Index: firmware/HD.dil
===================================================================
diff -u -r7a34213f25ce25594311b77a3d003c1e65293a60 -r1a178aef78168ee358e1326f4fb1daf81df83c17
--- firmware/HD.dil	(.../HD.dil)	(revision 7a34213f25ce25594311b77a3d003c1e65293a60)
+++ firmware/HD.dil	(.../HD.dil)	(revision 1a178aef78168ee358e1326f4fb1daf81df83c17)
@@ -1,4 +1,4 @@
-# RM46L852PGE 04/03/23 16:06:59
+# RM46L852PGE 05/02/24 13:54:03
 # 
 ARCH=RM46L852PGE
 # 
@@ -139,7 +139,7 @@
 DRIVER.SYSTEM.VAR.ECAP6_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.SCI_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.FLASH_DATA_1_WAIT_STATE_FREQ.VALUE=110.0
-DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_BASE.VALUE=0x08003000
+DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_BASE.VALUE=0x08002800
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_125_MAPPING.VALUE=125
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_117_MAPPING.VALUE=117
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_109_MAPPING.VALUE=109
@@ -407,7 +407,7 @@
 DRIVER.SYSTEM.VAR.CORE_HANDLER_TABLE_UNDEF_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_8_INT_PRAGMA_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.SAFETY_INIT_PBIST_SP_SELECTED.VALUE=0
-DRIVER.SYSTEM.VAR.RAM_STACK_ABORT_BASE.VALUE=0x08005000
+DRIVER.SYSTEM.VAR.RAM_STACK_ABORT_BASE.VALUE=0x08002c00
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_92_NAME.VALUE=etpwm2Interrupt
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_84_NAME.VALUE=phantomInterrupt
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_76_NAME.VALUE=phantomInterrupt
@@ -435,7 +435,7 @@
 DRIVER.SYSTEM.VAR.CORE_PMU_COUNTER1_EVENT.VALUE=0x11
 DRIVER.SYSTEM.VAR.EFUSE_SELFTEST_ENA.VALUE=0
 DRIVER.SYSTEM.VAR.CLKT_AVCLK4_DOMAIN_DISABLE.VALUE=0
-DRIVER.SYSTEM.VAR.RAM_LINK_BASE_ADDRESS.VALUE=0x08005800
+DRIVER.SYSTEM.VAR.RAM_LINK_BASE_ADDRESS.VALUE=0x08003400
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_12_SUB_4_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_2_SUB_7_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_120_INT_ENABLE.VALUE=0
@@ -502,7 +502,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_10_NAME.VALUE=het1HighLevelInterrupt
 DRIVER.SYSTEM.VAR.PMM_MEM_PD2_STATEVALUE.VALUE=0x5
 DRIVER.SYSTEM.VAR.ERRATA_WORKAROUND_9.VALUE=1
-DRIVER.SYSTEM.VAR.RAM_STACK_USER_LENGTH.VALUE=0x00001000
+DRIVER.SYSTEM.VAR.RAM_STACK_USER_LENGTH.VALUE=0x00002000
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_8_PERMISSION.VALUE=PRIV_RW_USER_RW_NOEXEC
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_10_SUB_2_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_7_SUB_7_DISABLE.VALUE=0
@@ -549,14 +549,14 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_85_NAME.VALUE=phantomInterrupt
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_77_NAME.VALUE=EMACTxIntISR
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_69_NAME.VALUE=phantomInterrupt
-DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_LENGTH.VALUE=0x00002000
+DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_LENGTH.VALUE=0x00000400
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_11_SUB_6_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_7_SUB_0_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_2_INT_PRAGMA_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.CLKT_RTI2_POST_SOURCE.VALUE=VCLK
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_9_PERMISSION_VALUE.VALUE=0x1300
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_5_NAME.VALUE=rtiCompare3Interrupt
-DRIVER.SYSTEM.VAR.RAM_STACK_LENGTH.VALUE=0x00005800
+DRIVER.SYSTEM.VAR.RAM_STACK_LENGTH.VALUE=0x00003400
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_2_PERMISSION.VALUE=PRIV_RO_USER_RO_EXEC
 DRIVER.SYSTEM.VAR.CLKT_LPO_BIAS.VALUE=true
 DRIVER.SYSTEM.VAR.CLKT_AVCLK3_DIVIDER1.VALUE=4
@@ -628,7 +628,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_103_NAME.VALUE=etpwm7TripZoneInterrupt
 DRIVER.SYSTEM.VAR.PBIST_ALGO_16.VALUE=0
 DRIVER.SYSTEM.VAR.CLKT_VCLK2_DIVIDER.VALUE=1
-DRIVER.SYSTEM.VAR.RAM_LINK_LENGTH.VALUE=0x0002a800
+DRIVER.SYSTEM.VAR.RAM_LINK_LENGTH.VALUE=0x0002cc00
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_11_END_ADDRESS.VALUE=0x0802ffff
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_30_INT_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_22_INT_ENABLE.VALUE=0
@@ -793,7 +793,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_MAPPING.VALUE=29
 DRIVER.SYSTEM.VAR.ECLK_PORT_BIT0_DIR.VALUE=1
 DRIVER.SYSTEM.VAR.FLASH_LENGTH.VALUE=0x00140000
-DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_LENGTH.VALUE=0x00001000
+DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_LENGTH.VALUE=0x00000400
 DRIVER.SYSTEM.VAR.CLKT_EXT1_ENABLE.VALUE=FALSE
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_12_SUB_2_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_9_SUB_7_DISABLE.VALUE=0
@@ -925,8 +925,8 @@
 DRIVER.SYSTEM.VAR.SAFETY_INIT_DMA_DP_PBISTCHECK_ENA.VALUE=0x00000800
 DRIVER.SYSTEM.VAR.HET_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.PBIST_ALGO_13_14.VALUE=0
-DRIVER.SYSTEM.VAR.RAM_STACK_UNDEF_BASE.VALUE=0x08005400
-DRIVER.SYSTEM.VAR.RAM_STACK_SVC_BASE.VALUE=0x08001000
+DRIVER.SYSTEM.VAR.RAM_STACK_UNDEF_BASE.VALUE=0x08003000
+DRIVER.SYSTEM.VAR.RAM_STACK_SVC_BASE.VALUE=0x08002000
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_9_TYPE.VALUE=DEVICE_NONSHAREABLE
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_99_INT_PRAGMA_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_3_INT_TYPE.VALUE=IRQ
@@ -1134,7 +1134,7 @@
 DRIVER.SYSTEM.VAR.RTI_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.STC_MAX_TIMEOUT.VALUE=0xFFFFFFFF
 DRIVER.SYSTEM.VAR.CLKT_LPO_LOW_TRIM.VALUE=100.00
-DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_BASE.VALUE=0x08002000
+DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_BASE.VALUE=0x08002400
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_4_PERMISSION_VALUE.VALUE=0x0300
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_0_NAME.VALUE=esmHighInterrupt
 DRIVER.SYSTEM.VAR.FLASH_BANK_LINK_LENGTH_7.VALUE=0x000010000
@@ -1184,7 +1184,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_15_NAME.VALUE=adc1Group1Interrupt
 DRIVER.SYSTEM.VAR.ERRATA_WORKAROUND_15.VALUE=1
 DRIVER.SYSTEM.VAR.RAM_STACK_UNDEF_LENGTH.VALUE=0x00000400
-DRIVER.SYSTEM.VAR.RAM_STACK_SVC_LENGTH.VALUE=0x00001000
+DRIVER.SYSTEM.VAR.RAM_STACK_SVC_LENGTH.VALUE=0x00000400
 DRIVER.SYSTEM.VAR.CLKT_LPO_TRIM_OTP_LOC.VALUE=0xF00801B4
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_6_SUB_6_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_HANDLER_TABLE_UNDEF_ENTRY.VALUE=_undef
@@ -9353,7 +9353,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_CHOPPER_PERIOD.VALUE=100.000
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_DUTY.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD.VALUE=250000
+DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD.VALUE=40000
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_DEADBAND_OUT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_HSPCLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM4_CLKDIV_REG.VALUE=0
@@ -9406,7 +9406,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_DCAEVT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_HSPCLKDIV_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_DCAEVT2.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_DUTYTIME.VALUE=38.709
+DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_DUTYTIME.VALUE=38.462
 DRIVER.ETPWM.VAR.ETPWM6_OSHT_ACTUAL_WIDTH.VALUE=77.418
 DRIVER.ETPWM.VAR.ETPWM4_PWMB_DEADBAND_INVERT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_PWMB_POLARITY.VALUE=0
@@ -9469,7 +9469,7 @@
 DRIVER.ETPWM.VAR.ETPWM3_SELECT_EVENT.VALUE=NO_EVENT
 DRIVER.ETPWM.VAR.ETPWM2_CLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_PWMA_DUTY.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM7_PWMA_ACTUALPERIOD.VALUE=250002.419
+DRIVER.ETPWM.VAR.ETPWM7_PWMA_ACTUALPERIOD.VALUE=40000.000
 DRIVER.ETPWM.VAR.ETPWM2_DEADBAND_INPUT.VALUE=PWMA_RED_FED
 DRIVER.ETPWM.VAR.ETPWM5_CBC.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_CBC1.VALUE=0x0000
@@ -9486,7 +9486,7 @@
 DRIVER.ETPWM.VAR.ETPWM1_CHOPPER_MODE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_PERIOD.VALUE=1000
 DRIVER.ETPWM.VAR.ETPWM4_DCAEVT2.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM7_TB_ACTUALFREQUENCY.VALUE=103.335
+DRIVER.ETPWM.VAR.ETPWM7_TB_ACTUALFREQUENCY.VALUE=104.000
 DRIVER.ETPWM.VAR.ETPWM3_TB_FREQUENCY.VALUE=110.000
 DRIVER.ETPWM.VAR.ETPWM2_PWMB_FALLING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM5_CHOPPER_DUTYTIME_REG.VALUE=3
@@ -9566,7 +9566,7 @@
 DRIVER.ETPWM.VAR.ETPWM1_DEADBAND_OUTPUT.VALUE=PWMA_PWMB_NIL
 DRIVER.ETPWM.VAR.ETPWM4_TB_ACTUALFREQUENCY.VALUE=104.000
 DRIVER.ETPWM.VAR.ETPWM2_OSHT_WIDTH_REG.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_ACTUALPERIOD.VALUE=77.418
+DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_ACTUALPERIOD.VALUE=76.923
 DRIVER.ETPWM.VAR.ETPWM6_SOCB_PERIOD.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM4_CHOPPER_DUTYTIME.VALUE=38.462
 DRIVER.ETPWM.VAR.ETPWM5_CHOPPER_PERIOD_REG.VALUE=0
@@ -9644,7 +9644,7 @@
 DRIVER.ETPWM.VAR.ETPWM2_SELECT_SOCA.VALUE=DCAEVT1
 DRIVER.ETPWM.VAR.ETPWM4_SELECT_EVENT.VALUE=NO_EVENT
 DRIVER.ETPWM.VAR.ETPWM2_SELECT_SOCB.VALUE=DCBEVT1
-DRIVER.ETPWM.VAR.ETPWM7_PWMB_ACTUALPERIOD.VALUE=250002.419
+DRIVER.ETPWM.VAR.ETPWM7_PWMB_ACTUALPERIOD.VALUE=40000.000
 DRIVER.ETPWM.VAR.ETPWM2_DCAEVT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_INTERRUPT_PERIOD.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM2_DCAEVT2.VALUE=0x0000
@@ -9655,7 +9655,7 @@
 DRIVER.ETPWM.VAR.ETPWM4_CBC3.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM2_CHOPPER_MODE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_PWMA_FALLING_EDGE_DELAY_REG.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD.VALUE=250000
+DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD.VALUE=40000
 DRIVER.ETPWM.VAR.ETPWM5_OST.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_CBC4.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_CBC5.VALUE=0x0000
@@ -9684,7 +9684,7 @@
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_RISING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_DEADBAND_INVERT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_SELECT_EVENT.VALUE=NO_EVENT
-DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD_REG.VALUE=25833
+DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD_REG.VALUE=4159
 DRIVER.ETPWM.VAR.ETPWM7_PWMB_RISING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM7_PWMB_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM3_OSHT_WIDTH_REG.VALUE=0
@@ -9786,7 +9786,7 @@
 DRIVER.ETPWM.VAR.ETPWM2_SOCB_PERIOD.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM6_CBC5.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM6_CBC6.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD_REG.VALUE=25833
+DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD_REG.VALUE=4159
 DRIVER.ETPWM.VAR.ETPWM6_CHOPPER_MODE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM4_PWMA_ACTUALPERIOD.VALUE=250000.000
@@ -9865,7 +9865,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_OSHT5.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_PWMB_DUTY.VALUE=50
 DRIVER.ETPWM.VAR.ETPWM5_OSHT6.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM7_OSHT_ACTUAL_WIDTH.VALUE=77.418
+DRIVER.ETPWM.VAR.ETPWM7_OSHT_ACTUAL_WIDTH.VALUE=76.923
 DRIVER.ETPWM.VAR.ETPWM6_CLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_DEADBAND_OUT.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM7_HSPCLKDIV_REG.VALUE=0