking fuel adjustment coefficient
 	config->crankingFuelBins[0] = -20; // temperature in C
@ -510,7 +519,7 @@ static void setDefaultCrankingSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 * see also setTargetRpmCurve()
 */
 static void setDefaultIdleSpeedTarget(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	setLinearCurve(engineConfiguration->cltIdleRpmBins, CLT_CURVE_SIZE, CLT_CURVE_RANGE_FROM, 140, 10);
+	setLinearCurve(engineConfiguration->cltIdleRpmBins, CLT_CURVE_RANGE_FROM, 140, 10);

 	setCurveValue(engineConfiguration->cltIdleRpmBins, engineConfiguration->cltIdleRpm, CLT_CURVE_SIZE, -30, 1350);
 	setCurveValue(engineConfiguration->cltIdleRpmBins, engineConfiguration->cltIdleRpm, CLT_CURVE_SIZE, -20, 1300);
@ -548,8 +557,8 @@ static void setCanFrankensoDefaults(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 * see also setDefaultIdleSpeedTarget()
 */
 void setTargetRpmCurve(int rpm DECLARE_CONFIG_PARAMETER_SUFFIX) {
-	setLinearCurve(engineConfiguration->cltIdleRpmBins, CLT_CURVE_SIZE, CLT_CURVE_RANGE_FROM, 90, 10);
-	setLinearCurve(engineConfiguration->cltIdleRpm, CLT_CURVE_SIZE, rpm, rpm, 10);
+	setLinearCurve(engineConfiguration->cltIdleRpmBins, CLT_CURVE_RANGE_FROM, 90, 10);
+	setLinearCurve(engineConfiguration->cltIdleRpm, rpm, rpm, 10);
 }

 int getTargetRpmForIdleCorrection(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
@ -600,7 +609,7 @@ static void setDefaultEngineConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	setDefaultEtbBiasCurve(PASS_CONFIG_PARAMETER_SIGNATURE);
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */

-	CONFIGB(mafSensorType) = Bosch0280218037;
+	CONFIG(mafSensorType) = Bosch0280218037;
 	setBosch0280218037(config);

 	setBosch02880155868(PASS_ENGINE_PARAMETER_SIGNATURE);
@ -639,17 +648,17 @@ static void setDefaultEngineConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->alternatorControl.minValue = 10;
 	engineConfiguration->alternatorControl.maxValue = 90;

-	setLinearCurve(engineConfiguration->cltTimingBins, CLT_TIMING_CURVE_SIZE, CLT_CURVE_RANGE_FROM, 120, 1);
-	setLinearCurve(engineConfiguration->cltTimingExtra, CLT_TIMING_CURVE_SIZE, 0, 0, 1);
+	setLinearCurve(engineConfiguration->cltTimingBins, CLT_CURVE_RANGE_FROM, 120, 1);
+	setLinearCurve(engineConfiguration->cltTimingExtra, 0, 0, 1);

-	setLinearCurve(engineConfiguration->fsioCurve1Bins, FSIO_CURVE_16, 0, 100, 1);
-	setLinearCurve(engineConfiguration->fsioCurve1, FSIO_CURVE_16, 0, 100, 1);
+	setLinearCurve(engineConfiguration->fsioCurve1Bins, 0, 100, 1);
+	setLinearCurve(engineConfiguration->fsioCurve1, 0, 100, 1);

-	setLinearCurve(engineConfiguration->fsioCurve2Bins, FSIO_CURVE_16, 0, 100, 1);
-	setLinearCurve(engineConfiguration->fsioCurve2, FSIO_CURVE_16, 30, 170, 1);
+	setLinearCurve(engineConfiguration->fsioCurve2Bins, 0, 100, 1);
+	setLinearCurve(engineConfiguration->fsioCurve2, 30, 170, 1);

-	setLinearCurve(engineConfiguration->fsioCurve3Bins, FSIO_CURVE_8, 0, 100, 1);
-	setLinearCurve(engineConfiguration->fsioCurve4Bins, FSIO_CURVE_8, 0, 100, 1);
+	setLinearCurve(engineConfiguration->fsioCurve3Bins, 0, 100, 1);
+	setLinearCurve(engineConfiguration->fsioCurve4Bins, 0, 100, 1);


 	setDefaultWarmupIdleCorrection(PASS_CONFIG_PARAMETER_SIGNATURE);
@ -677,10 +686,10 @@ static void setDefaultEngineConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	setTimingLoadBin(1.2, 4.4 PASS_CONFIG_PARAMETER_SUFFIX);
 	setTimingRpmBin(800, 7000 PASS_CONFIG_PARAMETER_SUFFIX);

-	setLinearCurve(engineConfiguration->map.samplingAngleBins, MAP_ANGLE_SIZE, 800, 7000, 1);
-	setLinearCurve(engineConfiguration->map.samplingAngle, MAP_ANGLE_SIZE, 100, 130, 1);
-	setLinearCurve(engineConfiguration->map.samplingWindowBins, MAP_ANGLE_SIZE, 800, 7000, 1);
-	setLinearCurve(engineConfiguration->map.samplingWindow, MAP_ANGLE_SIZE, 50, 50, 1);
+	setLinearCurve(engineConfiguration->map.samplingAngleBins, 800, 7000, 1);
+	setLinearCurve(engineConfiguration->map.samplingAngle, 100, 130, 1);
+	setLinearCurve(engineConfiguration->map.samplingWindowBins, 800, 7000, 1);
+	setLinearCurve(engineConfiguration->map.samplingWindow, 50, 50, 1);

 	// set_whole_timing_map 3
 	setWholeFuelMap(3 PASS_CONFIG_PARAMETER_SUFFIX);
@ -696,19 +705,19 @@ static void setDefaultEngineConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	setFuelTablesLoadBin(10, 160 PASS_CONFIG_PARAMETER_SUFFIX);
 	setDefaultIatTimingCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);

-	setLinearCurve(engineConfiguration->mapAccelTaperBins, FSIO_TABLE_8, 0, 32, 4);
-	setLinearCurve(engineConfiguration->mapAccelTaperMult, FSIO_TABLE_8, 1, 1, 1);
+	setLinearCurve(engineConfiguration->mapAccelTaperBins, 0, 32, 4);
+	setLinearCurve(engineConfiguration->mapAccelTaperMult, 1, 1, 1);

-	setLinearCurve(config->tpsTpsAccelFromRpmBins, FSIO_TABLE_8, 0, 100, 10);
-	setLinearCurve(config->tpsTpsAccelToRpmBins, FSIO_TABLE_8, 0, 100, 10);
+	setLinearCurve(config->tpsTpsAccelFromRpmBins, 0, 100, 10);
+	setLinearCurve(config->tpsTpsAccelToRpmBins, 0, 100, 10);

-	setLinearCurve(config->fsioTable1LoadBins, FSIO_TABLE_8, 20, 120, 10);
+	setLinearCurve(config->fsioTable1LoadBins, 20, 120, 10);
 	setRpmTableBin(config->fsioTable1RpmBins, FSIO_TABLE_8);
-	setLinearCurve(config->fsioTable2LoadBins, FSIO_TABLE_8, 20, 120, 10);
+	setLinearCurve(config->fsioTable2LoadBins, 20, 120, 10);
 	setRpmTableBin(config->fsioTable2RpmBins, FSIO_TABLE_8);
-	setLinearCurve(config->fsioTable3LoadBins, FSIO_TABLE_8, 20, 120, 10);
+	setLinearCurve(config->fsioTable3LoadBins, 20, 120, 10);
 	setRpmTableBin(config->fsioTable3RpmBins, FSIO_TABLE_8);
-	setLinearCurve(config->fsioTable4LoadBins, FSIO_TABLE_8, 20, 120, 10);
+	setLinearCurve(config->fsioTable4LoadBins, 20, 120, 10);
 	setRpmTableBin(config->fsioTable4RpmBins, FSIO_TABLE_8);

 	initEngineNoiseTable(PASS_ENGINE_PARAMETER_SIGNATURE);
@ -1103,7 +1112,7 @@ void resetConfigurationExt(Logging * logger, configuration_callback_t boardCallb
 #endif /* EFI_SUPPORT_FORD_FIESTA */
 #if EFI_SUPPORT_NISSAN_PRIMERA
 	case NISSAN_PRIMERA:
-		setNissanPrimeraEngineConfiguration(engineConfiguration);
+		setNissanPrimeraEngineConfiguration(PASS_CONFIG_PARAMETER_SIGNATURE);
 		break;
 #endif
 	case HONDA_ACCORD_CD:
@ -1122,6 +1131,7 @@ void resetConfigurationExt(Logging * logger, configuration_callback_t boardCallb
 		setEtbTestConfiguration(PASS_CONFIG_PARAMETER_SIGNATURE);
 		break;
 	case MICRO_RUS_EFI:
+	case PROTEUS:
 		// nothing to do - we do it all in setBoardConfigurationOverrides
 		break;
 	case TLE8888_BENCH_ENGINE:
@ -1163,7 +1173,7 @@ void resetConfigurationExt(Logging * logger, configuration_callback_t boardCallb
 		setMazdaMiataNb1EngineConfiguration(PASS_CONFIG_PARAMETER_SIGNATURE);
 		break;
 	case MAZDA_323:
-		setMazda323EngineConfiguration(engineConfiguration);
+		setMazda323EngineConfiguration(PASS_CONFIG_PARAMETER_SIGNATURE);
 		break;
 	case MAZDA_626:
 		setMazda626EngineConfiguration(PASS_CONFIG_PARAMETER_SIGNATURE);
@ -1286,7 +1296,7 @@ void applyNonPersistentConfiguration(Logging * logger DECLARE_ENGINE_PARAMETER_S
 	assertEngineReference();

 #if EFI_ENGINE_CONTROL
-	ENGINE(eInitializeTriggerShape(logger PASS_ENGINE_PARAMETER_SUFFIX));
+	ENGINE(initializeTriggerWaveform(logger PASS_ENGINE_PARAMETER_SUFFIX));
 #endif

 #if EFI_FSIO
--- a/firmware/controllers/algo/engine_state.h
+++ b/firmware/controllers/algo/engine_state.h
@ -55,6 +55,9 @@ public:
 	angle_t mapAveragingStart[INJECTION_PIN_COUNT];
 	angle_t mapAveragingDuration = 0;

+	/**
+	 * timing advance is angle distance before Top Dead Center (TDP), i.e. "10 degree timing advance" means "happens 10 degrees before TDC"
+	 */
 	angle_t timingAdvance = 0;
 	// fuel-related;
 	float fuelCutoffCorrection = 0;
--- a/firmware/controllers/algo/event_registry.cpp
+++ b/firmware/controllers/algo/event_registry.cpp
@ -38,12 +38,3 @@ IgnitionOutputPin * IgnitionEvent::getOutputForLoggins() {
 	return outputs[0];
 }

-
-//void registerActuatorEventWhat(InjectionEventList *list, int eventIndex, OutputSignal *actuator, float angleOffset) {
-//	ActuatorEvent *e = list->getNextActuatorEvent();
-//	if (e == NULL)
-//		return; // error already reported
-//	e->position.eventIndex = eventIndex;
-//	e->actuator = actuator;
-//	e->position.angleOffset = angleOffset;
-//}
--- a/firmware/controllers/algo/event_registry.h
+++ b/firmware/controllers/algo/event_registry.h
@ -28,9 +28,7 @@ public:
 	bool isSimultanious;
 	InjectorOutputPin *outputs[MAX_WIRES_COUNT];
 	int ownIndex;
-#if EFI_UNIT_TEST
-	Engine *engine;
-#endif
+	DECLARE_ENGINE_PTR;
 	event_trigger_position_s injectionStart;

 	scheduling_s signalTimerUp;
@ -69,6 +67,17 @@ private:
 	void clear();
 };

+class AngleBasedEvent {
+public:
+	scheduling_s scheduling;
+	event_trigger_position_s position;
+	action_s action;
+	/**
+	 * Trigger-based scheduler maintains a linked list of all pending tooth-based events.
+	 */
+	AngleBasedEvent *nextToothEvent = nullptr;
+};
+
 #define MAX_OUTPUTS_FOR_IGNITION 2

 class IgnitionEvent {
@ -76,22 +85,17 @@ public:
 	IgnitionEvent();
 	IgnitionOutputPin *outputs[MAX_OUTPUTS_FOR_IGNITION];
 	scheduling_s dwellStartTimer;
-	scheduling_s signalTimerDown;
+	AngleBasedEvent sparkEvent;
 	/**
 	 * Desired timing advance
 	 */
-	angle_t advance = NAN;
+	angle_t sparkAngle = NAN;
 	floatms_t sparkDwell;
 	/**
 	 * this timestamp allows us to measure actual dwell time
 	 */
 	uint32_t actualStartOfDwellNt;
 	event_trigger_position_s dwellPosition;
-	event_trigger_position_s sparkPosition;
-	/**
-	 * Ignition scheduler maintains a linked list of all pending ignition events.
-	 */
-	IgnitionEvent *next = nullptr;
 	/**
 	 * Sequential number of currently processed spark event
 	 * @see globalSparkIdCounter
@ -102,9 +106,7 @@ public:
 	 */
 	int cylinderIndex = 0;
 	char *name = nullptr;
-#if EFI_UNIT_TEST
-	Engine *engine;
-#endif
+	DECLARE_ENGINE_PTR;
 	IgnitionOutputPin *getOutputForLoggins();
 };

@ -118,3 +120,14 @@ public:
 	IgnitionEvent elements[MAX_IGNITION_EVENT_COUNT];
 	bool isReady = false;
 };
+
+class AuxActor {
+public:
+	int phaseIndex;
+	int valveIndex;
+	angle_t extra;
+
+	AngleBasedEvent open;
+	AngleBasedEvent close;
+	DECLARE_ENGINE_PTR;
+};
--- a/firmware/controllers/algo/firing_order.h
+++ b/firmware/controllers/algo/firing_order.h
@ -1,15 +1,15 @@
 /*
 * @file firing_order.h
 *
+ * See also FiringOrderTSLogic.java
+ *
 * @date Jul 20, 2016
- * @author Andrey Belomutskiy, (c) 2012-2017
+ * @author Andrey Belomutskiy, (c) 2012-2019
 */

 #include "rusefi_enums.h"

-
-#ifndef CONTROLLERS_ALGO_FIRING_ORDER_H_
-#define CONTROLLERS_ALGO_FIRING_ORDER_H_
+#pragma once

 typedef enum {
 	FO_1 = 0,
@ -53,6 +53,3 @@ typedef enum {

 	Force_4b_firing_order = ENUM_32_BITS,
 } firing_order_e;
-
-
-#endif /* CONTROLLERS_ALGO_FIRING_ORDER_H_ */
--- a/firmware/controllers/algo/obd_error_codes.h
+++ b/firmware/controllers/algo/obd_error_codes.h
@ -1831,7 +1831,7 @@ typedef enum {
 	CUSTOM_ERR_PIN_ALREADY_USED_2 = 6134,
 	CUSTOM_ERR_ICU_STATE = 6135,
 	CUSTOM_ERR_TCHARGE_NOT_READY = 6136,
-	CUSTOM_ERR_TRIGGER_SHAPE_TOO_LONG = 6137,
+	CUSTOM_ERR_TRIGGER_WAVEFORM_TOO_LONG = 6137,
 	CUSTOM_ERR_FUEL_TABLE_NOT_READY = 6138,
 	CUSTOM_ERR_TCHARGE_NOT_READY2 = 6139,

@ -1938,8 +1938,8 @@ typedef enum {
 	CUSTOM_ERR_6585 = 6585,
 	CUSTOM_ERR_6586 = 6586,
 	CUSTOM_ERR_6587 = 6587,
-	CUSTOM_ERR_6588 = 6588,
-	CUSTOM_ERR_6589 = 6589,
+	CUSTOM_NULL_SHAPE = 6588,
+	CUSTOM_SPARK_ANGLE_1 = 6589,

 	CUSTOM_ERR_6590 = 6590,
 	CUSTOM_ERR_6591 = 6591,
@ -2026,14 +2026,14 @@ typedef enum {
 	CUSTOM_ERR_6665 = 6665,
 	CUSTOM_ERR_6666 = 6666,
 	CUSTOM_ERR_ADCANCE_CALC_ANGLE = 6667,
-	CUSTOM_ERR_6668 = 6668,
+	CUSTOM_ERR_ETB_TARGET = 6668,
 	CUSTOM_ERR_6669 = 6669,

 	CUSTOM_ERR_6670 = 6670,
-	CUSTOM_ERR_6671 = 6671,
-	CUSTOM_ERR_6672 = 6672,
-	CUSTOM_ERR_6673 = 6673,
-	CUSTOM_ERR_6674 = 6674,
+	CUSTOM_STACK_ADC_6671 = 6671,
+	CUSTOM_ICU_DRIVER = 6672,
+	CUSTOM_ICU_DRIVER_STATE = 6673,
+	CUSTOM_STACK_SPI = 6674,
 	CUSTOM_ERR_6675 = 6675,
 	CUSTOM_ERR_6676 = 6676,
 	CUSTOM_IH_STACK = 6677,
@ -2049,16 +2049,16 @@ typedef enum {
 	CUSTOM_ERR_6686 = 6686,
 	CUSTOM_ERR_6687 = 6687,
 	CUSTOM_ERR_6688 = 6688,
-	CUSTOM_ERR_6689 = 6689,
+	CUSTOM_SPARK_ANGLE_9 = 6689,

 	CUSTOM_ERR_MAP_START_ASSERT = 6690,
 	CUSTOM_ERR_MAP_AVG_OFFSET = 6691,
 	CUSTOM_ERR_MAP_CYL_OFFSET = 6692,
 	CUSTOM_ERR_PWM_DUTY_ASSERT = 6693,
 	CUSTOM_ERR_ZERO_CRANKING_FUEL = 6694,
-	CUSTOM_ERR_6695 = 6695,
-	CUSTOM_ERR_6696 = 6696,
-	CUSTOM_ERR_6697 = 6697,
+	CUSTOM_NULL_EXECUTOR = 6695,
+	CUSTOM_SLOW_NOT_INVOKED = 6696,
+	CUSTOM_PWM_CYCLE_START = 6697,
 	CUSTOM_ERR_ARRAY_IS_FULL = 6698,
 	CUSTOM_ERR_ARRAY_REMOVE_ERROR = 6699,
 	CUSTOM_ERR_INVALID_INPUT_ICU_PIN = 6700,
@ -2069,7 +2069,7 @@ typedef enum {
 	CUSTOM_ERR_6703 = 6703,
 	CUSTOM_ERR_BOTH_FRONTS_REQUIRED = 6704,
 	CUSTOM_TLE8888 = 6705,
-	CUSTOM_ERR_6706 = 6706,
+	CUSTOM_KNOCK_WINDOW = 6706,
 	CUSTOM_ERR_TIMER_TEST_CALLBACK_NOT_HAPPENED = 6707,
 	CUSTOM_ERR_TIMER_TEST_CALLBACK_WRONG_TIME = 6708,
 	CUSTOM_ERR_6709 = 6709,
@ -2080,8 +2080,20 @@ typedef enum {
 	CUSTOM_ERR_PWM_SWITCH_ASSERT = 6714,


+	CUSTOM_INVALID_ADC = 6720,
+	CUSTOM_ERR_6721 = 6721,
+	CUSTOM_ERR_6722 = 6722,
+	CUSTOM_ERR_6723 = 6723,
+	CUSTOM_ERR_6724 = 6724,
+	CUSTOM_ERR_6725 = 6725,
+	CUSTOM_ERR_6726 = 6726,
+	CUSTOM_ERR_6727 = 6727,
+	CUSTOM_ERR_6728 = 6728,
+	CUSTOM_ERR_6729 = 6729,
+
+
 	CUSTOM_ERR_TRIGGER_SYNC = 9000,
-	CUSTOM_OBD_TRIGGER_SHAPE = 9001,
+	CUSTOM_OBD_TRIGGER_WAVEFORM = 9001,
 	/**
 	 * This is not engine miss detection - this is only internal scheduler state validation
 	 * Should not happen
--- a/firmware/controllers/algo/rusefi_enums.h
+++ b/firmware/controllers/algo/rusefi_enums.h
@ -103,7 +103,7 @@ typedef enum {

 	// used by unit test
 	// see https://github.com/rusefi/rusefi/issues/898
-	// see TriggerShape::bothFrontsRequired
+	// see TriggerWaveform::bothFrontsRequired
 	ISSUE_898 = 27,

 	MAZDA_626 = 28,
@ -187,6 +187,8 @@ typedef enum {

 	MICRO_RUS_EFI = 60,

+	PROTEUS = 61,
+
 	/**
 	 * this configuration has as few pins configured as possible
 	 */
@ -719,6 +721,7 @@ typedef enum {
 	SC_MAP = 2,
 	SC_RPM_ACCEL = 3,
 	SC_DETAILED_RPM = 4,
+	SC_AUX_FAST1 = 5,

 	Internal_ForceMyEnumIntSize_sensor_chart = ENUM_32_BITS,
 } sensor_chart_e;
--- a/firmware/controllers/algo/rusefi_types.h
+++ b/firmware/controllers/algo/rusefi_types.h
@ -4,8 +4,8 @@
 * @date Jan 12, 2015
 * @author Andrey Belomutskiy, (c) 2012-2017
 */
-#ifndef CONTROLLERS_ALGO_RUSEFI_TYPES_H_
-#define CONTROLLERS_ALGO_RUSEFI_TYPES_H_
+
+#pragma once

 #include <string.h>
 #include <stdbool.h>
@ -90,7 +90,6 @@ typedef uint8_t iac_pid_mult_t[IAC_PID_MULT_SIZE][IAC_PID_MULT_SIZE];
 typedef float baro_corr_table_t[BARO_CORR_SIZE][BARO_CORR_SIZE];

 typedef float fsio_table_8x8_f32t[FSIO_TABLE_8][FSIO_TABLE_8];
-typedef uint8_t fsio_table_8x8_u8t[FSIO_TABLE_8][FSIO_TABLE_8];
 typedef float tps_tps_table_t[TPS_TPS_ACCEL_TABLE][TPS_TPS_ACCEL_TABLE];
 typedef uint8_t fsio_table_8x8_u8t[FSIO_TABLE_8][FSIO_TABLE_8];

@ -131,5 +130,3 @@ typedef void (*VoidCharPtrCharPtrVoidPtr)(const char *, const char *, void*);

 typedef void (*VoidCharPtrCharPtrCharPtr)(const char *, const char *, const char *);
 typedef void (*VoidCharPtrCharPtrCharPtrCharPtrCharPtr)(const char *, const char *, const char *, const char *, const char *);
-
-#endif /* CONTROLLERS_ALGO_RUSEFI_TYPES_H_ */
--- a/firmware/controllers/controllers.mk
+++ b/firmware/controllers/controllers.mk
@ -1,3 +1,11 @@
+include $(PROJECT_DIR)/controllers/algo/algo.mk
+include $(PROJECT_DIR)/controllers/core/core.mk
+include $(PROJECT_DIR)/controllers/math/math.mk
+include $(PROJECT_DIR)/controllers/trigger/trigger.mk
+include $(PROJECT_DIR)/controllers/sensors/sensors.mk
+include $(PROJECT_DIR)/controllers/system/system.mk
+#include $(PROJECT_DIR)/controllers/gauges/gauges.mk
+
 CONTROLLERS_DIR=$(PROJECT_DIR)/controllers

 CONTROLLERSSRC =
@ -5,34 +13,42 @@ CONTROLLERSSRC =
 CONTROLLERS_SRC_CPP = \
 	$(CONTROLLERS_DIR)/actuators/electronic_throttle.cpp \
 	$(CONTROLLERS_DIR)/actuators/alternator_controller.cpp \
-	$(CONTROLLERS_DIR)/actuators/malfunction_indicator.cpp \
-	$(CONTROLLERS_DIR)/actuators/tachometer.cpp \
 	$(CONTROLLERS_DIR)/actuators/idle_thread.cpp \
 	$(CONTROLLERS_DIR)/actuators/pwm_tester.cpp \
 	$(CONTROLLERS_DIR)/actuators/algo/aux_pid.cpp \
-	$(CONTROLLERS_DIR)/actuators/lcd_controller.cpp \
-	$(CONTROLLERS_DIR)/scheduling/signal_executor_sleep.cpp \
-	$(CONTROLLERS_DIR)/scheduling/single_timer_executor.cpp \
-	$(CONTROLLERS_DIR)/scheduling/pwm_generator_logic.cpp \
-	$(CONTROLLERS_DIR)/scheduling/event_queue.cpp \
-	$(PROJECT_DIR)/controllers/settings.cpp \
-	$(PROJECT_DIR)/controllers/core/error_handling.cpp \
-	$(PROJECT_DIR)/controllers/map_averaging.cpp \
-	$(PROJECT_DIR)/controllers/flash_main.cpp \
-	$(PROJECT_DIR)/controllers/injector_central.cpp \
-	$(PROJECT_DIR)/controllers/obd2.cpp \
- 	$(PROJECT_DIR)/controllers/engine_controller.cpp \
-	$(PROJECT_DIR)/controllers/persistent_store.cpp \
+	$(CONTROLLERS_DIR)/gauges/tachometer.cpp \
+	$(CONTROLLERS_DIR)/gauges/malfunction_indicator.cpp \
+	$(CONTROLLERS_DIR)/gauges/lcd_controller.cpp \
+	$(CONTROLLERS_DIR)/system/timer/signal_executor_sleep.cpp \
+	$(CONTROLLERS_DIR)/system/timer/single_timer_executor.cpp \
+	$(CONTROLLERS_DIR)/system/timer/pwm_generator_logic.cpp \
+	$(CONTROLLERS_DIR)/system/timer/event_queue.cpp \
+	$(CONTROLLERS_DIR)/settings.cpp \
+	$(CONTROLLERS_DIR)/core/error_handling.cpp \
+	$(CONTROLLERS_DIR)/engine_cycle/map_averaging.cpp \
+	$(CONTROLLERS_DIR)/engine_cycle/rpm_calculator.cpp \
+	$(CONTROLLERS_DIR)/engine_cycle/spark_logic.cpp \
+	$(CONTROLLERS_DIR)/engine_cycle/main_trigger_callback.cpp \
+	$(CONTROLLERS_DIR)/engine_cycle/aux_valves.cpp \
+	$(CONTROLLERS_DIR)/flash_main.cpp \
+	$(CONTROLLERS_DIR)/injector_central.cpp \
+	$(CONTROLLERS_DIR)/obd2.cpp \
+ 	$(CONTROLLERS_DIR)/engine_controller.cpp \
+	$(CONTROLLERS_DIR)/persistent_store.cpp \
 	

 CONTROLLERS_INC=\
 	$(CONTROLLERS_DIR) \
-	$(CONTROLLERS_DIR)/scheduling \
 	$(CONTROLLERS_DIR)/system \
+	$(CONTROLLERS_DIR)/system/timer \
 	$(CONTROLLERS_DIR)/algo \
+	$(CONTROLLERS_DIR)/engine_cycle \
 	$(CONTROLLERS_DIR)/trigger/decoders \
 	$(CONTROLLERS_DIR)/trigger \
+    $(CONTROLLERS_DIR)/sensors \
+	$(CONTROLLERS_DIR)/sensors/converters \
 	$(CONTROLLERS_DIR)/core \
+	$(CONTROLLERS_DIR)/gauges \
 	$(CONTROLLERS_DIR)/math \
 	$(CONTROLLERS_DIR)/generated \
 	$(CONTROLLERS_DIR)/actuators \
--- a/firmware/controllers/core/common_headers.h
+++ b/firmware/controllers/core/common_headers.h
@ -72,17 +72,28 @@
 	board_configuration_s *boardConfiguration = nullptr;


-#define INJECT_ENGINE_REFERENCE(x)               \
-	x.engine = engine;                           \
-	x.engineConfiguration = engineConfiguration; \
-	x.config = config;                           \
-	x.boardConfiguration = boardConfiguration;
+#define INJECT_ENGINE_REFERENCE(x)                  \
+	(x)->engine = engine;                           \
+	(x)->engineConfiguration = engineConfiguration; \
+	(x)->config = config;                           \
+	(x)->boardConfiguration = boardConfiguration;

 #define EXPAND_Engine \
 	    engine_configuration_s *engineConfiguration = engine->engineConfigurationPtr; \
 		persistent_config_s *config = engine->config; \
 		board_configuration_s *boardConfiguration = &engineConfiguration->bc;

+#ifndef EFI_ACTIVE_CONFIGURATION_IN_FLASH
+// We store a special changeable copy of configuration is RAM, so we can just compare them
 #define isConfigurationChanged(x) (engineConfiguration->x != activeConfiguration.x)
+#else
+// We cannot call prepareVoidConfiguration() for activeConfiguration if it's stored in flash,
+// so we need to tell the firmware that it's "void" (i.e. zeroed, invalid) by setting a special flag variable,
+// and then we consider 'x' as changed if it's just non-zero.
+extern bool isActiveConfigurationVoid;
+#define isConfigurationChanged(x) ((engineConfiguration->x != activeConfiguration.x) || (isActiveConfigurationVoid && engineConfiguration->x != 0))
+#endif /* EFI_ACTIVE_CONFIGURATION_IN_FLASH */
+
+#define isPinOrModeChanged(pin, mode) (isConfigurationChanged(pin) || isConfigurationChanged(mode))

 #endif /* CONTROLLERS_CORE_COMMON_HEADERS_H_ */
--- a/firmware/controllers/core/core.mk
+++ b/firmware/controllers/core/core.mk
@ -1,6 +1,6 @@

 CONTROLLERS_CORE_SRC_CPP = \
-	$(PROJECT_DIR)/controllers/core/efi_wave.cpp \
+	$(PROJECT_DIR)/controllers/core/state_sequence.cpp \
 	$(PROJECT_DIR)/controllers/core/fsio_core.cpp \
 	$(PROJECT_DIR)/controllers/core/fsio_impl.cpp \
 	
--- a/firmware/controllers/core/error_handling.cpp
+++ b/firmware/controllers/core/error_handling.cpp
@ -92,7 +92,10 @@ void chDbgPanic3(const char *msg, const char * file, int line) {
 static void printToStream(MemoryStream *stream, const char *fmt, va_list ap) {
 	stream->eos = 0; // reset
 	chvprintf((BaseSequentialStream *) stream, fmt, ap);
-	stream->buffer[stream->eos] = 0;
+
+	// Terminate, but don't write past the end of the buffer
+	int terminatorLocation = minI(stream->eos, stream->size - 1);
+	stream->buffer[terminatorLocation] = '\0';
 }

 static void printWarning(const char *fmt, va_list ap) {
--- a/firmware/controllers/core/fsio_impl.cpp
+++ b/firmware/controllers/core/fsio_impl.cpp
@ -12,13 +12,13 @@
 */

 #include "global.h"
+#include "fsio_impl.h"
+#include "allsensors.h"

 #if EFI_FSIO

 #include "os_access.h"
-#include "fsio_impl.h"
 #include "settings.h"
-#include "allsensors.h"
 #include "rpm_calculator.h"
 #include "efi_gpio.h"
 #include "pwm_generator_logic.h"
@ -102,6 +102,7 @@ static LEElement * acRelayLogic;
 static LEElement * fuelPumpLogic;
 static LEElement * radiatorFanLogic;
 static LEElement * alternatorLogic;
+static LEElement * starterRelayLogic;

 #if EFI_MAIN_RELAY_CONTROL
 static LEElement * mainRelayLogic;
@ -194,7 +195,7 @@ static void setFsioDigitalInputPin(const char *indexStr, const char *pinName) {
 		scheduleMsg(logger, "invalid pin name [%s]", pinName);
 		return;
 	}
-	CONFIGB(fsioDigitalInputs)[index] = pin;
+	CONFIG(fsioDigitalInputs)[index] = pin;
 	scheduleMsg(logger, "FSIO digital input pin #%d [%s]", (index + 1), hwPortname(pin));
 }

@ -464,6 +465,9 @@ void runFsio(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 		enginePins.mainRelay.setValue(true);
 #endif /* EFI_MAIN_RELAY_CONTROL */

+	if (CONFIGB(starterRelayPin) != GPIO_UNASSIGNED)
+		setPinState("starter_relay", &enginePins.starterRelay, starterRelayLogic PASS_ENGINE_PARAMETER_SUFFIX);
+
 	/**
 	 * o2 heater is off during cranking
 	 * todo: convert to FSIO?
@ -582,7 +586,7 @@ static void showFsioInfo(void) {
 		}
 	}
 	for (int i = 0; i < FSIO_COMMAND_COUNT; i++) {
-		brain_pin_e inputPin = CONFIGB(fsioDigitalInputs)[i];
+		brain_pin_e inputPin = CONFIG(fsioDigitalInputs)[i];
 		if (inputPin != GPIO_UNASSIGNED) {
 			scheduleMsg(logger, "FSIO digital input #%d: %s", i, hwPortname(inputPin));
 		}
@ -673,6 +677,8 @@ void initFsioImpl(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	if (CONFIGB(mainRelayPin) != GPIO_UNASSIGNED)
 		mainRelayLogic = sysPool.parseExpression(MAIN_RELAY_LOGIC);
 #endif /* EFI_MAIN_RELAY_CONTROL */
+	if (CONFIGB(starterRelayPin) != GPIO_UNASSIGNED)
+		starterRelayLogic = sysPool.parseExpression(STARTER_RELAY_LOGIC);

 #if EFI_PROD_CODE
 	for (int i = 0; i < FSIO_COMMAND_COUNT; i++) {
@ -691,7 +697,7 @@ void initFsioImpl(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	}

 	for (int i = 0; i < FSIO_COMMAND_COUNT; i++) {
-		brain_pin_e inputPin = CONFIGB(fsioDigitalInputs)[i];
+		brain_pin_e inputPin = CONFIG(fsioDigitalInputs)[i];

 		if (inputPin != GPIO_UNASSIGNED) {
 			efiSetPadMode("FSIO input", inputPin, getInputMode(engineConfiguration->fsioInputModes[i]));
@ -724,5 +730,37 @@ void initFsioImpl(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {

 }

+#else /* !EFI_FSIO */
+
+EXTERN_ENGINE
+;
+extern EnginePins enginePins;
+
+// "Limp-mode" implementation for some RAM-limited configs without FSIO
+void runHardcodedFsio(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	// see MAIN_RELAY_LOGIC
+	if (CONFIGB(mainRelayPin) != GPIO_UNASSIGNED) {
+		enginePins.mainRelay.setValue((getTimeNowSeconds() < 2) || (getVBatt(PASS_ENGINE_PARAMETER_SIGNATURE) > 5) || engine->isInShutdownMode());
+	}
+	// see STARTER_RELAY_LOGIC
+	if (CONFIGB(starterRelayPin) != GPIO_UNASSIGNED) {
+		enginePins.starterRelay.setValue(engine->rpmCalculator.getRpm() < engineConfiguration->cranking.rpm);
+	}
+	// see FAN_CONTROL_LOGIC
+	if (CONFIGB(fanPin) != GPIO_UNASSIGNED) {
+		enginePins.fanRelay.setValue((enginePins.fanRelay.getLogicValue() && (getCoolantTemperature() > engineConfiguration->fanOffTemperature)) || 
+			(getCoolantTemperature() > engineConfiguration->fanOnTemperature) || engine->isCltBroken);
+	}
+	// see AC_RELAY_LOGIC
+	if (CONFIGB(acRelayPin) != GPIO_UNASSIGNED) {
+		enginePins.acRelay.setValue(getAcToggle(PASS_ENGINE_PARAMETER_SIGNATURE) && engine->rpmCalculator.getRpm() > 850);
+	}
+	// see FUEL_PUMP_LOGIC
+	if (CONFIGB(fuelPumpPin) != GPIO_UNASSIGNED) {
+		enginePins.fuelPumpRelay.setValue((getTimeNowSeconds() < engineConfiguration->startUpFuelPumpDuration) || (engine->rpmCalculator.getRpm() > 0));
+	}
+	
+	enginePins.o2heater.setValue(engine->rpmCalculator.isRunning(PASS_ENGINE_PARAMETER_SIGNATURE));
+}

 #endif /* EFI_FSIO */
--- a/firmware/controllers/core/fsio_impl.h
+++ b/firmware/controllers/core/fsio_impl.h
@ -39,6 +39,7 @@ void setFsioExpression(const char *indexStr, const char *quotedLine DECLARE_ENGI
 float getFsioOutputValue(int index DECLARE_ENGINE_PARAMETER_SUFFIX);
 void applyFsioConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void onConfigurationChangeFsioCallback(engine_configuration_s *previousConfiguration DECLARE_ENGINE_PARAMETER_SUFFIX);
+void runHardcodedFsio(DECLARE_ENGINE_PARAMETER_SIGNATURE);

 ValueProvider3D *getFSIOTable(int index);

--- a/firmware/controllers/core/state_sequence.cpp
+++ b/firmware/controllers/core/state_sequence.cpp
@ -1,59 +1,59 @@
 /**
- * @file	EfiWave.cpp
+ * @file	state_sequence.cpp
 *
 * @date May 18, 2014
 * @author Andrey Belomutskiy, (c) 2012-2018
 */

 #include "global.h"
-#include "efi_wave.h"
+#include "state_sequence.h"
 #include "trigger_structure.h"

-SingleWave::SingleWave() {
+SingleChannelStateSequence::SingleChannelStateSequence() {
 	init(NULL);
 }

-SingleWave::SingleWave(pin_state_t *ps) {
+SingleChannelStateSequence::SingleChannelStateSequence(pin_state_t *ps) {
 	init(ps);
 }

-void SingleWave::init(pin_state_t *pinStates) {
+void SingleChannelStateSequence::init(pin_state_t *pinStates) {
 	this->pinStates = pinStates;
 }

-pin_state_t SingleWave::getState(int switchIndex) const {
+pin_state_t SingleChannelStateSequence::getState(int switchIndex) const {
 	pin_state_t state = pinStates[switchIndex];
 	efiAssert(OBD_PCM_Processor_Fault, state == 0 || state == 1, "wave state get", TV_FALL);
 	return state;
 }

-void SingleWave::setState(int switchIndex, pin_state_t state) {
+void SingleChannelStateSequence::setState(int switchIndex, pin_state_t state) {
 	efiAssertVoid(OBD_PCM_Processor_Fault, state == 0 || state == 1, "wave state set");
 	pinStates[switchIndex] = state;
 }

-MultiWave::MultiWave() {
+MultiChannelStateSequence::MultiChannelStateSequence() {
 	reset();
 }

-MultiWave::MultiWave(float *switchTimes, SingleWave *waves) : MultiWave() {
+MultiChannelStateSequence::MultiChannelStateSequence(float *switchTimes, SingleChannelStateSequence *waves) : MultiChannelStateSequence() {
 	init(switchTimes, waves);
 }

-void MultiWave::init(float *switchTimes, SingleWave *channels) {
+void MultiChannelStateSequence::init(float *switchTimes, SingleChannelStateSequence *channels) {
 	this->switchTimes = switchTimes;
 	this->channels = channels;
 }

-void MultiWave::reset(void) {
+void MultiChannelStateSequence::reset(void) {
 	waveCount = 0;
 }

-float MultiWave::getSwitchTime(const int index) const {
+float MultiChannelStateSequence::getSwitchTime(const int index) const {
 	return switchTimes[index];
 }

-void MultiWave::checkSwitchTimes(const int size) {
+void MultiChannelStateSequence::checkSwitchTimes(const int size) {
 	if (switchTimes[size - 1] != 1) {
 		firmwareError(CUSTOM_ERR_WAVE_1, "last switch time has to be 1 not %.2f", switchTimes[size - 1]);
 		return;
@ -65,7 +65,7 @@ void MultiWave::checkSwitchTimes(const int size) {
 	}
 }

-pin_state_t MultiWave::getChannelState(const int channelIndex, const int phaseIndex) const {
+pin_state_t MultiChannelStateSequence::getChannelState(const int channelIndex, const int phaseIndex) const {
 	if (channelIndex >= waveCount) {
 		// todo: would be nice to get this asserting working
 		//firmwareError(OBD_PCM_Processor_Fault, "channel index %d/%d", channelIndex, waveCount);
@ -76,7 +76,7 @@ pin_state_t MultiWave::getChannelState(const int channelIndex, const int phaseIn
 /**
 * returns the index at which given value would need to be inserted into sorted array
 */
-int MultiWave::findInsertionAngle(const float angle, const int size) const {
+int MultiChannelStateSequence::findInsertionAngle(const float angle, const int size) const {
 	for (int i = size - 1; i >= 0; i--) {
 		if (angle > switchTimes[i])
 			return i + 1;
@ -84,7 +84,7 @@ int MultiWave::findInsertionAngle(const float angle, const int size) const {
 	return 0;
 }

-int MultiWave::findAngleMatch(const float angle, const int size) const {
+int MultiChannelStateSequence::findAngleMatch(const float angle, const int size) const {
 	for (int i = 0; i < size; i++) {
 		if (isSameF(switchTimes[i], angle))
 			return i;
@ -92,7 +92,7 @@ int MultiWave::findAngleMatch(const float angle, const int size) const {
 	return EFI_ERROR_CODE;
 }

-void MultiWave::setSwitchTime(const int index, const float value) {
+void MultiChannelStateSequence::setSwitchTime(const int index, const float value) {
 	efiAssertVoid(CUSTOM_ERR_PWM_SWITCH_ASSERT, switchTimes != NULL, "switchTimes");
 	switchTimes[index] = value;
 }
--- a/firmware/controllers/core/state_sequence.h
+++ b/firmware/controllers/core/state_sequence.h
@ -1,11 +1,11 @@
 /**
- * @file	efi_wave.h
+ * @file	state_sequence.h
 *
 * @date May 18, 2014
- * @author Andrey Belomutskiy, (c) 2012-2017
+ * @author Andrey Belomutskiy, (c) 2012-2019
 */
-#ifndef EFI_WAVE_H_
-#define EFI_WAVE_H_
+
+#pragma once

 #include "global.h"

@ -36,13 +36,14 @@ typedef trigger_value_e pin_state_t;
 * is not implemented using a bit array, it could absolutely be a bit array
 *
 * This sequence does not know anything about signal lengths - only signal state at a given index
+ * This sequence can have consecutive zeros and ones since these sequences work as a group within MultiChannelStateSequence
 *
 * @brief   PWM configuration for the specific output pin
 */
-class SingleWave {
+class SingleChannelStateSequence {
 public:
-	SingleWave();
-	explicit SingleWave(pin_state_t *pinStates);
+	SingleChannelStateSequence();
+	explicit SingleChannelStateSequence(pin_state_t *pinStates);
 	void init(pin_state_t *pinStates);
 	/**
 	 * todo: confirm that we only deal with two states here, no magic '-1'?
@ -59,11 +60,11 @@ public:
 * This class represents multi-channel logical signals with shared time axis
 *
 */
-class MultiWave {
+class MultiChannelStateSequence {
 public:
-	MultiWave();
-	MultiWave(float *switchTimes, SingleWave *waves);
-	void init(float *switchTimes, SingleWave *waves);
+	MultiChannelStateSequence();
+	MultiChannelStateSequence(float *switchTimes, SingleChannelStateSequence *waves);
+	void init(float *switchTimes, SingleChannelStateSequence *waves);
 	void reset(void);
 	float getSwitchTime(const int phaseIndex) const;
 	void setSwitchTime(const int phaseIndex, const float value);
@ -77,7 +78,7 @@ public:
 	 * Number of signal channels
 	 */
 	int waveCount;
-	SingleWave *channels = nullptr;
+	SingleChannelStateSequence *channels = nullptr;
 //private:
 	/**
 	 * values in the (0..1] range which refer to points within the period at at which pin state should be changed
@ -86,4 +87,4 @@ public:
 	float *switchTimes = nullptr;
 };

-#endif /* EFI_WAVE_H_ */
+
--- a/Show More
+++ b/Show More