rusefi-1/firmware/hw_layer/mc33816/mc33816.md

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https://www.nxp.com/files-static/training_pdf/FTF/2012/americas/WBNR_FTF12_AUT_F0098.pdf has many cool pictures explaining the whole thing.
https://www.nxp.com/docs/en/application-note/AN4849.pdf is literaly a complete example of a four cylinder internal combustion engine (ICE) injector drive.
MC33816 has four independent microcores - four "threads" of execution.
One thread has to be controlling variable frequency modulation (VFM) DC-to-DC converter, whatever it means.
Two more threads are running two banks of two injectors each.
Each injector has it's own low-side driver.
Each bank/pair of injectors share a "boosting" - i.e. high-voltage opening high-side driver, and a "holding" - i.e normal battery voltage high-side driver. (page 59)